• 대한전기학회논문지
• /
• 제39권6호
• /
• pp.631-637
• /
• 1990

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulators by increasing the manipulability. The method, however, requires excessive energy and gives rather large tracking errors since the manipulability is increased rapidly so that the manipulator avoids the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.392-395
• /
• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• Tribology and Lubricants
• /
• 제26권2호
• /
• pp.97-104
• /
• 2010

A new magnetoelastic technique of oil viscosity measurement, where the oil viscosity is estimated by frequency shift of natural oscillations of magnetoelastic ribbon, is implemented in this study. Laboratory tests of the detector prototype are performed for measurement of viscosity of base synthetic and mineral oils. It was found that measurement accuracy was better when damping factor was estimated in comparison with accuracy of frequency of damped oscillations. Thus the oil viscosity was calibrated as a function of number of pulses of the damped oscillations of magnetoelastic ribbon. Result generally showed that developed detector is promising for in line oil viscosity measurement in wide viscosity range from 10 cSt up to 600 cSt, while the viscosity measurement was relatively instable when the viscosity of test oil was over 400 cSt.

• 신재생에너지
• /
• 제3권2호
• /
• pp.17-23
• /
• 2007

대두유로부터 생산된 바이오디젤과 바이오디젤 혼합 연료유를 대상으로 지방산메틸에스터 함량과 화학적 분석을 통해 산화 특성과 오일의 수명 예측 연구를 수행하였다. 바이오디젤, 경유, BD5, BD20은 산화가 진행될수록 산가(Acid number), 동점도(Kinematic Viscosity) 및 밀도(Density)는 증가하였다. 산가 측정결과의 활용에 의해 임의의 온도조건에서 정확한 사용수명을 예측하기 위하여 화학속도론에 의거하여 각각의 연료에 대한 사용수명식을 도출하였다. 도출된 사용수명식으로부터 바이오디젤이 가장 빠르게 산화가 진행되었고 바이오디젤 혼합량이 증가할수록 사용수명이 단축되는 것을 확인할 수 있었다.

• 천문학회지
• /
• 제23권1호
• /
• pp.15-29
• /
• 1990

The magnetic reconnection mechanism is a primary candidate for "flare" processes in solar coronal regions. Numerical simulations of two-dimensional magnetic reconnection are carried out for four different cases: (1) adiabatic condition with constant resistivity, (2) adiabatic condition with temperature-dependent resistivity, (3) energetics with radiation loss and constant resistivity and (4) energetics with radiation loss and temperature-dependent resistivity. It is found that the thermal instability prompts the magnetic reconnection process, thus increasing the conversion rate of magnetic energy into kinematic energy of the fluid. We demonstrated that the observed microflares can be accounted for by our magnetic reconnection models, when the effects of the radiation loss and the temperature-dependent resistivity are taken into account.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 추계학술대회논문집
• /
• pp.563-567
• /
• 2000

This research is concerned with the dynamic modeling of solar arrays equipped with strain energy hinges(SEH). It is found from experiments that the SEH has nonlinear dynamic characteristics and complex buckling behavior, which is difficult to explain theoretically. In this paper, we use an equivalent one-dimensional nonlinear torsional spring for the SEH. Assuming that solar panels are rigid, we developed the systematic approach for the derivation of the theoretical model for the solar arrays equipped with the multitudes of the SEH. To this end, the kinematic relation of the displacement vector of each body is derived and then applied to the equations of motion. Lagrangian equations of motion are used for the derivations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1520-1524
• /
• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 한국정밀공학회지
• /
• 제28권6호
• /
• pp.687-693
• /
• 2011

Spring-mass models have been widely accepted to explain the basic dynamics of human gait. Researchers found that the leg stiffness increased with gait speed to increase energy efficiency. However, the difference of leg stiffness change with gait speed between the young and the elderly has not been verified yet. In this study, we calculated the lower limb stiffness of the elderly using walking model with an axial spring. Vertical stiffness was defined as the ratio of the vertical force change to the vertical displacement change. Seven young and eight elderly subjects participated to the test. The subjects walked on a 12 meter long, 1 meter wide walkway at four different gait speeds, ranging from their self-selected speed to maximum speed randomly. Kinetic and kinematic data were collected using three force plates and motion capture cameras, respectively. The vertical stiffness of the two groups increased as a function of walking speed. Maximum walking speed of the elderly was slower than that of the young, yet the walking speed correlated well with the optimal stiffness that maximizes propulsion energy in both groups. The results may imply that human may use apparent limb stiffness to optimize energy based on spring-like leg mechanics.

• Coupled systems mechanics
• /
• 제2권1호
• /
• pp.53-83
• /
• 2013

Sea waves induce significant pressures on coastal surfaces, especially on rocky vertical cliffs or breakwater structures (Peregrine 2003). In the present work, this hydrodynamic pressure is considered as the excitation acting on a piezoelectric material sheet, installed on a vertical cliff, and connected to an external electric circuit (on land). The whole hydro/piezo/electric system is modeled in the context of linear wave theory. The piezoelectric elements are assumed to be small plates, possibly of stack configuration, under a specific wiring. They are connected with an external circuit, modeled by a complex impedance, as usually happens in preliminary studies (Liang and Liao 2011). The piezoelectric elements are subjected to thickness-mode vibrations under the influence of incident harmonic water waves. Full, kinematic and dynamic, coupling is implemented along the water-solid interface, using propagation and evanescent modes (Athanassoulis and Belibassakis 1999). For most energetically interesting conditions the long-wave theory is valid, making the effect of evanescent modes negligible, and permitting us to calculate a closed-form solution for the efficiency of the energy harvesting system. It is found that the efficiency is dependent on two dimensionless hydro/piezo/electric parameters, and may become significant (as high as 30 - 50%) for appropriate combinations of parameter values, which, however, corresponds to exotically flexible piezoelectric materials. The existence or the possibility of constructing such kind of materials formulates a question to material scientists.

• 한국해안·해양공학회논문집
• /
• 제28권1호
• /
• pp.7-12
• /
• 2016

본 연구에서는 선박충돌로부터 교량을 방호하는 파일형 선박충돌방호공과 충돌선박의 간이충돌모델을 개발하고 이를 검증하였다. 선박은 선수의 비선형반력을 고려하여 모델링하였다. 충돌방호공의 모델은 파일에서 상부슬래브의 하단과 지중에 2개의 소성힌지가 발생하는 것으로 구성하였다. 충돌중 발생하는 운동에너지와 위치에너지 및 변형에너지를 고려하여 운동방정식을 유도하고 이를 해석하는 시스템을 개발하였다. 선박과 구조물에 대한 정밀 충돌해석을 수행하여 개발된 간이모델이 충돌거동을 정확히 모사할 수 있음을 보였다.