• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• 천문학회보
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• 제41권2호
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• pp.49.2-49.2
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• 2016

The number of discovery of asteroids with peculiar rotational states has recently increased, and hence a novel approach for lightcurve analysis is considered to be critical. In order to investigate objects such as Non-Principal Axis (NPA) rotator, we selected a NPA candidate, (5247) Kryolv as our target considering its Principal Axis Rotation (PAR) code and the visibility in early 2016. The observations of Krylov were made using Korea Microlensing Telescope Network (KMTNet) 1.6 m telescopes installed at the three southern sites with TO (Target of Opportunity) observation mode. We conducted R-band time-series photometry over a total of 51 nights from January to April 2016 with several exposures during each allocated run. The ensemble normalization photometry was employed using the AAVSO Photomtric All-Sky Survey (APASS) catalog for the standardization. We successfully confirmed its NPA spin state based on the deviation from the reduced lightcurve, and thus Krylov is recorded as the first NPA rotator of its kind in the main-belt, with its precession and rotation periods, $P{\varphi}=81.18h$ and $P_{\Psi}=67.17h$, respectively. In this paper, we present the spin direction, the 3D shape model and taxonomy of the newly confirmed NPA asteroid (5247) Krylov.

• 천문학회보
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• 제37권1호
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• pp.82.2-82.2
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• 2012

We present Herschel-PACS observations of L1448-MM, a Class 0 protostar with a prominent outflow, part of the DIGIT Key Program (PI: N. Evans). We detect numerous emission lines including CO and $H_2O$ rotational transitions, OH transitions, and [OI] forbidden transitions at wavelengths from 55 to 210 ${\mu}m$. The $H_2O$, [OI], mid-J CO (J < 23), and OH emission distributes along the outflow direction although high-J CO and other OH emission peaks at the central spatial pixel. According to our simple excitation analysis, CO seems to have two temperature components of warm and hot, which might be attributed to the PDR and shock, respectively. After exploring a wide range of physical conditions with a non-LTE LVG code, RADEX, we found that either shock alone or the combination of PDR and shock can explain the observations. The relative fraction of observed line luminosities suggest that L1448-MM is shielded from the UV radiation because $H_2O$ and CO are the dominant coolants rather than OH and [OI]. In addition, our observed fluxes match better with C-shock models rather than J-shocks. The non-LTE LVG model supports that the IR pumping process is important for OH transitions because the OH line ratios are fitted much better when the dust thermal continuum is included.

• 대한기계학회논문집
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• 제9권2호
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• pp.150-157
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• 1985

본 연구에서는 자연적인 미소흠함주위에 발생, 전파하는 피로크랙의 거동을 검토하기 위하여, 기존재료가 갖고 있는 흠함이나 비금속개재물을 대신할 수 있다고 생각되는 크기가 다른 비관통 인공미성구멍을 갖는 여러 종류의 시험편을 준비하고, 이 시험편들이 갖는 인공미성구멍주위에 발생전파하는 피로크랙의 거동을, 금속현미경 관찰을 토대로 상세히 고찰하였다. 그리고 이러한 관찰을 기초로 하여 비관통인공미 성구멍의 대성에 따른 피로한계도거동에 대해서도 고찰하였다.

• 산업경영시스템학회지
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• 제39권1호
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• pp.130-139
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• 2016

The purpose of this paper is to analyze the problems and the sources of defective products and draw improvement plans in a small plastic boat manufacturing process using TOC (Theory Of Constraints) and statistical analysis. TOC is a methodology to present a scheme for optimization of production process by finding the CCR (Capacity Constraints Resource) in the organization or the all production process through the concentration improvement activity. In this paper, we found and reformed constraints and bottlenecks in plastic boat manufacturing process in the target company for less defect ratio and production cost by applying DBR (Drum, Buffer, Rope) scheduling. And we set the threshold values for the critical process variables using statistical analysis. The result can be summarized as follows. First, CCRs in inventory control, material mix, and oven setting were found and solutions were suggested by applying DBR method. Second, the logical thinking process was utilized to find core conflict factors and draw solutions. Third, to specify the solution plan, experiment data were statistically analyzed. Data were collected from the daily journal addressing the details of 96 products such as temperature, humidity, duration and temperature of heating process, rotation speed, duration time of cooling, and the temperature of removal process. Basic statistics and logistic regression analysis were conducted with the defection as the dependent variable. Finally, critical values for major processes were proposed based on the analysis. This paper has a practical importance in contribution to the quality level of the target company through theoretical approach, TOC, and statistical analysis. However, limited number of data might depreciate the significance of the analysis and therefore it will be interesting further research direction to specify the significant manufacturing conditions across different products and processes.

• 한국정밀공학회지
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• 제28권3호
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• pp.285-291
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• 2011

The error motion of a machine tool spindle directly affects the surface errors of machined parts. The error motions of the spindle are not desired errors in the three linear direction motions and two rotating motions. Those are usually due to the imperfect of bearings, stiffness of spindle, assembly errors, external force or unbalance of rotors. The error motions of the spindle have been needed to be decreased to desired goal of spindle's performance. The level of error motion is needed to be estimated during the design and assembly process of the spindle. In this paper, the estimation method for the five degree of freedom (5 D.O.F) error motions of the spindle is suggested. To estimate the error motions of the spindle, waviness of shaft and bearings, external force model was used as input data. And, the estimation models are considering geometric relationship and force equilibrium of the five degree of the freedom. To calculate error motions of the spindle, not only imperfection of the shaft, bearings, such as rolling element bearing, hydrostatic bearing, and aerostatic bearing, but also driving elements such as worm, pulley, and direct driving motor systems, were considered.

• Ocean Systems Engineering
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• 제6권4호
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• pp.377-400
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• 2016

Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.193-196
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• 2008

The vortical structures in a turbulent boundary layer (TBL) developed over a flat plate have been investigated experimentally. The flow conditions tested in this study were Re$_{\theta}$ = 3700, Re$_{\delta}$ = 11${\times}$105 and the shape factor H = 1.3. Instantaneous velocity fields in the streamwise-wall-normal planes were measured by using a dynamic PIV system. A trip-wire and sandpapers were placed behind the leading edge to promote the turbulent transition. 1000 velocity fields were obtained consecutively with a time interval of 1 millisecond. Streamwise u-velocity components were temporally averaged in the measuring plane. In addition, 2000 velocity fields were obtained randomly and ensemble-averaged to get the fully-developed turbulent characteristics. Profiles of the normalized u-component, turbulent intensities and Reynolds shear stress were evaluated. The structures of spanwise vortices were extracted from the instantaneous velocity fields by determining the swirling strength, ${\lambda}_{ci}$. The wall-normalized locations of vortices were temporally averaged in the measuring plane with respect to their rotational direction. The correlations between the temporally averaged u and the temporally averaged $y^+$ of vortices were evaluated. For the case of positive vortices, the correlation is not significant. However, the negative vortices show a strong negative correlation. The y-location of negative vortices tends to increase, as the averaged u decreases and vice versa. These findings indicate that the number of negative vortices in the outer layer increases during the outward bursting events.

• 한국기계가공학회지
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• 제15권4호
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• pp.73-82
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• 2016

Recently, automobile industries have been developing many structural automotive parts made of thin, high-strength steel strips to produce safer and more environmentally friendly cars. The roll forming process has been considered one of the most efficient processes in manufacturing high-strength steel parts because it is a high-speed process that forms sheets in increments. However, most automotive parts vary longitudinally in their cross-sections. Therefore, it is difficult to apply the roll forming process to automotive parts made of high-strength steel. A variable section roll forming process has been proposed in recent studies. The rotational axes of the forming rolls are fixed, and the forming rolls have three-dimensional shape. As such, the cross-section of the part varies linearly along its length, and the angle between the bend line and longitudinal axis is less than 1 degree. Thus, the rate of cross-sectional variation along the length is relatively small. In this study, the rate of cross-sectional change along the length of a forming roll has been increased. Moreover, the angle between the bend line and longitudinal axis has been increased up to 15 degrees. The variable sections of the forming rolls have been designed for high strength steel parts with a symmetric u-type cross-section that varies linearly and symmetrically along the longitudinal axis.

• 로봇학회논문지
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• 제8권2호
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.