• 대한기계학회논문집B
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• 제23권11호
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• pp.1426-1433
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• 1999

Topological and kinematical studies of the singular points found in flows around a surface-mounted cube in a channel are presented. Numerical simulation was carried out using high-resolution grid systems. Singular points(saddles and nodes) were found around the cube, which satisfy the topological rules suggested by Hunt et al. As the Reynolds number increases, the structure of vortices around the cube becomes complex and the number of singular points increases. Nevertheless, the rule governing the numbers of singular points is still valid. This confirms that our simulation is correct from topological and kinematical point of view, and enables one to infer complex flow patterns in our simulation.

• 한국정밀공학회지
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• 제21권5호
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• 한국정밀공학회지
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• 제20권3호
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• pp.97-104
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• 2003

This paper proposes a new parallel manipulator fur plane motion, and then discusses on the workspace and kinematical characteristics of the manipulator. The conventional planar parallel manipulators have some disadvantages which are complex non-closed type direct kinematics, workspaces containing useless voids, and concave type border tines of workspaces. The proposed planar parallel manipulator overcomes the above disadvantages, that is, the manipulator has simple closed type direct kinematics, a void-free workspace, and a convex type borderline of a workspace. This paper shows the simulation result of the workspace as well as performances indices using a homogeneous inverse Jacobian.

• 한국정밀공학회지
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• 제21권5호
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• 한국정밀공학회지
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• 제22권12호
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• pp.108-116
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• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.

• Applied Microscopy
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• 제35권4호
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• pp.1-9
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• 2005

이 논문에서 Al-Cu-Mg 합금의 미세 석출 입자의 S-상 ($Al_2CuMg$) 결정구조에 대해 전자회절실험에 의한 포괄적인 연구 결과가 보고 되어 있다. 이 실험에는 한 S-상 입자를 포함하는 최소 영역의 일정 zone축의 회절패턴(SAED) 관찰과 이에 대응되는 운동학적 이론을 기초로 한 패턴의 시물레이션과의 비교 분석, 그리고 관측된 회절 패턴 필름으로부터 각 Bragg회절 점의 강도의 정량적 데이터 추출과 운동학적 및 동역학적 회절 강도 계산과의 비교 검토의 과정을 포함하고 있다. 이러한 연구의 한 결과 S-상의 결정구조는 일찍이 X-ray 방법으로부터 얻은 PW 모델결정(Perlitz and Westgren, 1943)과 일치함을 보여주고 있고, HREM 방법에 의해 새로이 구한 RaVel (Radmilovic et al., 1999) 모델과는 전혀 맞지않음이 판명되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.115.3-115
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• 2002

To improve the performance of the tracked vehicle system, we examined the feasibility of using the preview control for the tracked vehicles suspension system. We proposed a method to apply a linear optimal preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the trailing arm suspension, we classified these as unknown dynamics and disturbances. We used the Time Delay Control(TDC) method to make sprung mass dynamics follow that of linear preview controlled tracked vehicle model by compensating the uncertainties and disturbances. We have verified by the computer simulation that the proposed method shows good robus...

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.71-77
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• 2010

As a hybrid model of continuum motion description which combines the advantages of classical kinematical descriptions i.e. Lagrangian and Eulerian description, the ALE (Arbitrary Lagrangian Eulerian) description is adopted for the simulation of a fluid-structure interaction of solid propellant rocket interior. The fluid-structure interaction phenomenon with the deformation of solid domain during the simulation. The developed solver is applied flow and propellant structure. The computed results show complex flow physics in the combustion chamber and the behavior of a solid propellant deformation.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.510-513
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• 2008

The traditional computational fluid or structure dynamics analysis approaches have contributed to solve many delicate engineering problems. But for the most of recent engineering problems which are influenced by fluid-structure interaction effect strongly, traditional individual approaches have limited analysis abilities for the exact simulation. Owing to above-mentioned reason, nowadays fluid-structure interaction analysis has become a matter of concern and interest. FSI analysis require several unprecedented techniques for the combining individual analysis tool into integrated analysis tool. The Arbitrary Lagrangian-Eulerian(ALE, in short) method is the new description of continum motion,which combines the advantages of the classical kinematical descriptions, i.e. Lagrangian and Eulerian description, while minimizing their respective drawbacks. In this paper, the ALE description is adapted to simulate fluid-structure interaction problems. An automatic re-mesh algorithm and a fluid-structure coupling process are included to analyze the interaction and moving motion during the 2-D axisymmetric solid rocket interior FSI phenomena simulation.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2007년도 추계학술대회 논문집
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• pp.47-48
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• 2007

A CMP Process has many factors that affect result of a polished wafer. Dominant factors are velocity, pressure and temperature in process. A pad profile is also considered as affecting factor of CMP. Accoding to variation of a pad profile, the each pan of a wafer is differently pressured. It appears to affect the uniformity of a wafer. A pad profile varies as a swing arm conditioner which have been ordinarily used in industry. A swing arm conditioner has several sectors in its swing path. This study aims that a wafer get a good uniformity as swing arm conditioner's path on pad is analyzed and simulated. Through the simulation, tendency of pad profile after conditioning will be predicted and the result of simulation compared with the result of experiment. The optimized pad profile would be made by to vary swing arm's velocity on each sector. In order to maintain the optimized profile, conditioner design or swing arm's velocity should be changed and designed.