• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.666-672
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• 2017

Our research team is developing a 6-DOF manipulator for narrow workspaces in press forming processes, such as placing PEM nuts on the bottom of a chassis. In this paper, kinematic analysis was performed for the position control of the manipulator, along with structural analyses for position accuracy with different payloads. First, the Denavit-Hatenberg (DH) parameters are defined, and then the forward and backward kinematic equations are presented using the DH parameters. The kinematic model was verified by visual simulation using Coppelia Robotics' virtual robot experimentation platform (V-REP). Position accuracy analysis was performed through structural analyses of deflection due to self-weight and deflection under full payload (5 kgf) in fully opened and fully folded states. The maximum generated stress was 22.05 MPa in the link connecting axes 2 and 3, which was confirmed to be structurally safe when considering the materials of the parts.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1867-1870
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• 2005

The celestial navigation is one of alternatives to GPS system and can be used as a backup of GPS. In the celestial navigation system using more than two star trackers, the vehicle's ground position can be solved based on the star trackers' attitude information if the vehicle's local vertical or horizontal angle is given. In order to determine accurate ground position of flight vehicle, the high accurate local vertical angle measurement is one of the most important factors for navigation performance. In this paper, the Earth geophysical deflection was analyzed in the assumption of using the modern electrolyte tilt sensor as a local vertical sensor for celestial navigation system. According to the tilt sensor principle, the sensor measures the tilt angle from gravity direction which depends on the Earth geoid surface at a given position. In order to determine the local vertical angle from tilt sensor measurement, the relationship between the direction of gravity and the direction of the Earth center should be analyzed. Using a precision orbit determination software which includes the JGM-3 Earth geoid model, the direction of the Earth center and the direction of gravity are extracted and analyzed. Appling vector inner product and cross product to the both extracted vectors, the magnitude and phase of deflection angle between the direction of gravity and the direction of the Earth center are achieved successfully. And the result shows that the angle differences vary as a function of latitude and altitude. The maximum 0.094$^{circ}$angle difference occurs at 45$^{circ}$latitude in case of 1000 Km altitude condition.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.2
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• pp.227-234
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• 2010

To investigate the flexural behavior of RC beams strengthened with carbon fiber sheets, 1 control beam and 8 strengthened beams(4 NU-beams without U-shaped band and 4 U-beams with U-shaped band) are tested. The variables of experiment are composed of the number of carbon fiber sheets and the existence of U-shaped band, etc. The experimental results showed that the strengthening system with U-shaped band controls the premature debonding and provides a more ductile failure mode than the strengthening system without U-shaped band. It can be found from the load-deflection curves that as the number of fiber sheets is increased, the maximum strength and the flexural rigidity is increased. The experimental results are compared with the analytical results of nonlinear flexural behaviors for strengthened RC beam. The proposed analytical method for strengthened beams is proved to be accurate by an experimental investigation of load-deflection curve, yield load, maximum load, and flexural rigidities in the pre- and post-yielding stages.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.3 s.234
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• pp.455-461
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• 2005

This research studied robust design of composite hand for LTR (LCD glass Transfer Robot). $1^{st}$ DOE (Design of Experiment) was conducted to find out vital few Xs. 108 experiments were performed and their results were statistically analyzed. Pareto chart analysis shows that the geometric parameters (height and width of composite beam) are more important than material parameters $(E_{1},\;E_{2})$ or stacking sequence angle. Also, the stacking sequence of mid-layer is more important than that of outer-layer. The main effect plots shows that the maximum deflection of LTR hand is minimized with increasing height, width of beam and layer thickness. $2^{nd}$ DOE was conducted to obtain RSM (Response Surface Method) equation. 25 experiments were conducted. The CCD (Central Composite Design) technique with four factors was used. The coefficient of determination $(R^{2})$ for the calculated RSM equation was 0.989. Optimum design was conducted using the RSM equation. Multi-island genetic algorithm was used to optimum design. Optimum values for beam height, beam width, layer thickness and beam length were 24.9mm, 186.6mnL 0.15mm and 2402.4mm respectively. An approximate value of 0.77mm in deflection was expected to be a maximum under the optimum conditions. Six sigma robust design was conducted to find out guideline for control range of design parameter. To acquire six sigma level reliability, the standard deviation of design parameter should be con trolled within $2{\%}$ of average design value

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.315-325
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• 2018

This paper predicts the flexural behaviour of reinforced concrete (RC) beams strengthened with a precast strip of ultra-high performance fiber-reinforced concrete (UHPFRC). In the first phase, ultimate load capacity of preloaded and strengthened RC beams by UHPFRC was predicted by using various analytical models available in the literature. RC beams were preloaded under static loading approximately to 70%, 80% and 90% of ultimate load of control beams. The models such as modified Kaar and sectional analysis predicted the ultimate load in close agreement to the corresponding experimental observations. In the second phase, the famous fatigue life models such as Papakonstantinou model and Ferrier model were employed to predict the number of cycles to failure and the corresponding deflection. The models were used to predict the life of the (i) strengthened RC beams after subjecting them to different pre-loadings (70%, 80% and 90% of ultimate load) under static loading and (ii) strengthened RC beams after subjecting them to different preloading cycles under fatigue loading. In both the cases precast UHPFRC strip of 10 mm thickness is attached on the tension face. It is found that both the models predicted the number of cycles to failure and the corresponding deflection very close to the experimental values. It can be concluded that the models are found to be robust and reliable for cement based strengthening systems also. Further, the Wang model which is based on Palmgren-Miner's rule is employed to predict the no. of cycles to failure and it is found that the predicted values are in very good agreement with the corresponding experimental observations.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.5
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• pp.81-87
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• 2012

New car assessment program (NCAP) originated from USNCAP in 1979 has been implemented in several countries or markets, for instance USA, Europe, Korea, Japan, China and Australia. NCAP has contributed greatly to reduce accidental tolls. But recently, NCAP performance has no distinction between cars because manufacturer have been continuously developed to improve NCAP performance. Therefore, NHTSA announced new USNCAP protocol becoming effective from MY2011. NHTSA had carried out many NCAP tests based on the new test protocol and announced these test results. In this paper, USNCAP test results were reviewed by statistical method. This review was focused on passenger cars and frontal crash test results in order to investigate effect of changes in new NCAP protocol. There are two key changes, one is sited female dummy in passenger position, the other is enlarged to 4 scoring body regions in each dummy. Results of this review were summarized as followings. Performance in Passenger (12.5%) is lower than Driver's (50%) for number of 5 star vehicle. Neck injury criterion is dominant to NCAP star rating for both dummies in the mean sense. For standard deviation, chest deflection is showed largest value in driver dummy but neck injury criterion is showed for passenger's. DKAB and PKAB were equipped 28.1% and 6.2%, respectively. Consequently, the countermeasure for new USNCAP frontal crash test is essential to control well dummy kinematics with some safety features including KAB to reduce neck injuries.

• Journal of the Korean Magnetics Society
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• v.13 no.6
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• pp.251-256
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• 2003

We have developed the quality analysis system for magnetic field effect of cathode-ray tube that is used a monitor, TV and medical appliance. We designed and constructed the large 3-axis square coil (2 m length) system for the generation of 3-component magnetic field using power supply, magnetometer and computer below 0.2 mT range. The coil constant is 30.31 ${\mu}$T, 29.73 ${\mu}$T and 30.51 ${\mu}$T for the X, Y and Z axis square coil respectively. The magnetic field resolution was 0.01 T. The uniformity of magnetic field was measured within 1 ％ in the range of 12 cm.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1999.10a
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• pp.33-33
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• 1999

The Coanda effect is the tendency for a fluid jet to atach itself to an adjacent surface and follow its contour without causing an appreciable flow separation. The jet is pulled onto the surface by the low pressure region which develops as entrainment pumps fluid from the region between the jet and the surface. Then the jet is held to the wall surface by the resulting radial pressure gradient which balance the inertial resistance of the jet to turning. The jet may attach to the surface and may be deflected through more than 180 dog, when the radius of the Coanda surface is sufficiently large compared to the height of the exhaust nozzle. However, if the radius of curvature is small, the jet turns through a smaller angle, or may not attach to the surface at all. In general, the limitations in size and weight of a device will limit the radius of the deflection surface. Thus much effort has been paid to improve the jet deflection in a variety of engineering fields. The Coanda effect has long been applied to improve aerodynamic characteristics, such as the drag/lift ratio of flight body, the engine exhaust plume thrust vectoring, and the aerofoil/wing circulation control. During the energy crisis of the seventies, the Coanda jet was applied to reduce vehicle drag and led to drag reductions of as much as about 30% for a trailer configuration. Recently a variety of industrial applications are exploiting another characteristics of the Coanda jets, mainly the enhanced turbulence levels and entrainment compared with conventional jet flows. Various industrial burners and combustors are based upon this principle. If the curvature of the Coanda surface is too great or the operating pressure too high, the jet flow will break away completely from the surface. This could have catastrophic consequences for a burner or combustor. Detailed understanding of the Coanda jet flow is essential to refine the design to maximize the enhanced entrainment in these applications.

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.2
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• pp.24-30
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• 2016

An experimental study for the characteristics of the thrust-vectoring of a sonic jet utilizing the coanda flap installed at a rectangular nozzle exit is performed. Two side plates are installed at both sides of the flap to decrease the three dimensional effects of the jet on the flap surface. Schlieren flow visualizations and quantitative measurements of the deflection angle of thrusting vector show that the side plates are able to delay the separation of the jet at the downstream of the flap surface. Substantial increase in the deflection angle of the jet as high as $72^{\circ}$ and small thrust loss as low as 7% are obtained by the present thrust-vectoring technique using the side plates.

• Journal of the Earthquake Engineering Society of Korea
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• v.15 no.3
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• pp.1-9
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• 2011

The purpose of this study is to examine the dynamic characteristics of low, medium and high speed Maglev trains and guideways through dynamic interaction analysis. The coupled dynamic equations of motion for a vehicle of 10-dof and the associated guideway girders are developed by superposing vibration modes of the girder itself. The controller used in the UTM-01 Maglev vehicle is adopted to control the air gap between the bogie and guideway in this study. The effect of roughness, the guideway deflection-ratio and vehicle speed on the dynamic response of the maglev vehicle and guideway are then investigated using the 4th Runge-Kutta method. From the numerical simulation, it is found that the air gap increases with an increase of vehicle speed and the roughness condition. In particular, the dynamic magnification factor of the guideway girder is small at low and medium speeds, but the factor is noticeable at super-high speeds.