• 대한기계학회논문집A
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• 제21권12호
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• Structural Engineering and Mechanics
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• 제63권5호
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• 소성∙가공
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• 제14권6호
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• pp.496-501
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• 2005

Precipitates, present in most commercial alloys, can have a strong influence on strength and hardening behavior of a single crystal. The effect of thin precipitates on the anisotropy of initial slip resistance and hardening behavior of crystals is modeled in this article. For the convenience of the computational derivation and implementation, the material formulation is given in the unrelated intermediate configuration mapped by the plastic part of the deformation gradient. Material descriptions for the considered two phased aggregates consisting in lattice hardening as well as isotropic hardening and kinematic hardening are suggested. Numerical simulations of various loading cases are presented to discuss and assess the performance of the suggested model. From the results of the numerical simulation, it is found that the suggested model represents the initial plastic anisotropy at least qualitatively well and that it has an improved representation of various characteristic hardening behaviors in comparison with conventional hardening descriptions where the precipitate structure is not reflected.

• Earthquakes and Structures
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• 제8권1호
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• pp.101-132
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• 2015

This research formulates a closed-form equation to predict a glass panel cracking failure drift for several curtain wall and storefront systems. An evaluation of the ASCE 7-10 equation for Dclear, which is the drift corresponding to glass-to-frame contact, shows that the kinematic modeling assumed for formulation of the equation is sound. The equation proposed in this paper builds on the ASCE equation and offers a revision of that equation to predict drift corresponding to cracking failure by considering glazing characteristics such as glass type, glass panel configuration, and system type. The formulation of the proposed equation and corresponding analyses with the ASCE equation is based on compiled experimental data of twenty-two different glass systems configurations tested over the past decade. A final comparative analysis between the ASCE equation and the proposed equation shows that the latter can predict the drift corresponding to glass cracking failure more accurately.

• 한국기계가공학회지
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• 제17권5호
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• pp.1-7
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• 2018

Flexible track drilling machines are credited with important applications in the area of aircraft manufacturing because of their portability, quick installation capabilities, and high efficiency. However, their structures are special and the constitution principles and motion characteristics are difficult to control, increasing the development costs and research cycle in the context of the technology blockade of foreign companies. The simulation analysis of flexible track drilling machines can be conducted by applying virtual prototypes, shortening the development cycle and reducing the cost. In this paper, a model of a machine is established by using the SolidWorks software and imported into ADAMS to conduct kinematic and dynamic simulation analysis. During the analysis, the feasibility of the configuration is checked, a reasonable driving motion is chosen, potential deficiencies are found, and improvement actions are raised.

• Structural Engineering and Mechanics
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• 제81권6호
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• pp.769-780
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• 2022

This paper studies the dynamic behavior of laminated composite circular cylindrical shells interacting with a fluid. The mathematical formulation of the dynamic problem for an elastic body is developed based on the variational principle of virtual displacements and the relations of linear elasticity theory. The behavior of an ideal compressible fluid is described by the potential theory, the equations of which together with boundary conditions are transformed to a weak form. The hydrodynamic pressure exerted by the fluid on the internal surface of the shell is calculated according to the linearized Bernoulli equation. The numerical implementation of the mathematical formulation has been done using the semi-analytical finite element method. The influence of the ply angle and lay-up configurations of laminated composites on the natural vibration frequencies and the hydroelastic stability boundary have been analyzed for shells with different geometrical dimensions and under different kinematic boundary conditions set at their edges. It has been found that the optimal value of the ply angle depends on the level of filling of the shell with a fluid. The obtained results support the view that by choosing the optimal configuration of the layered composite material it is possible to change upwards or downwards the frequency and mode shape, as well as the critical velocity for stability loss over a wide range.

• 전자공학회논문지SC
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• 제42권3호
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• pp.1-10
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• 2005

본 논문에서는 기구학적 구속조건을 고려한 육각 보행 로봇의 새로운 내고장성 걸음새를 제안한다. 본 논문에서 고려하고 있는 고장은 관절고착고장으로 로봇 다리의 관절 하나가 어떤 위치에 고착되어서 보행이 끝날 때까지 움직일 수 없는 상태를 말한다. 본 논문에서는 먼저 육각 보행 로봇의 직선 보행을 위한 기존의 내고장성 걸음새가 고장 난 다리의 기구학적 구속조건에 따라서 교착 상태에 빠질 수도 있음을 해석적으로 증명한다. 그런 다음 이러한 교착 상태를 회피하기 위해서 새로운 내고장성 걸음새 계획을 제안한다. 제안하는 내고장성 걸음새는 다리의 궤적을 변경함으로써 고장 난 다리가 야기하는 교착 상태에서 벗어날 수 있으며, 기존 내고장성 걸음새의 다리 움직임 순서와 보폭을 그대로 유지한다. 제안한 걸음새 계획의 우수성을 입증하기 위해서 평탄 지형에서 정상적인 걸음새로 걷고 있는 육각 보행 로봇이 고장이 일어난 후 제안한 걸음새 계획을 이용하여 교착 상태에서 벗어나 내고장성 걸음새로 전이하는 사례 연구도 기술한다.

• 항공우주기술
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• 제1권1호
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• pp.163-172
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• 2002

액체로켓용 터보펌프시스템의 주요한 구성품의 하나로서 고압 터보펌프의 구동에 사용되는 터빈시스템 설계에 대한 연구가 수행되었다. 터빈시스템은 가스발생기에서 발생된 고온/ 고압의 연소가스의 운동에너지를 펌프를 구동시킬 수 있는 기계적 에너지로 전환하는데, 노즐을 통해 연소가스의 운동 에너지를 증가시켜 펌프와 동일 축으로 연결된 동익을 회전시킨다. 액체로켓엔진의 시스템설계의 결과로 주어지는 압력비, 일량, 입구온도, 입구압력 등의 요구조건하에, 이를 만족시키는 터빈 시스템(노즐 및 동익)의 설계연구가 수행되었다. 터빈시스템은 입/ 출구 압력비에 따라서 개방형(Open Type)과 밀폐형(Closed Type)으로 나눌 수 있는데, 개방형의 경우 높은 압력비와 소량의 유량을 필요로 하며 충격형(Impulse Type)의 동익이 사용되며, 낮은 압력비와 다량의 유량을 필요로 하는 밀폐형의 경우 반동형(Reaction Type)의 동익이 사용된다. 시스템의 단순화 및 효율화를 위해서 본 연구에서는 개방형 터빈시스템이 채택되었으며, 특히 개방형 터빈의 특징인 소량의 유량이 터빈을 구동하므로 효율을 증가시키기 위해서 부분분사노즐(Partial Admission Nozzle)이 채택되었으며, 이의 효율에 미치는 영향이 연구되었다. 공기역학적 이론과 실험에 근거한 이론이 사용되었으며, 차후에 항공우주연구원에서 터빈 상사시험을 통하여 본 연구에 적용된 설계를 검증하고자 한다.

• 한국측량학회지
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• 제37권5호
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• pp.379-388
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• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.