• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2899-2908
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• 2000

Methodology of volumetric error identification is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geometric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. The proposed method can speed up and simplify volumetric error identification processes.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.596-601
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• 2000

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.296-300
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• 1996

This paper presents 3D position estimation algorithm with the images of 2D vision sensors which issues Red Laser Slit light and recieves the line images. Since the sensor usually measures 2D position of corner(or edge) of a body and the measured point is not fixed in the body, the additional information of the corner(or edge) is used. That is, corner(or edge) line is straight and fixed in the body. For the body which moves in a plane, the Transformation matrix between the body coordinate and the reference coordinate is analytically found. For the 3D motion body, linearization technique and least mean squares method are used.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.10a
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• pp.145-152
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• 1995

A general stiffener element which includes transverse shear deformation(TSD) is formulated using the p-version of finite element method. Hierarchic C"-shape functions, derived from Integrals of Legendre polynomials, are used to define the assembled stiffness matrix of the stiffener and plate on the basis of 5 D.0.F displacement fields. The stiffness matrix for the stiffener with respect to the local reference frame is transformed to the plate reference system by applying the appropriate transformation matrices in order to insure compatibility of displacements at the junction of the stiffener and plate. The transformation matrices which account for the orientation and the eccentricity effects of the stiffener with respect to the plate reference axes are used to find local behavior at the junction of the stiffener and the relative contributions of the plate and stiffener to the strength of the composite system. The results obtained by the p-version of the finite element method are compared with the results in literatures, especially those by the h-version software, MICROFEAP-II.P-II.

• Corrosion Science and Technology
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• v.6 no.2
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• pp.56-61
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• 2007

Carbide dissolution during heating processes can change chemical composition of martensitic stainless steel in its austenitic phase. Although the austenitizing treatments were carried out at a homogeneous austenite region, the amount of carbon atom in the matrix differs. Increase in the amount of carbon contents in the matrix resulted in decreasing MS temperature, which consequently causes the volume fraction of the retained austenite to increase. This study reveals the effects of the austenitizing treatment on the properties of Fe - 0.3C - 14Cr - 3Mo martensitic stainless steel change with different austenitizing temperatures.

• Smart Structures and Systems
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• v.25 no.6
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• pp.669-678
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• 2020

This paper focuses on the free vibration analysis of axially functionally graded (FG) Euler-Bernoulli beams. The material properties of the beams are assumed to obey the linear law distribution. The complexities in solving differential equation of transverse vibration of composite beams which limit the analytical solution to some special cases are overcome using the Differential Transformation Method (DTM). Natural frequencies and corresponding normalized mode shapes are calculated. Validation targets are experimental data or finite element results. Different parameters such as reinforcement distribution, ratio of the reinforcement Young's modulus to the matrix Young's modulus and ratio of the reinforcement density to the matrix density are taken into investigation. The delivered results prove the capability and the robustness of the applied method. The studied parameters are demonstrated to be very crucial for the normalized natural frequencies and mode shapes.

• Korean Journal of Computational Design and Engineering
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• v.14 no.4
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• pp.261-270
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• 2009

We can save a lot of efforts and time to perform various kinds of multibody system dynamics simulations if the equations of motion of the multibody system can be formulated automatically. In general, the equations of motion are formulated based on Newton's $2^{nd}$law. And they can be transformed into the equations composed of independent variables by using velocity transformation matrix. In this paper the velocity transformation matrix is derived based on a topological modeling approach which considers the topology and the joint property of the multibody system. This approach is, then, used to formulate the equations of motion automatically and to implement a multibody system dynamics simulation program. To verify the the efficiency and convenience of the program, it is applied to the lifting simulation of a floating crane.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.5
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• pp.1041-1046
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• 2009

In this paper, we proposed a robust watermark scheme for image based on SVD(Singular Value Transform) and Triplet. First, the original image is decomposed by using 3-level DWT, and then used the singular values changed for embedding and extracting of the watermark sequence in LL3 band. Since the matrix of singular values is not easily altered with various signal processing noises, the embedded watermark sequence has the ability to withstand various signal processing noise attacks. Nevertheless, this method does not guarantee geometric transformation(such as rotation, cropping, etc.) because the geometric transformation changes the matrix size. In this case, the watermark sequence cannot be extracted. To compensate for the above weaknesses, a method which uses the triplet for embedding a barcode image watermark in the middle of frequency band is proposed. In order to generate the barcode image watermark, the pattern of the watermark sequence embedded in a LL3 band is used. According to this method, the watermark information can be extracted from attacked images.