• 한국정밀공학회지
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• 제15권1호
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.583-588
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• 2002

The purpose of the study is to evaluate fracture toughness on the Laser and the electron beam welded joints of high tensile steels (HT500, HT550, HT650) by using 3-point bend CTOD and Charpy impact test. WM (weld metal) CTOD tests have been carried out using two kinds of CTOD specimen, the Laser beam welding (108mm length, and 24mm width, and 12mm thickness) and the electron beam welding (l71mm length, and 38mm width, and 19mm thickness). WM Charpy impact specimen is a standard V-notch type, and the temperature of the experiment is changed from -45 to 20 degree of centigrade. FE-analysis is also performed in order to investigate the effect of stress-strain fields on fracture characteristics. Results of the standard V-notch Charpy test are influenced by strength mis-match effect and the absorbed energy vE depends on crack path, and The transition temperature of Laser beam welded joints is more higher than that of electron beam welded joints. Results of the 3-point bend test give low critical CTOD and the crack path is in the weld metal of al specimens. These results indicate fracture toughness characteristics of the welded joints and transition temperature of HT500 are similar both a Laser beam welded joint and an electron beam welded joint. But the fracture toughness and the transition temperature of the electron beam welded joints of HT550 and HT650 are higher than those o the Laser beam welded joints.

• 한국운동역학회지
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• 제30권4호
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• pp.293-299
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• 2020

Objective: The aim of this study was to investigate the swing and aerial motion of Kovacs, and evaluate the skill level of Kovacs by Korean adult players on horizontal bar. Method: The subjects for this study were 6 male top athletes participated in the 46th National Gymnastics against Cities and Provinces. After the motions of Kovacs were filmed by digital highspeed camcorder setting in 90 frames/s, kinematical data were calculated through DLT method. The variables were computed in the lapse time, the joint angle, the position·velocity of body COG, the inferred tension force of bar, and body COG path were simulated according to skill level of Kovacs. Results: Firstly, it was revealed that the lapse time was 1.19±0.03 s in the swing phase, and 0.83±0.03 s in the aerial phase. Secondly, it was revealed that the shoulder·hip joint motions of S1 and S2 were better than the other subjects in the swing phase, and the knee joint motions of S1 and S2 were better than the other subjects in the aerial phase. Thirdly, it was revealed that the horizontal·vertical velocity of body COG were -1.40±0.03 m/s, 3.80±0.07 m/s respectively, and the vertical positions of S1 and S2 were higher a little than the other subjects. Lastly, the skill level of Kovacs of this subjects was evaluated into 3 steps; excellent, advanced, normal. They need to train the swing motion including a giant circle, and body motions in the air. Conclusion: It would be suggested that Korean domestic players should improve to increase the vertical velocity at release instant and train to control the limbs elaborately in the air.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.2015-2018
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• 2005

In this paper, we are willing to prepare the reasonable optimization, Combinatorial Optimization and Genetic Algorithm. Thus we define position status of end-effect (or terminative link module) using promised form, (G, M(G), A(G), and so on.). For this preparing step, the reorganizing procedure of Link and Joint Module is necessary, like as enumerating the kinematically identical assembly group of several links and joints. Thus, we draw a G, directed graph in a first step. Because, directed graph contains the path information between adjacent Link Module and Joint Module. From the directed graph,G, we can incite the Incidence Matrix, M(G). The incidence matrix, M(G), contains the contact information of the Link (Joint) Module and the type of Link (Joint). At the end of this paper, we generalize the modular information as a matrix form, A(G). From this matrix, we can make a population of assembly status. That is the finial output of this paper.

• Journal of Welding and Joining
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• 제21권2호
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• pp.102-110
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• 2003

A visual sensor consisted of polygonal mirror, laser, and CCD camera was proposed to measure the distance to the weld joint for recognizing the joint shape. To scan the laser beam of the sensor onto an object, 8-facet polygonal mirror was used as the rotating mirror. By locating the laser and the camera at axi-symmetrical positions around the mirror, the synchronized-scan condition could be satisfied even when the mirror was set to rotate through one direction continuously, which could remove the inertia effect of the conventional oscillating-mirror methods. The mathematical modelling of the proposed sensor with the optical triangulation method made it possible to derive the relation between the position of an image on the camera and the one of a laser light on the object. Through the geometrical simulation of the proposed sensor with the principal of reflection and virtual image, the optical path of a laser light could be predicted. The position and direction of the CCD camera were determined based on the Scheimpflug's condition to fit the focus of any image reflected from an object within the field of view. The results of modelling and simulation revealed that the proposed visual sensor could be used to recognize the weld joint and its vicinity located within the range of the field of view and the resolution. (Received February 19, 2003)

• 한국공간구조학회논문집
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• 제14권3호
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• pp.47-56
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• 2014

This paper investigates the characteristics of unstable behaviour and critical buckling load by joint rigidity of framed large spatial structures which are sensitive to initial conditions. To distinguish the stable from the unstable, a singular point on equilibrium path and a critical buckling level are computed by the eigenvalues and determinants of the tangential stiffness matrix. For the case study, a two-free node example and a folded plate typed long span example with 325 nodes are adopted, and these adopted examples' nonlinear analysis and unstable characteristics are analyzed. The numerical results in the case of the two-free node example indicate that as the influence of snap-through is bigger; that of bifurcation buckling is lower than that of the joint rigidity as the influence of snap-through is lower. Besides, when the rigidity decreases, the critical buckling load ratio increases. These results are similar to those of the folded-typed long span example. When the buckling load ratio is 0.6 or less, the rigidity greatly increases.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.37-45
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• 1999

Many automated welding equipment are used in the industry. However, there are some problems to get quality welds because of the geometric error, thermal distortion, and incorrect joint fit-up. These factors can make the gap between base plates in case of a thick plate welding. The welding product with the quality welds can not be obtained without consideration of the gap. In this paper, the robot path and welding conditions are modified to get the quality weld by detecting the position and size of the gap. In this work, a low-priced laser range sensor is used. The 3-dimensional information is obtained using the motion of a robot, which holds a laser range sensor. The position and size of the gap is calculated using signal processing of the measured 3-dimensional information of joint profile geometry. The data measured by a laser range sensor is segmented by an iterative end point method. The segmented data is optimized by the least square method. The existence of gap is detected by comparing the data with the segmented shape of template. The effects of robot measuring speed and gap size are also tested. The recognizability fo the gap is verified as good by comparing the real joint profile and the calculated joint profile using the signal processing.

• 한국공간구조학회논문집
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• 제21권4호
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• pp.81-89
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• 2021

Recently, interest in OSC(Off Site Construction) is increasing due to the trend of a decrease in skilled workers and an increase in labor costs. In this regard, PC(Precast Concrete) is being reviewed for apartments, the most common type of housing in Korea. As the biggest concern for PC apartment houses, civil complaints such as inter-floor noise and leakage were presented. In this study, the details of the joints were reviewed based on the past cases of PC apartments, and the details of the recently constructed or planned PC apartments were investigated. Through this, the leakage path in the past was analyzed through the existing research literature and data. And wall type RC and PC apartment joint leakage test was performed and we found the needs for a detail of waterproof steps, sealant. Also, joint details were investigated for a rahmen type apartment housing under construction. At last, A discussion was conducted on the direction for a detailed proposal of an improved joint in the future.

• 한국생산제조학회지
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• 제22권2호
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• Journal of Welding and Joining
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• 제32권5호
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• pp.44-49
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• 2014

The effect of weldbond hybrid joining process on the mechanical behavior of single lap and L-tensile joints was investigated for the newly developed 1.2GPa grade ultra high strength TRIP(transformation induced plasticity) steel. In the case of single lap shear behavior, the weldbond joint of 1.2GPa TRIP steel showed lower maximum tensile load and elongation than that of the adhesive bonding only. It was considered to be due to the reduction of real adhesion area, which was caused by the degradation of adhesive near the spot weld, and the brittle fracture behavior of the spot weld joint. In the case of L-tensile behavior, however, the maximum tensile load of the weldbond joint of 1.2GPa TRIP steel was dramatically increased and the fracture mode was change to the base metal fracture which is desirable for the spot weld joint. These synergic effect of the weldbond hybrid joining process in 1.2GPa TRIP steel was considered to be due to the stress dissipation around the spot weld joint by the presence of adhesive which resulted in the change of crack propagation path.