• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.137.4-137
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• 2001

Omni-directional mobile robots have been employed popularly in several application areas. However, the optimal design has not been considered yet. This paper introduces an optimal design methodology for omni-directional mobile robots. Optimal design parameters such as the offset distance and the wheel radius are identified with respect to isotropy. Furthermore, the force transmission ratio and actuator sizing problem are treated. Conclusivel, three cases are compared minimum actuation, two active caster wheel, and three active caster wheel, we claim that the redundantly actuated mobile robot with three active caster wheel has the best performance.

• Fibers and Polymers
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• 제2권4호
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• pp.178-183
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• 2001

A pitch precursor for a general purpose carbon fiber was prepared by condensation of pyrolized fuel oil (petroleum residual oil) with bromine under nitrogen blowing. such a condensation raised the softening point of the pitch from 4$0^{\circ}C$ to $265^{\circ}$ with a yield of 43%. The pitch precurosr showed an enhanced aromaticity and enlarged molecular size, which led to a reduction in molecular mobility and optical isotropy. The precursor was spun into fibers of $20\mu\textrm{m}$ diameter at a take-up speed of 700m/min. The fiber was stepwise stabilized in air and carbonized in Ar gas to obtain an isotropic carbon fiber. The carbon fiber exhibited tensile strengths of 500-800 ㎫though the fiber was formed via a crude method. The electric conductivity of the carbon fiber was relatively high, 2.2$\times$$10^2$S/cm, sufficient to be used as electrode materials.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• 대한기계학회논문집A
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• 제28권7호
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• pp.904-914
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• 2004

In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.

• 한국산업융합학회 논문집
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• 제4권4호
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• pp.387-393
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• 2001

The flow characteristics on the centerline in case of free jet, sudden expansion jet and impinging jet have been investigated. Centerline flow behaviors and similaritis with mean velocities, turbulent intensities, shear stresses, isotropic structures and turbulent kinetic energies on the streamwise direction were looked into and compared with three jets, The results show that mean velocities have represented potential core and decayed with similar gradients. The turbulent intensities and shear stresses were presented peak values in the self-preserving region, and then they were in decay. Aeolotropy in the initial region were possible returned to isotropy patterns with asymptotic approach in the downstream region. It has been found that the turbulent kinetic energies for the three cases of jet existed in the similarity and they coincided with Gaussian profile.

• 터널과지하공간
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• 제10권3호
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• pp.301-308
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• 2000

균열모형을 이용하여 압축 하중하에 있는 암석의 비선형 거동을 예측하는 것은 가능하다. 암석내의 균열의 성장은 암석의 이방성을 가져오며, 이러한 이방성의 정도는 단성계수의 변화로 표현될 수 있다. 본 연구에서는 균열의 성장에 따른 탄성계수의 변화를 이론적인 균열모형을 통해 예측하고, 이를 탄성파 속도 시험을 통해 구한 탄성계수와의 비교를 수행하였다. 또한, 균열모형에 사용되는 초기 암석내 존재하는 균열에 대한 정보는 암석표면의 이미지를 분석하여 구하였다.

• 한국암반공학회:학술대회논문집
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• 한국암반공학회 2000년도 암반공학문제의 수치해석(Numerical Analysis in Rock Engineering Problems)
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• pp.47-55
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• 2000

균열모형을 이용하여 압축 하중하에 있는 암석의 비선형 거동을 예측하는 것은 가능하다. 암석내의 균열의 성장은 암석의 이방성을 가져오며 이러한 이방성의 정도는 탄성계수의 변화로 표현될 수 있다. 본 연구에서는 균열의 성장에 따른 탄성계수의 변화를 이론적인 균열모형을 통해 예측하고, 이를 탄성파 속도 시험을 통해 구한 탄성계수와의 비교를 수행하였다. 또한, 균열모형에 사용되는 초기 암석내 존재하는 균열에 대한 정보는 암석표면의 이미지를 분석하여 구하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1450-1454
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• 2000

In order to understand dynamic characteristics of centrifugal compressor supported foil bearing, of which normal operating speed is about 20,000 ${\sim}$ 50,000 rpm, the rotor whirl is measured using gap sensors. Not only critical speeds of rotor system but also stability of rotor whirl, which are main concerns of the turbo compressor system, are measured using gap sensors by varying the rotating speed the rotor. The stiffness characteristics of bearing system is shown to be almost invariant according to speed variation by the measurement of eccentricity. In addition, from the directional power spectral density function of the measured vibration signal, the isotropy stiffness characteristics of foil bearing system is discussed.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1997년도 춘계학술대회논문집
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• pp.257-260
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• 1997

The high precision of the products manufatured by press forming requires the high stiffness of press machines. In this study, the C-frame type press is analyzed to provide the basic idea on the C-frame press design, especially on the frame design. The finite element method is applied for the analysis and the isotropic propertics of the frame material is also considered. The results are summarized in terms of stresses and displacement distributions. Also, the openback angle of the presses is compared with two different models. The CS-150 and ECS-150 models, which are presses model having 150 ton frame capacity relatively and produced by SSangYong precision Co. LTD, are applied for the analysis.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1999년도 춘계학술대회논문집
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• pp.49-52
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• 1999

Tailored-welded blanks are used for forming of automobile structural and skin components. Its main objective is to achieve weight and production cost reduction in manufacturing of the components. For successful application of tailored-welded blanks design of initial welded blanks and prediction of welding line movement are critical. Here the utilization of the backward tracing scheme of the finite element method shows to be desirable in design of initial welded blanks for net-shape production and in prediction of the welding line movement. First the design of initial blank in forming of welded thick sheet with isotropy is tried and it appears successful in obtaining a net-shape stamping product. Based in the first approach the backward tracing scheme is applied to anisotropic tailored blank. The welding line movement is also discussed.