• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.67-67
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• 2003

자동차, 항공기, 산업기계, 운반기계, 철도차량, 공작기계 등 거의 모든 산업부문에서 사용되는 베벨기어의 냉간단조 공정 및 금형 설계를 위한 해석을 수행하였다. 소성가공에 의해 생산된 베벨기어는 기계적 성질이 우수하여 동력 전달장치의 수명연장 및 신뢰성, 소형화 등을 달성할 수 있으며 생산 원가 절감의 효과가 크기 때문에 냉간 단조의 공정설계는 매우 중요하다. 베벨기어의 단조에 대한 상계해석 결과는 금형 설계 시 프레스에 필요한 단조하중을 예측할 수 있으므로 프레스의 최적성형과 안전한 금형 설계를 도모할 수 있다. 따라서 본 연구에서는 베벨기어의 냉간 단조시의 내부 동적 가용속도 장을 제시하였고 단조하중, 금속유동 등을 계산하였다. 또한 강소성 유한요소해석을 동시에 수행하여 제시한 동적 가용속도장의 적절성을 비교 검토하였다. 본 연구의 결과는 베벨기어의 적절한 냉간 단조 성형공정 및 공정설계를 위한 기초자료로 활용될 수 있을 것이다.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.174-181
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• 2001

An upper bound elemental technique(UBET) has been carried out to predict the forming load, the deformation pattern and the extrude length of the lateral extrusion of a spider for the automotive universal joint. For the upper bound analysis, a kinematically admissible velocity field(KAVF) is proposed. From the proposed velocity field, the upper bound load, the deformation pattern and the average length of the extruded billets are determined by minimizing the total energy consumption rate which is a function of unknown velocities at each element. Experiments are carried out with antimony-lead billets at room temperature using the rectangular shape punch. The theoretical prediction of the forming load, the deformation pattern and the extruded length are good in agreement with the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Journal of Korean Society of Steel Construction
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• v.10 no.4 s.37
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• pp.601-613
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• 1998

This paper reports the first-of-its-kind free vibration solutions for sectorial plates having re-entrant corners causing stress singularities when the circular edge is either clamped or simply supported. The Ritz method is employed with two sets of admissible functions assumed for the transverse vibratory displacements. Accurate frequencies and normalized contours of the transverse vibratory displacement are presented for the spectra of sector angles.

• Transactions of Materials Processing
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• v.7 no.2
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• pp.177-185
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• 1998

The kinematically admissible veolcity field is developed for the shapes of dead metal zone and the curving velocity distribution in the eccentric plane dies extrusion. The shape of dead metal zone is defined as the boundary surface with the maximum friction constant between the deformable zone and the rigid zone. The curving phenomenon in the eccentric lane dies is caused by the eccentricity of plane dies. The axial velocity distribution in the plane dies is divided in to the uniform velocity and the deviated velocity. The deviated velocity is linearly changed with the distance from the center of cross-section of the workpiece. The results show that the curvature of products and the shapes of the dead metal one are determined by the minimization of the plastic work and that the curvature of the extruded products increase with the eccentricity.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.144-150
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• 2000

In this paper, the formation of a corner cavity in the final stage of axisymmetric backward extrusion process is studied by means of upper bound analysis using kinematically admissible velocity. The quantitative relationships between corner cavity formation and process parameters are studied. And analytical results are compared with those of experiment to which plasticine is used. It is found that the analytical results agree well with experimental one. In addition, to restrict the formation of a corner cavity, driven container is applied to backward extrusion and the results are compared with those of FEM. The critical thickness of the bottom of the billet decreases with increase in reduction of area, and increases with decrease in friction. To prevent the formation of corner cavity, the concept of moving container was applied. Throughout this process, the occurrence of a corner cavity is delayed and forming limit area is enlarged.

• Nuclear Engineering and Technology
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• v.31 no.2
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• pp.214-225
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• 1999

An accurate method is presented for flexural vibrations of sectorial plates having simply supported-free and free-free radial edges, when the circular edge is either clamped or simply supported. The classical Ritz method is employed with two sets of admissible functions assumed for the transverse vibratory displacements. These sets consist of : (1) mathematically complete algebraic-trigonometric polynomials which gurantee convergence to exact frequencies as sufficient terms are retained, and (2) comer functions which account for the bending moment singularities at re-entrant comer of the radial edges having arbitrary edge conditions. Accurate (at least four significant figures) frequencies and normalized contours of the transverse vibratory displacement are presented for the spectra of corner angles [90$^{\circ}$, 180$^{\circ}$(semi-circular), 270$^{\circ}$, 300$^{\circ}$, 330$^{\circ}$, 350$^{\circ}$, 355$^{\circ}$, 360$^{\circ}$ (complete circular)] causing a re-entrant comer of the radial edges. Future solutions drawn from alternative numerical procedures and finite element techniques may be compared with these accurate results.

• Journal of Electrical Engineering and Technology
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• v.2 no.3
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• pp.396-400
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• 2007

A novel technique has been proposed and related experimental works have been performed in order to detect the partial discharges and the location of the possible defects introduced into the Gas Insulated Switchgear. For this purpose, a prototype HY Pockels sensor has been developed and then employed in order to investigate its field applicability for finding the location of the defects using a 170kV GIS mock-up. Our proposed sensor enables us to measure the electric field variation due to the PD occurrence. In addition, the different PD patterns are observed, which might be dependant on the location and the distance of the sensor with respect to the PD source. Throughout this work, its linear response has been proved to be admissible as a function of the applied voltage. And also the position of the PD source might be distinguished by comparing the PD patterns.

• Journal of the Korean Mathematical Society
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• v.42 no.1
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• pp.101-110
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• 2005

Let (X, D; ${\Gamma}$) be a G-convex space and Y a Hausdorff space. Then $U^K_C$(X, Y) ${\subset}$ KD(X, Y), where $U^K_C$ is an admissible class (dup to Park) and KD denotes the class of multimaps having the KKM property for open-valued multimaps. This new result is used to obtain a KKM type theorem, matching theorems, a fixed point theorem, and a coincidence theorem.