• 대한기계학회논문집A
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• 제21권1호
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.

• Geomechanics and Engineering
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• 제11권4호
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• pp.471-492
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• 2016

Underground tunnelling is one of the sustainable construction methods which can facilitate the increasing passenger transportation in the urban areas and benefit the community in the long term. Tunnelling in various ground conditions requires careful consideration of the stability factor. This paper investigates three dimensional stability of a shallow circular tunnel in a layered soil. Upper bound theorem of limit analysis was utilised to solve the tunnel face stability problem. A three dimensional kinematic admissible failure mechanism was improved to model a layered soil and limiting assumptions of the previous studies were resolved. The study includes calculation of the minimum support pressure acting on the face of the excavation in closed-face excavations. The effects of the characteristics of the layers on the minimum support pressure were examined. It was found that the ratio of the thickness of cover layers particularly when a weak layer is overlying a stronger layer, has the most significant influence on the minimum tunnel support pressure. Comparisons have been made with the results of the numerical modelling using FLAC3D software. Results of the current study were in a remarkable agreement with those of numerical modelling.

• Interaction and multiscale mechanics
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• 제1권1호
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• pp.1-31
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• 2008

The present paper presents multiscale modelling via coupling of the discrete and finite element methods. Theoretical formulation of the discrete element method using spherical or cylindrical particles has been briefly reviewed. Basic equations of the finite element method using the explicit time integration have been given. The micr-macro transition for the discrete element method has been discussed. Theoretical formulations for macroscopic stress and strain tensors have been given. Determination of macroscopic constitutive properties using dimensionless micro-macro relationships has been proposed. The formulation of the multiscale DEM/FEM model employing the DEM and FEM in different subdomains of the same body has been presented. The coupling allows the use of partially overlapping DEM and FEM subdomains. The overlap zone in the two coupling algorithms is introduced in order to provide a smooth transition from one discretization method to the other. Coupling between the DEM and FEM subdomains is provided by additional kinematic constraints imposed by means of either the Lagrange multipliers or penalty function method. The coupled DEM/FEM formulation has been implemented in the authors' own numerical program. Good performance of the numerical algorithms has been demonstrated in a number of examples.

• 대한토목학회논문집
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• 제14권4호
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• pp.875-886
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• 1994

본 연구는 유역의 지형인자를 고려한 강우의 수리학적 단기유출 해석 시스템을 개발한 것이다. 강우 유출의 기본 개념은 Kinematic Wave 이론에 의거하였으며, 그 수치해는 특성곡선 추적법에 의하여 산출된다. 개발된 강우유출해석 시스템은 한개의 하도를 중심으로 좌우 2개의 등가사면을 지니는 단위 등가조도 모델이 복수개의 하도망을 따라 결합된 복합 등가조도 유역 모델로 구성되며, 등가조도유역 모델은 유역의 하천차수이론에 근거하여 규정됨으로써 유역이 지니는 확률적 지형인자를 모델 파라메타에 함축시키는 특성을 지닌다. 모델 파라메타의 민감도분석과 IHP 대표유역인 보청천 유역의 지형 및 수문자료를 이용한 모델 보정과 검정을 통하여 제안 시스템의 현장 적용성과 재현가능성이 확인되었다. 본 연구의 성과에 의하여 해석대상 등가유역의 시공간상 임의 위치에서 수리량의 시간변동 예측 및 유역의 개발에 따른 단기적 수질변동 해석에 요구되는 수리량의 해석이 가능하게 되었다.

• 전자공학회논문지
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• 제50권8호
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• pp.264-273
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• 2013

미래의 전쟁에서 인명 피해를 최소화하기 위한 방안으로 로봇의 중요성이 부각되고 있으며 최적으로 진화된 생물체를 모방하는 생체모방로봇에 대한 연구가 활발하게 추진되고 있다. 도마뱀 모방형 로봇은 협소한 지역에서 은밀한 접근 및 은닉을 필요로 하는 정찰 및 감시 등의 임무를 수행하기에 적합하다. 본 논문에서는 적외선 마커를 이용하여 도마뱀의 보행동작을 분석하였다. 쿠반 에놀의 관절 부위에 21 개의 마커를 부착하고 광학적 모션 캡쳐 장비를 사용하여 도마뱀의 보행 동작을 측정하였다. 측정된 데이터를 분석하여 펼친 자세로 속보로 보행하는 도마뱀의 걸음 동작을 분석하였다. 또한 도마뱀의 걸음새를 충실하게 구현 가능하도록 25 자유도를 갖는 기구학 모델을 제안하였으며 시뮬레이션을 통하여 모델링의 타당성을 확인하였다.

• 한국측량학회지
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• 제33권2호
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• pp.123-129
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• 2015

알고리즘의 유연성 및 효율성으로 인해 GPS 이동측위 시 칼만필터가 주로 사용되어 왔으며 동시에 다양한 계통오차의 제거가 가능한 상대측위 기법이 널리 사용되어 왔다. 하지만 기선의 길이가 길어지게 되면 상대측위 기법을 사용하더라도 대기효과를 충분히 제거하기 어렵기 때문에 이 경우 제거되지 않고 남아 있는 대기효과를 상태벡터에 추가하여 추정을 하기도 한다. 칼만필터를 이용하는 경우 일반적으로 대기효과는 랜덤워크 혹은 일차가우스-마르코프 프로세스로 모델링하게 되는데 이때 프로세스 잡음에 대한 정확한 모델링이 필수적이다. 본 연구에서는 대기효과에 해당되는 프로세스 잡음 모델링을 위해 필요한 매개변수를 결정하였다. 이를 위해 이중차분 전리층 지연값과 천정방향 습윤지연값을 이용하여 실험적 자기상관함수를 계산하였으며 이를 통해 프로세스 잡음 모델링에 필요한 매개변수를 계산하였다. 결정된 매개변수값들은 유사한 대기환경에서 취득된 데이터에 대한 프로세스 잡음 모델링 시 직접 사용될 수 있으며 유사한 대기환경이 아닌 경우일 지라도 초기 근사값으로 활용될 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.

• 유공압시스템학회논문집
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• 제4권2호
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• pp.1-6
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• 2007

During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 A
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• pp.354-356
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• 1999

Through the Standard of MCCB, the Adjustable Type Instant Trip Unit should NO trip at -20% of each current from $5{\times}In$ to $10{\times}In$ and trip +20% of those. In this paper, we obtain the attraction force between Fixing Magnet and Moving Armature. So we first made some samples. do experiments of weight, and simulated the modelling by 3D Maxwell S/W. With values of experiment and simulated values, we do design instant trip springs by using the ADAMS S/W of kinematic simulation. Finally we product the 250A Adjustable Instant Trip Unit, and it is very useful to our customers.

• Steel and Composite Structures
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• 제3권3호
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• pp.169-184
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• 2003

This paper presents a generic modelling of composite steel-concrete beams with elastic shear connection. It builds on the well-known seminal technique of Newmark, Siess and Viest, in order to formulate the partial interaction formulation for solution under a variety of end conditions, and lends itself well for modification to enable direct quantification of effects such as shrinkage, creep, and limited shear connection slip capacity. This application is possible because the governing differential equations are set up and solved in a fashion whereby inclusion of the kinematic and static end conditions merely requires a statement of the appropriate constants of integration that are generated in the solution of the linear differential equations. The method is applied in the paper for the solution of the well-studied behaviour of simply supported beams with partial interaction, as well as to provide solutions for a beam encastr$\acute{e}$ at its ends, and for a propped cantilever.