• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.2
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• pp.125-132
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• 2008

The bubble dynamics and heat transfer associated with nucleate boiling in parallel microchannels is studied numerically by solving the equations governing conservation of mass, momentum and energy in the liquid and vapor phases. The liquid-vapor interface is tracked by a level set method which is modified to include the effects of phase change at the interface and contact angle at the wall. Also, the reversible flow observed during flow boiling in parallel microchannels has been investigated. Based on the numerical results, the effects of contact angle, wall superheat and the number of channels on the bubble growth and reversible flow are quantified.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.826-830
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.528-533
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• 1995

An analyical method is proposed to construct a clamp jointed structure as an equivalent stiffness matrix element in the finite element modal analysis of a complex beam structure. Static structural analysis was first made for the detail finite element model of the clamp joint. Utilizing the results of this analysis, the equivalent stiffness matrix element was buildup by using the flexibility influence coefficient method and Guyan condensation. The proposed method was applied to finite element modal analysis of a clamp jointed cantilever beam. And the finite element analysis results were compared to those experimental modal analysis. Comparison shows doog agreement each other Furthermore the effects of normal contact(or clamping) load on the equivalent stiffness matrix was also examined. The equivalent stiffness matrix showed little change in spite of the remakable increase in the contact load on the clamp joint.

• The KSFM Journal of Fluid Machinery
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• v.9 no.3 s.36
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• pp.14-21
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• 2006

Leakage reduction through annular type seals of turbomachinery is necessary for enhancing their efficiency and the precise prediction method of seal leakage is needed. The analysis based on Bulk-flow concept has been mainly used in predicting seal leakage. However, full Navier-Stokes Equations with turbulent model derived in the seal flow passage have to be solved for improving the prediction of seal leakage. FLUENT 6 which is commercial CFD(Computational Fluid Dynamics) code based on FVM(Finite Volume Method) and SIMPLE algorism has been used to analyze leakage of various non-contact-type seals in this presentation. Comparing with the results of Bulk-flow model analysis and experiment, the result of CFD analysis shows good agreement with that of existing theoretical analysis for the incompressible grooved seal and compressive plain and staggered seal. The CFD analysis also shows improvement on the leakage prediction of the incompressible plain seal and compressive see-through-type labyrinth seal.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3463-3473
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• 1996

The characteristics of wave propagation along a catenary depend on various impedance conditions; i.e., spatial impedance of catenary, impedance of boundaries. In this study, wave propagation along a simple catenary system is studied with arbitrary impedance conditions such as impedance of pantograph, boundary, catenary etc. Seven coupled equations which determine the characteristics of wave propagation along catenary system have been derived and numerically solved. Results demonstrate the role of each impedance condition in the dynamics of catenary system, i.e. the way in which the conditions affect waves on catenary as well as contact force of pantograph. The formulation and suggested solution method can be certainly used for desinging an optimal catenary system for a given pantograph.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of the Semiconductor & Display Technology
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• v.5 no.1 s.14
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• pp.27-31
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• 2006

Non-contact transportation system using air cushion for the manufacturing of large-sized LCD panels was considered. Flow characteristics between air pad and glass plate was analyzed using computational fluid dynamics method to obtain optimized air pad configurations. Effects of the design variables such as hole arrays from which gas is injected, gas-feeding method into the gas supplying channels, and horizontal and vertical pitches of clusters of holes were studied. Optimized air pad unit gave evenly distributed pressure contour on the glass surface and well-suspended levitation height in the experiment.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.448-448
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• 2011

We investigated the fabrication method of superhydrophobic nanocoating prepared by a simple spin-coating and the chemisorption of fatty acid. The resulting coating showed a tremendous water repellency (static water contact angle = $154^{\circ}$) and the water contact angle can be modulated by changing the number of deposition cycles of ZnO and the carbon length of Self-Assembled Monolayers (SAM). Varying the number of deposition cycles of ZnO controlled the surface roughness, and affected to the superhydrophobicity. This simple coating method can be universally applicable to any substrates including flexible surfaces, papers and cotton fabrics, which can effectively be used in various potential applications. We also observed the thermal and dynamic stabilities of SAM on ZnO nanoparticles. The superhydrophobicic surface maintained its superhydrophobic properties below $250^{\circ}C$ and under dynamic conditions.