• Journal of Astronomy and Space Sciences
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• 제38권2호
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• pp.119-134
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• 2021

The data set collected during the night of the discovery of a minor body constitutes a too-short arc (TSA), resulting in failure of the differential correction procedure. This makes it necessary to recover the object during subsequent nights to gather more observations that will allow a preliminary orbit to be calculated. In this work, we present a recovery technique based on sampling the admissible region (AdRe) by the constrained Delaunay triangulation. We construct the AdRe in its topocentric and geocentric variants, using logarithmic and exponential metrics, for the following near-Earth-asteroids: (3122) Florence, (3200) Phaethon, 2003 GW, (1864) Daedalus, 2003 BH84 and 1977 QQ5; and the main-belt asteroids: (1738) Oosterhoff, (4690) Strasbourg, (555) Norma, 2006 SO375, 2003 GE55 and (32811) Apisaon. Using our sampling technique, we established the ephemeris region for these objects, using intervals of observation from 25 minutes up to 2 hours, with propagation times from 1 up to 47 days. All these objects were recoverable in a field of vision of 95' × 72', except for (3122) Florence and (3200) Phaethon, since they were observed during their closest approach to the Earth. In the case of 2006 SO375, we performed an additional test with only two observations separated by 2 minutes, achieving a recovery of up to 28 days after its discovery, which demonstrates the potential of our technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• 한국정밀공학회지
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• 제5권4호
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• pp.24-31
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• 1988

The Upper Bound Solution has been used to investigate the effect of the various parameters on the floating-plug tube-drawing precess. A kinematically admissible velocity field considering the change of the tube thickness is proposed for the deformation process. Taking into account the position of the plug in the deforming region, shear energy at entrance and exit, friction energy on contact area, homogeneous energy are calculated. The theoretical values in proposed velocity field are good agreement with experimental values, It is investigated that the tube thickness in the deforming region is changed slightly toward minimization of deforming energy and then the drawing stress in lower than the crawing stress in the velocity field that the tube thickness is uniform.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• 대한기계학회논문집
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• 제14권1호
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• pp.1-12
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• 1990

본 연구에서는 자유단조용 프레서를 이용하여 돌출부가 있는 비대칭 중공형단 조 제품을 생산할 수 있도록 금형장치를 설계.제작하고, Fig.1에서 보는 바와 같이 경 사진 돌출부가 있는 비축대칭 복합단조에 UBET를 적용하여 해석하였다. 단조시편은 원주형태를 가지도록 하였다. 즉 원주형 소재가 요구되는 비축대칭 단조제품으로 변 형되는 과정에서 단조하중, 재료가 돌출부를 충만하도록 하는 유동특성, 재료가 돌출 부로 차들어가는 속도 등에 영향을 주는 인자(예:펀치 직경의 크기, 금형 상하면의 각 도)의 특성을 이론적으로 해석하고 실험으로 확인하였다.

• 대한기계학회논문집
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• 제7권2호
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• pp.168-174
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• 1983

The study is concerned with an analysis on the hydrofilm extrusion through conical dies. The upper bound method is adopted for the analysis of metal deformation in connection with hydrodynamic lubrication theory for the lubricant in order to determine the extrusion pressure for some variables such as reduction of area, die cone angle. In the upper bound method, a kinematically admissible velocity field is found by assuming proper streamlines and applying the flow function concept to the region of plastic deformation. The effect of work hardening is incorporated approximately by calculating the strains at the exit of the die. The experiments are carried out with the commercially pure aluminium for some chosen variables at room temperature. It is shown that the theoretical predictions are in good agreement with the experimental observations.

• 대한기계학회논문집A
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• 제21권9호
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• pp.1364-1372
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• 1997

In this paper, the forging of helical gears has been investigated. Punch is tooth-shaped as is the die insert. The punch compresses a cylindrical billet placed in a die insert. As a consequence the material of billet flows into the tooth region. The forging has been analysed by using the upper-bound method. A kinematically admissible velocity field has been developed, wherein, an involute curve has been introduced to represent tooth profile of the gear. Numerical calculations have been carried out to investigate the effects of various parameters, such as module, number of teeth, helix angle and friction factor on the forging of helical gears. Some forging experimentswere carried out with aluminum alloy to show the validity of the analysis. Good agreement was found between the predicted values of the forging load and obtained from the experimental results.

• 한국정밀공학회지
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• 제12권8호
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• pp.63-72
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• 1995

Closed-die forging of spur gears with hollow cylindrical billet has been analysed by using the upper-bound method. A kinematically admissible velocity field has been developed, wherein, an involute curve has been introduced to represent the forging die profile. In the analysis, the deformation region has been divided into nine zones. A constant frictional stress has been assumed on the contacting surfaces. Utilizing the formulated velocity field, numerical calculations have been carried out to investigate the effects of various parameters, such as module, number of teeth and friction factor, on the forging of spur gears. Hardness and accuracy of forged gears are measured. The following results have been obtained: (1) It is verified that an axisymmetric deformation zone exists between root circle and center of gear through forged gears. (2) The average relative forging pressure is predominantly dependent on the number of teeth and increases near the final filling stage as the addendum modification coefficient increases. (3) Close agreement was found between the predicted values of forging load and those obtained from experimental results.

• 대한기계학회논문집
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• 제17권1호
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• pp.51-61
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• 1993

본 연구에서는 에너지법으로 축대칭 박판성형 공정을 해석할 때, Lee와 Yang 이 제안한 방법을 적용함에 있어 굽힘효과를 효과적으로 고려할 수 있는 방법을 제안 하고 축대칭 컵드로잉 공정을 해석하여 본 이론의 타당성을 입증하고자 한다. 굽힘 효과는 박판소재를 몇개의 층(layer)으로 나눈 뒤, 각 층에서 소비되는 변형에너지를 합하여 전체 에너지를 최소화시킴으로써 고려하였다. 해석시 펀치 목부분과 다이목 부분에서의 접촉압력은 각각 균일한 분포를 갖는 것으로 가정하였다. 본 이론의 타 당성을 입증하기 위하여 계산결과를 실험치 및 탄소성 유한요소해석 결과와 비교하였 다.