• Smart Structures and Systems
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• v.18 no.4
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• pp.801-818
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• 2016

To estimate structural displacement, a visually servoed paired structured light system (ViSP) was proposed in previous studies. The ViSP is composed of two sides facing each other, each with one or two laser pointers, a 2-DOF manipulator, a camera, and a screen. By calculating the positions of the laser beams projected onto the screens and rotation angles of the manipulators, relative 6-DOF displacement between two sides can be estimated. Although the performance of the system has been verified through various simulations and experimental tests, it has a limitation that the accuracy of the displacement measurement depends on the alignment of the laser pointers. In deriving the kinematic equation of the ViSP, the laser pointers were assumed to be installed perfectly normal to the same side screen. In reality, however, this is very difficult to achieve due to installation errors. In other words, the pose of laser pointers should be calibrated carefully before measuring the displacement. To calibrate the initial pose of the laser pointers, a specially designed jig device is made and employed. Experimental tests have been performed to validate the performance of the proposed calibration method and the results show that the estimated displacement with the initial pose calibration increases the accuracy of the 6-DOF displacement estimation.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.1
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• pp.41-48
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• 2013

Several fatigue damages have recently been reported which cannot be resolved in the context of the existing fatigue design procedure, and they are suspected to be the cracks induced by the low cycle fatigue mechanism. To tackle the problem, a series of material tests together with fatigue tests have been carried out, and elasto-plastic notch strain analysis using nonlinear kinematic hardening model has been performed. The cyclic stress-strain curves are obtained and the nonlinear kinematic hardening model was calibrated based on the obtained material data. Also, the fatigue test with non-load-carrying cruciform fillet welded joint has been performed in low cycle fatigue regime. Then, the notch strain analyses have been carried out to find the precise elasto-plastic behavior of the material at the notch root of the cruciform joint. The variation of the material property from the base metal via HAZ up to the weld metal was taken into account using spatial variation of the material property. Then the detail elasto-plastic behavior of the welded joint subjected to the repeated cyclic loading has been investigated further through the comparison with the prediction with Neuber's rule. The calibration of the nonlinear kinematic hardening model and nonlinear notch strain analyses have been performed using the commercial FE program ABAQUS.

• 전기의세계
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• v.39 no.6
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• pp.14-19
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• 1990

1. CAD system과 PROPS를 접속하여 CADsystem에서 Design된 surface를 사용할 수 있으며 Robot Kinematics를 graphic library화하여 surface배치 수상 및 path generation 및 animation을 통하여 가공작업을 위한 로보트 운동을 simulation할 수 있게 되었다. 2. Denavit-hartenberg transformation form에 의해 여러 Robot Kinematic을 일반적인 형식으로 library화 하였다. 3. 금형 가공의 공정들을 Menu로 만들어서 Expert system을 도입, 손쉽게 Interactive한 작업을 할 수 있게 하였다. 4. 차후의 연구 목표는 로보트 Calibration S/W의 개발 및 실현 그리고 Expert System을 이용한 Robot Program Generator의 완성을 통한 전체 Off-line programming System을 정립하는데 있다. 이를 위해서 더 실제적인 Tool Path Generation과 Expert System을 이용한 가공 조건의 결정 및 User Interface를 위한 Window가 개발되어야 한다. 5. 1차년도에 개발된 Robotonomic Tool System의 유연성을 확장시킨다. 실험결과를 바탕으로 공정 자동화 시스템을 확장시킨다. 6. 연마공정자동화에 필수적인 공구 및 공구 Tip의 표준화 및 자동교환장치를 개발한다. 7. 금형연마 Cell의 구성요소들간의 Interface 및 System Controller에서의 집적화를 시킨다.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.13-21
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• 1992

Standards concerning the determination of positioning accuracy and repeatability of numerically controlled(NC) machine tools have been published relentlessly over the last 20 years. Since the publication in 1988 of the International Standard 230-2 there has been a pronounced move, both at national and international standards level, to embrace further test procedures for a complete machine tool performance assessment. For example, measurements of angular (pitch, roll, and yaw) and straightness errors along linear axes are now commonplace and complement the existing positioning accuracy and repeatablity tests. More recently the subject of circularity evalutaion has also gained considerable interest. Here dynamic tests, using a kinematic ballbar or circular masterpiece, give an instant overview of the contouring ability of the machine in two axes at specific feedrates. This information is extremely important in optimising machining accuracy. This paper describes moves to complete the machine calibration package in national and international standardis- ation for the assessment of machine tool performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.6
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• pp.661-667
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• 2011

Kinematic contact trigger probes are widely used for feature inspection and measurement on coordinate measurement machines (CMMs) and computer numerically controlled (CNC) machine tools. Recently, the probing accuracy has become one of the most important factors in the improvement of product quality, as the accuracy of such machining centers and measuring machines is increasing. Although high-accuracy probes using strain gauge can achieve this requirement, in this paper we study the universal economic kinematic contact probe to prove its probing mechanism and errors, and to try to make the best use of its performance. Stylus-ball-radius and center-alignment errors are proved, and the probing error mechanism on the 3D measuring coordinate is analyzed using numerical expressions. Macro algorithms are developed for the compensation of these errors, and actual tests and verifications are performed with a kinematic contact trigger probe and reference sphere on a CNC machine tool.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.4
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• pp.875-886
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• 1994

This study is to develop an advanced storm runoff analysis program which takes geomorphological characteristics of watershed into consideration in determining model parameters. Basic concept of storm runoff modelling is based upon the kinematic wave theory. And numerical solution is obtained by the characteristic curve method. The storm runoff analysis program developed by this study is composed of multiple equivalent roughness sub-basins, each of which has two equivalent catchments on both side of a stream. Because it is based upon the stream-order of the Strahler system, the equivalent catchment-stream network reflects the stochastic geomorphological characteristics in the model parameter. Applicability and reliability of the storm runoff analysis program is evidenced by model calibration and verification process utilizing geographical and hydrological data of the Bocheong-river area which is a representative watershed of IHP projects in Korea. This study will hopefully contribute to hydrological calculation essentially required to understand water quality effect caused by regional development.

• Journal of Korea Water Resources Association
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• v.49 no.6
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• pp.459-467
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• 2016

LISFLOOD-FP model in which channel flows are resolved separately from the floodplain flows using either a kinematic or diffusive wave approximation has been used to analyze flooding behavior on the lower Mankyung River influenced by backwater. A calibration and validation process was applied using the previous flood events to assess the model performance. Sensitivity analysis was conducted for main calibrated parameters, such as Manning roughness coefficient and downstream boundary condition. Also, we examined the effect of warm-up for the initial conditions. The results show that the computed hydrograph is in good agreement with measured data on the study reach, even though it was a hydrologic kinematic wave model. The sensitive analysis show that the difference between the computed results may be greater depending on the used calibrated parameters and that the sufficient calibration/validation process against various flood events is necessary. If the flood inundation simulation is performed using the validated model, it is expected to be able to contribute about river planning and policy decision-making for flood damage reduction.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.6
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.454-458
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• 2007

Nonpoint source (NPS) pollution is a serious problem causing the degradation of soil and water quality. Concentrated overland flow is the primary transport mechanism for a large amount of NPS pollutants from hillslope areas to downslope areas in a watershed. In this study, a soil erosion model, nLS model, to identify transitional overland flow regions (i.e., ephemeral gully head areas) was developed using the kinematic wave overland flow theory. Spatial data, including digital elevation models (DEMs), soil, and landcover, were used in the GIS-based model algorithm. The model was calibrated and validated using gully head locations in a large agricultural watershed, which were identified using 1-m aerial photography. The model performance was better than two previous approaches; the overall accuracy of the nLS model was 72 % to 87 % in one calibration subwatershed and the mean overall accuracy was 75 to 89 % in four validation subwatersheds, showing that the model well predicted potential transitional erosion areas at different watersheds. However, the user accuracy in calibration and validation was still low. To improve the user accuracy and study the effects of DEM resolution, finer resolution DEMs may be preferred because DEM grid is strongly sensitive to estimating model parameters. Information gained from this study can improve assessing soil erosion process due to concentrated overland flow as well as analyze the effect of microtopographic landscapes, such as riparian buffer areas, in NPS control.