• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.12
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• pp.156-163
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• 2010

The brushless motor is getting widely applied to the automotive component with the advantage of the high efficiency, high reliability and etc.. Most of the motor applications require the low vibration and acoustic noise. The cogging torque is the one of the main cause of the noise and vibration. The step-skewed rotor is used to reduce the cogging torque. We analyze the characteristics of the step-skewed rotor and non skewed rotor with the same stator by using 2-dimensional FEM. And then we analyze the characteristics variation according to the rotor eccentricity. The prototype is made and tested. As the results, the step-skewed rotor structure reduce the cogging torque and local radial force but it is more sensitive to rotor eccentricity.

• Journal of Magnetics
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• v.14 no.4
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• pp.172-174
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• 2009

Nanolithography by atomic force microscope local oxidation was applied to the fabrication of planar-type Ni/Ni oxide/Ni junctions from 10 nm-thick Ni films. The junction characteristics were sensitive to the lithography conditions such as the bias voltage. Successful oxidation produced junctions of nonlinear current-voltage characteristics, implying the formation of oxide barriers. Magnetoresistance (MR) at low temperatures resembled that of spin valves.

• Journal of Magnetics
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• v.12 no.1
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• pp.17-20
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• 2007

We performed magnetic force microscopy (MFM) observation on array of Co dots in order to understand magnetic state and magnetization behavior of submicron sized Co dots patterned on GaMnAs bridge. MFM observations showed the magnetization reversal and processes of local magnetization of individual ferromagnetic Co nanodots. Magnetic state of Co dots either single domain or vortex is dependent on geometrical size and thickness. Transition from single domain to vortex state can be realized with MFM tip assisted local field. Magnetization reversal process takes place through sequential reversal of individual dots. Localized inhomogeneous magnetic field can be manipulated by controlling magnetic state of individual Co dot in the array structure.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.10a
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• pp.354-361
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• 2002

This paper propose section properties factor to generate stress history for fatigue analysis and safety inspection of steel bridge. A methodology is described for the computation of numerical stress histories in the steel truss bridge, caused by the vehicles using section properties factor. The global 3-D beam model of bridge is combined with the local shell model of selected details. Joint geometry is introduced by the local shell model. The global beam model takes the effects of joint rigidity and interaction of structural elements into account. Connection nodes in the global beam model correspond to the end cross-section centroids of the local shell model. Their displacements are interpreted as imposed deformations on the local shell model. The load cases fur the global model simulate the vertical unit force along the stringers. The load cases fer the local model are imposed unit deformations. Combining these, and applying vehicle loads, numerical stress histories are obtained. The method is illustrated by test load results of an existing bridge.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.4
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• pp.88-98
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• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2014.11a
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• pp.226-227
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• 2014

We demonstrate nanoscale local anodic oxidation (LAO) patterning on few layer graphene using atomic force microscope (AFM) at room temperature and normal atmosphere. We focus on the humidity dependency in nanoscale oxidation of graphene. The relationship between the oxidation size and the AFM setting values, such as set point, tip speed, and humidity are observed. By changing these values, proper parameters were found to produce features on demand size. This technique provides an easy way to form graphene oxide lithography without any chemical resists. We have obtained oxidation size down to 50-nm with 6-nm-height oxide barrier line with $0.1{\mu}m/s$ tip scanning speed and micrometer size symbols on a graphene flake. We attribute the bumps to local anodic oxidation on graphene surface and combination of oxygen ions into the graphene lattice.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.10
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• pp.1284-1293
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• 1997

The electrostatic effect on particle deposition onto a heated, Horizontal free-standing wafer surface was investigated numerically. The deposition mechanisms considered were convection, Brownian and turbulent diffusion, sedimentation, thermophoresis and electrostatic force. The electric charge on particle needed to calculate the electrostatic migration velocity induced by the local electric field was assumed to be the Boltzmann equilibrium charge. The electrostatic forces acted upon the particle included the Coulombic, image, dielectrophoretic and dipole-dipole forces based on the assumption that the particle and wafer surface are conducting. The electric potential distribution needed to calculate the local electric field around the wafer was calculated from the Laplace equation. The averaged and local deposition velocities were obtained for a temperature difference of 0-10 K and an applied voltage of 0-1000 v.The numerical results were then compared with those of the present suggested approximate model and the available experimental data. The comparison showed relatively good agreement between them.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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• pp.743-750
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• 2008

Asymmetric tip clearance in an axial compressor induces pressure and velocity redistributions along the circumferential direction in an axial compressor. This paper presents the mechanism of the flow redistribution due to the asymmetric tip clearance with a simple numerical modeling. The flow field of a rotor of an axial compressor is predicted when an asymmetric tip clearance occurs along the circumferential direction. The modeling results are supported by CFD results not only to validate the present modeling but also to investigate more detailed flow fields. Asymmetric tip clearance makes local flow area and resultant axial velocity vary along the circumferential direction. This flow redistribution 'seed' results in a different flow patterns according to the flow coefficient. Flow field redistribution patterns are largely dependent on the local tip clearance performance at low flow coefficients. However, the contribution of the main flow region becomes dominant while the tip clearance effect becomes weak as the flow coefficient increases. The flow field redistribution pattern becomes noticeably strong if a blockage effect is involved when the flow coefficient increases. The relative flow angle at the small clearance region decreases which result in a negative incidence angle at the high flow coefficient. It causes a recirculation region at the blade pressure surface which results in the flow blockage. It promotes the strength of the flow field redistribution at the rotor outlet. These flow pattern changes have an effect on the blade loading perturbations. The integration of blade loading perturbation from control volume analysis of the circumferential momentum leads to well-known Alford's force. Alford's force is always negative when the flow blockage effects are excluded. However when the flow blockage effect is incorporated into the modeling, main flow effects on the flow redistribution is also reflected on the Alford's force at the high flow coefficient. Alford's force steeply increases as the flow coefficient increases, because of the tip leakage suppression and strong flow redistribution. The predicted results are well agreed to CFD results by Kang and Kang(2006).

• Steel and Composite Structures
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• v.5 no.2_3
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• pp.235-246
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• 2005

Local buckling is a major consideration in the design of thin-walled cold-formed steel sections. The main effect of local buckling in plate elements under longitudinal compressive stresses is to cause a redistribution of the stresses in which the greatest portion of the load is carried near the supporting edges of the plate junctions. The redistribution produces increased stresses near the plate junctions and high bending stresses as a result of plate flexure, leading to ultimate loads below the squash load of the section. In singly symmetric cross-sections, the redistribution of longitudinal stress caused by local buckling also produces a shift of the line of action of internal force (shift of effective centroid). The fundamentally different effects of local buckling on the behaviour of pin-ended and fixed-ended singly symmetric columns lead to inconsistencies in traditional design approaches. The paper describes local buckling and shift of effective centroid of thin-walled cold-formed steel channel columns. Tests of channel columns have been described. The experimental local buckling loads were compared with the theoretical local buckling loads obtained using an elastic finite strip buckling analysis. The shift of the effective centroid was also compared with the shift predicted using the Australian/New Zealand and American specifications for cold-formed steel structures.