• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1276-1286
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• 2002

The numerical techniques are presented to solve the static and dynamic contact problems of deformable bodies having large rotations of the contact surfaces. The contact conditions on the possible contact surfaces are enforced by using the contact error vector, and an iterative scheme similar to augmented Lagrange multiplier method is employed to reduce the contact error vector monotonically. For dynamic contact problems using implicit time integration, a contact error vector is also defined by combining the displacement, velocity, and acceleration on the contact surface. The suggested iterative technique is implemented to ABAQUS by using the UEL subroutine UEL. In this work, after the computing procedures to solve the frictional contact problems are explained, the numerical examples are presented to compare the present solutions with those obtained by ABAQUS.

• Structural Engineering and Mechanics
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• v.21 no.1
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• pp.19-33
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• 2005

An improved shear deformable thin-walled curved beam theory to overcome the drawback of currently available beam theories is newly proposed for the spatially coupled free vibration and elastic analysis. For this, the displacement field considering the shear deformation effects is presented by introducing displacement parameters defined at the centroid and shear center axes. Next the elastic strain and kinetic energies considering the shear effects due to the shear forces and the restrained warping torsion are rigorously derived. Then the equilibrium equations are consistently derived for curved beams with non-symmetric thin-walled sections. It should be noticed that this formulation can be easily reduced to the warping-free beam theory by simply putting the sectional properties associated with warping to zero for curved beams with L- or T-shaped sections. Finally in order to illustrate the validity and the accuracy of this study, finite element solutions using the isoparametric curved beam elements are presented and compared with those in available references and ABAQUS's shell elements.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.149-154
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• 2002

In this paper, we propose a new graphic deformation algorithm for haptic interface system. Our deformable model is based on non-linear elasticity, anisotropy behavior and the finite element method. Also we developed controller for high-speed communication. The proposed controller is based on the PCI/FPGA technology, which could progress the capability of the position calculating and the force data transmitting. The haptic system is composed of the 6DOF force display device, the high-speed controller, HIR library for 3D graphic deformation algorithm and the haptic rendering algorithm. The developed system will be used on constructing the dynamical virtual environment. We demonstrate the relevance of this approach for the real-time simulating deformations of elastic objects. To show the efficiency of our system, we programmed the simulation of force reflecting. As the result of experiment, we found that it has high stability and easy to control for deformable object than some other systems.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.107-112
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• 2005

Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator. The measured interaction force between slave and environment allow the time domain passivity observer to include the amount of energy dissipation of the slave manipulator to the monitored energy. With the modified passivity observer, reference energy following idea [24] is applied to satisfy the passivity condition. The feasibility of the developed methods is proved with experiments. Improved performance is obtained in unconstrained motion and contacting with a soft environment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2435-2439
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• 2005

In case of visual sensing systems with multiple mirrors, systematic errors need to be reduced by the system calibration and the mirror position adjustment in order to enhance system measurement accuracy. In this paper, a self calibration method is presented for a visual sensing system designed to measure the three-dimensional information in deformable peg-in-hole tasks. It is composed of a CCD camera and a series of mirrors including two pyramidal mirrors. By using an image of the inner pyramidal mirror taken by the system, the error parameters of the inner pyramidal mirror could be calibrated or adjusted. Also the influence of the plane mirrors is investigated.

• Fibers and Polymers
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• v.1 no.1
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• pp.45-54
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• 2000

Impact behaviors of the large deformable composites of Kevlar fiber reinforced composites of different preform structures have been investigated. An analytic tool was developed to characterize the impact behavior of the Kevlar composites. The image analysis technique, and deply technique were employed to develop energy balance equation under impact loading. An energy method was employed to establish the impact energy absorption mechanism of Kevlar multiaxial warp knitted composites. The total impact energy was classified into four categories including delamination energy, membrane energy, bending energy and rebounding energy under low velocity impact. Membrane and bending energy were calculated from the image analysis of the deformed shape of impacted specimen and delamination energy was calculated using the deplying technique. Also, the impact behavior of Kevlar composites under high velocity impact of full penetration of the composite specimen was studied. The energy absorption mechanisms under high velocity impact were modelled and the absorbed energy was classified into global deformation energy, shear-out energy, deformation energy and fiber breakage energy. The total energy obtained from the model corresponded reasonably well with the experimental results.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.1
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• pp.57-65
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• 2008

Superplastic forming/diffusion bonding(SPF/DB) processes with inner contact were analyzed using a 3-D rigid visco-plastic finite element method. A constant-triangular element based on membrane approximation and an incremental theory of plasticity are employed for the formulation. The hierarchical search algorithm for the contact searching has been applied. The algorithms for contact force processing were designed to handle equally well contact between deformable bodies, as well as rigid bodies. The plate of three and four sheets for 3-D SPF/DB model are analyzed using the developed program. The validity for the analysis is verified by comparison between analysis, experiment and results in the literature.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.825-830
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• 2005

Cut slope and facility of management investigation is the protection of humans and properties. it is very important the prevention of disaster facility and the damage of the slope protection facility. It is very difficult to forecast slope stability, disaster possibility and collapse. It will be able to minimize the damage which it prepare against slope facility and cut slope of deformable investigation and collapse and the disaster. therefore those deformable investigation is important. Investigations execute upheaval, crack, sliding for slope and cut slope reinforcement. Investigation executes forecast in place where the construction problem, the effect which the damage in road traffic or the contiguity facility.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.615-620
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• 2005

For successful deformable part assembly, information about its deformation as well as possible misalignment between the hole and its respective mating part are essential. Such information can be mainly acquired from visual sensors. In this paper, part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using a visual sensing system. First, a series of experiments to measure the position of an arbitrary point are performed. Next, an algorithm to measure misalignment and part shape as part deformation are presented, and a series of experiments on them are performed. Experimental results show that the proposed algorithms and the system are effective in measuring part deformation and misalignment.

• 한국전산유체공학회:학술대회논문집
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• 2003.10a
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• pp.160-161
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• 2003

Thermocapillary convection is a surface tension driven flow due to a temperature gradient along an interface. It occurs during a crystal-growth process and therefore understanding the convection is important to material processing in microgravity. Although modelling of the float-zone crystal-growth process has been of interest for a few decades, most studies of liquid bridges assumed non-deformable flat surfaces. In reality, the surface profile, g(t,z), is unknown and should be obtained as a solution to the coupled transport equations along with the surface force balance. Here we report on a numerical study of axisymmetric thermocapillary convection in liquid bridges with deformable surfaces. The interface is determined as part of the complete solution. The influence of the capillary number (Ca), Reynolds number (Re), Prandtl number (Pr) and aspect ratio(Ar) on the dynamics is explored.