• 제어로봇시스템학회논문지
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• 제15권1호
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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.

• 한국안전학회지
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• 제27권5호
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• pp.185-189
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• 2012

While there is no standards on slip risk for contaminants on surface, glycerol is described in standard contaminant for measuring coefficient of friction(COF) and slip resistance such as ISO 13287. But that is just used to measure the slip resistance of surface materials and shoes not to evaluate the contaminant materials. Therefore the objective of this study was to find out the relationship between standard contaminant and the contaminants used usually at the workplaces. For this, some measurement criteria were acquired from the analysis based on biomechanics and kinetics of human gait during slips. The slip resistance according to viscosity of the contaminants was measured applying the criteria and slip probability was determined by the gait analysis. Some factors which should be considered when measuring the slip resistance were identified. The velocity, acceleration, contact time and contact pressure should be 1 m/sec, 10 $m/sec^2$, 350 kPa and less than 0.5sec respectively. The variation of viscosity according to temperature for working oils was different from that of standard contaminant. The static coefficient of friction (SCOF) of working oils was almost 0.5 times as large as the SCOF of standard contaminant. So it was assumed to be difficult to compare the contaminants at the workplaces with the glycerol as a standard contaminant for estimating the slip risk.

• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.181-194
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• 2017

In recent years, research has been actively conducted on the navigation in an indoor environment where Global Navigation Satellite System signals are unavailable. Among them, a study performed indoor navigation by integrating pseudolite carrier and Inertial Measurement Unit (IMU) sensor. However, in this case, there was no solution for the cycle slip occurring in the carrier. In another study, cycle slip detection and compensation were performed by integrating Global Positioning System (GPS) and IMU in an outdoor environment. However, in an indoor environment, cycle slip occurs more easily and frequently, and thus the occurrence of half cycle slip also increases. Accordingly, cycle slip detection based on 1 cycle unit has limitations. Therefore, in the present study, the aforementioned problems were resolved by performing indoor navigation through the integration of pseudolite and ultra-low-cost IMU embedded in a smartphone and by performing half cycle slip detection and compensation based on this. In addition, it was verified through the actual implementation of real-time navigation.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2006년도 추계 학술대회논문집
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• pp.142-146
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• 2006

The behavior of a hemisphere-cylinder flight vehicle at high angles of attack and side slip angles have been studied. $0^{\circ}{\sim}35^{\circ}$ angles of attack and $0^{\circ}{\sim}5^{\circ}$ side slip angles were selected as fright conditions at Mach No. 0.3. Flow changes from low angles of attack to high angles of attack were compared and analyzed. We changed from low to high angles of attack with small side slip angles. We compared normal, side and axial force coefficients among various test cases.

• 한국해양공학회지
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• 제13권4호통권35호
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• pp.151-158
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• 1999

A model harbour with Plan scale of $1.08{\times}1.08m$ is built on a tidal tank using a Froude relationship from a real harbour($432{\times}432m$). Velocity components are measured by a ultrasonic velocity meter and flow structure is then predicted using a 2-D depth integrated hydrodynamic model. In the finite difference model implemented in this study, various wall boundary conditions, i.e. no-slip, free-slip, partial-slip and semi-slip are used to represent turbulent diffusion terms, e.g. ${\partial}^2U_{ij}/{\partial}x^2\;or\;{\partial}^2U_{ij}/{\partial}y^2$. These conditions are focused to investigate their influence on the flow structure along the wall and basin of the harbour with aspect ratio of unity, i.e. Length/Breadth. Numerical experiments are compared with the measurements and used to analyse flow patterns in the basin during tidal cycles. It is shown from the results that no-slip closed boundary condition is the most appropriate method with respect to the location of the eddy centre, although the condition underestimates velocity components along the wall.

• Steel and Composite Structures
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• 제45권6호
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• pp.819-830
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• 2022

This paper presented an experimental study of the bond-slip behavior of reactive powder concrete (RPC)-filled square steel tube. A total of 18 short composite specimens were designed forstatic push-out test, and information on their failure patterns, load-slip behavior and bond strength was presented. The effects of width-to-thickness ratio, height-to-width ratio and the compressive strength of RPC on the bond behavior were discussed. The experimental results show that:(1) the push-out specimens remain intact and no visible local buckling appears on the steel tube, and the interfacial scratches are even more pronounced at the internal steel tube of loading end; (2) the bond load-slip curves with different width-to-thickness ratios can be divided into two types, and the main difference is whether the curves have a drop in load with increasing slip; (3) the bond strength decreases with the increase of the width-to-thickness ratio and height-width ratio, while the influence of RPC strength is not consistent; (4) the slippage has no definite correlation with bond strength and the influence of designed parameters on slippage is not evident. On the basis of the above analysis, the expressions of interface friction stress and mechanical interaction stress are determined by neglecting chemical adhesive force, and the calculation model of bond strength for RPC filled in square steel tube specimens is proposed. The theoretical results agree well with the experimental data.

• 한국전산유체공학회지
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• 제18권3호
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• pp.34-41
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• 2013

We develop a novel immersed boundary (IB) method based on implicit direct forcing scheme for incompressible flows. The proposed IB method is based on an iterative procedure for calculating the direct forcing coupled with the momentum equations in order to satisfy no-slip boundary conditions on IB surfaces. We perform simulations of two-dimensional flows over a circular cylinder for low and moderate Reynolds numbers. The present method shows that the errors for estimated velocities on IB surfaces are significantly reduced even for low Reynolds number with a fairly large time step while the previous methods based on direct forcing failed to provide no-slip boundary conditions on IB surfaces.

• 한국안전학회지
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• 제27권5호
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• pp.179-184
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• 2012

This study was performed to find out the measurement criteria of slip resistance from analysis of human gait and slips. Many kinds of slip resistance testers were developed based on mechanical friction testers. But, there are, as yet, no unambiguous slip resistance measurement methodologies and generally accepted safety criteria or safety thresholds for estimating slipping hazard exposures. Also, there are variety of measuring conditions between those testers. The measurement criteria should be tested within the range of human slipping conditions observed in biomechanical studies. It's results should clearly consider whether the devices reflect the human slipping conditions. In this study a dragsled type friction tester, which was constructed in accordance with ISO 15133 basically, was used. Test conditions were set in order to determine the range of measurement criteria. It is shown that drag velocity should be more than 1 m/s, acceleration be more than 10 $m/s^2$, contact time be less than 0.1sec, and contact pressure be within 350~400 kPa.

• 한국강구조학회 논문집
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• 제9권3호통권32호
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• pp.301-307
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• 1997

강부재의 현장조립시 부재간의 불일치 등으로 인하여 볼트 구멍의 확장을 통해 볼트 삽입을 용이하게 할 필요가 발생한다. 그러나, 국내 시방기준에는 과대공에 대한 규정이 없고, 이에 대한 연구도 전무한 실정이다. 따라서 본 연구에서는 볼트 구멍의 크기, 표면처리 조건 및 볼트의 체결력을 변수로 하여 정적 인장시험을 실시하여 이들 인자가 이음부의 미끄러짐 거동에 미치는 영향을 조사하였다. 그 결과, 소정의 미끄러짐 하중을 확보하기 위해서는 표면을 숏블라스트 처리할 경우는 체결력이 충분히 확보되어야 하지만, 징크리치 프라이머의 경우는 체결력이 다소 떨어진다 하더라도 소정의 미끄러짐 하중을 확보하는데 있어 용이함을 알 수 있었다. 한편. 숏블라스트 및 징크리치 프라이머 시험편 모두 직경 26mm의 과대공에서의 미끄러짐 계수의 차이는 표준공과 비교하여 거의 없는 것으로 판단된다.

• 한국전산유체공학회지
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• 제19권3호
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• pp.77-84
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• 2014

The lattice Boltzmann (LB) method has been used to simulate rarefied gas flows in a micro-system as an alternative tool. However, previous results were mainly focused on a simple geometry with flat walls because the LB method is modeled on uniform Cartesian lattices. When previous boundary conditions for the microflows are applied to curved walls, the use of them requires approximation of the curved boundary by a series of stair steps, and introduces additional errors. For macroflows, no-slip curved wall boundary treatments have been developed remarkably in order to overcome these limits. However, the investigations for the slip curved wall boundary have rarely been performed for microflows. In this work, a curved boundary treatment of the LB method for a slip flow has been introduced. The results of the LB method for 2D microchannel and 3D microtube flows are in excellent agreement with the analytical solutions.