• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Nuclear Engineering and Technology
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• v.55 no.8
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• pp.2785-2796
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• 2023

How to generate the precise broad group cross section is important for the fast reactor design. In this study, a fast reactor multi-group cross-section generation code MGGC2.0 are developed in-house for processing ultrafine group MATXS format library. Validation and verification are performed for MGGC2.0 code by applying the benchmarks of ICSBEP handbook, and the results of MGGC2.0 agree well with that of MCNP. The consistent P_N method with critical buckling search is in good agreement that condensed with TWODANT flux and flux moment for the inner core and outer core region. For the radial blanket and reflector, two region approximation method has been applied in MGGC2.0 by using collision Probability Method neutron flux solver. The RBEC-M benchmark was used to verify the power distribution calculation, and the relative error of power distribution comparison with the reference are less than 0.8% in the fuel region and the maximum relative error is 5.58% in the reflector region. Therefore, the precise broad cross section can be generated by MGGC2.0 for fast reactor.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.372.1-372.1
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• 2016

Recently, there are a lot of diseases all around the world. Out of them, Atherosclerosis (AS) is the most common cause of stroke, cardiovascular mortality, and myocardial infarction. The macrophage-derived foam cell, which is formed by oxidized low-density lipoprotein (oxLDL), is the crucial marker for AS. In this study, we report a label-free capacitance imaging technique with multi-electrode array (MEA). The lipid-rich aorta arch lesions, which are derived from an apolipoprotein-E receptor-deficient (apoE-/-) mouse, exhibit higher capacitance than the lipid-free aorta arch, allowing the capacitance imaging of lipid region in atherosclerosis. To improve the contacts between MEA and tissue, polypyrrole(PPy)-coated multi walled carbon nanotubes (MWNTs) multi electrode array (PPy-MWNTs-MEA) was fabricated. Compared to TiN-MEA, PPy-MWNTs-MEA yielded lower contact impedance and better capacitance images. In addition, we have also developed a flexible MEA using single walled carbon nanotubes on a PET substrate. The lipid region could be discriminated in the capacitance images of the lipid-rich aorta arch lesions measured using flexible MEA, demonstrating a feasibility of in vivo applications.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.6
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• pp.295-311
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• 2019

The smart product market is growing year by year and is being used in many areas. There are various ways of interacting with smart products and users by inputting voice recognition, touch and finger movements. It is most important to detect an accurate hand region as a whole step to recognize hand movement. In this paper, we propose a method to detect accurate hand region in real time in various environments. A conventional method of detecting a hand region includes a method using depth information of a multi-sensor camera, a method of detecting a hand through machine learning, and a method of detecting a hand region using a color model. Among these methods, a method using a multi-sensor camera or a method using a machine learning requires a large amount of calculation and a high-performance PC is essential. Many computations are not suitable for embedded systems, and high-end PCs increase or decrease the price of smart products. The algorithm proposed in this paper detects the hand region using the color model, corrects the problems of the existing hand detection algorithm, and detects the accurate hand region based on various experimental environments.

• Smart Structures and Systems
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• v.15 no.1
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• pp.99-117
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• 2015

The Stonecutters Bridge (SCB) in Hong Kong is the third-longest cable-stayed bridge in the world with a main span stretching 1,018 m between two 298 m high single-leg tapering composite towers. A Wind and Structural Health Monitoring System (WASHMS) is being implemented on SCB by the Highways Department of The Hong Kong SAR Government, and the SCB-WASHMS is composed of more than 1,300 sensors in 15 types. In order to establish a linkage between structural health monitoring and maintenance management, a Structural Health Rating System (SHRS) with relevant rating tools and indices is devised. On the basis of a 3D space frame finite element model (FEM) of SCB and model updating, this paper presents the development of an SHR-oriented 3D multi-scale FEM for the purpose of load-resistance analysis and damage evaluation in structural element level, including modeling, refinement and validation of the multi-scale FEM. The refined 3D structural segments at deck and towers are established in critical segment positions corresponding to maximum cable forces. The components in the critical segment region are modeled as a full 3D FEM and fitted into the 3D space frame FEM. The boundary conditions between beam and shell elements are performed conforming to equivalent stiffness, effective mass and compatibility of deformation. The 3D multi-scale FEM is verified by the in-situ measured dynamic characteristics and static response. A good agreement between the FEM and measurement results indicates that the 3D multi-scale FEM is precise and efficient for WASHMS and SHRS of SCB. In addition, stress distribution and concentration of the critical segments in the 3D multi-scale FEM under temperature loads, static wind loads and equivalent seismic loads are investigated. Stress concentration elements under equivalent seismic loads exist in the anchor zone in steel/concrete beam and the anchor plate edge in steel anchor box of the towers.

• 전기의세계
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• v.22 no.1
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• pp.20-27
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• 1973

The multi-group diffusion theory is applied to the analysis of the currently constructing Kori reactor core which is to be refuelled by 3-region fuel loading pattern and also to the comparative study on a conceptually designed 5-region reactor core, under the condition that, apart from the thermal-hydraulic considerations, all the input data referred to here in are assumed to be identical for both cases. The numerical calculation is carried out for quantitative analysis of the characteristics of the two fuel loading patterns in details, and the calculated results show that, so far as the nuclear aspects are concerned, the characteristics of the 5-region reactor core are proved to be superior to those of Kori's 3-region reactor core in general.

• Transactions of Materials Processing
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• v.8 no.2
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• pp.178-187
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• 1999

The Cross rolling between flat jaws, as a kind of hot forging, is the forming method to make the axisymmetric multi-step shaft by its rotation and pressure between flat jaws which move in opposite direction. The purpose of this study is to propose the optimal geometric data for shape development of the forward forming region. All data described on this paper are quantified by experiment from initial shape design to final shape development. As the result, proper geometric data are proved that lenth of the first forming area in the forward forming region is 1.5 times larger than circumference of work-piece and the progress angle changes 3 times smoothly.

• Journal of Korea Society of Digital Industry and Information Management
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• v.9 no.3
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• pp.13-20
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• 2013

In this paper, we propose a multi-scale crack detection method. This method uses decomposition, composition, and shape properties. It is based on morphology algorithm, crack features. We use a morphology operator which extracts patterns of crack. It segments cracks and background using opening and closing operations. Morphology based segmentation is better than existing integration methods using subtraction in detecting a crack it has small width. However, morphology methods using only one structure element could detect only fixed width crack. Thus, we use decomposition and composition methods. We use a decimation method for decomposition. After decomposition and morphology operation, we get edge images given by binary values. Our method calculates values of properties such as the number of pixels and the maximum length of the segmented region. We decide whether the segmented region belongs to cracks according to those data. Experimental results show that our proposed multi-scale crack detection method has better results than those of existing detection methods.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.221-221
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• 2000

The heat exchange part in a modern multi-type air-conditioning system employs multiple-pass heat exchangers. The heat-transfer performance of an each pass in such an exchanger depends strongly on the length of the two-phase region and the mass flow of the refrigerant. The total length and diameters of the pipes, the exit conditions, and the arrangement of each pass as well as the geometrical shape of the distributor at the branching sections are considered to be major factors affecting the heat-transfer performance. The refrigerant commonly used in these systems is HCFC-22. The two objectives of this paper are to investigate the characteristics of the refrigerant flow rate and the superheat in the evaporator of a multi-type air-conditioning system for a single or simultaneous operating conditions and to control the superheat and the refrigerant flow rate of the evaporator.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1304-1309
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• 2004

Synthesis of carbon nanotubes and nanofibers on a catalytic metal substrate, using an ethylene fueled inverse diffusion flame, was investigated. Multi-walled carbon nanotubes, with diameters of 20 - 60nm, were formed on the substrate coated with nickel-nitrate in the region of 5 - 6mm from the flame center along the radial direction. The gas temperature for this region was ranging from about 1400 to 900K. Nickel particles originated from the coated nickel-nitrate on the substrate were the major catalyst for the formation of the nanomaterials. HR-TEM and Raman spectrum revealed that synthesized carbon nanotubes had multi-walled structures with some defective graphite layers at walls.