• 한국공작기계학회논문집
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• 제17권6호
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.305-311
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 한국소음진동공학회논문집
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• 제15권2호
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• pp.206-212
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• 2005

In many machines handling lightweight and flexible media, such as magnetic tape drives, xerographic copiers and sewing machines, the media must transit an open space. It is important to predict the static and dynamic behavior of the sheets with a high degree of reliability. The nonlinear theory of the dynamic elastica has often been used to a nonlinear dynamic deflection model. In this paper, the governing equation is derived and simulated by the finite difference method. The parametric cubic curve is applied for defining the guide shape. The dynamic contact conditions suggested by Klarbring is used to predict the direction of the flexible media according to the initial velocity and the friction coefficient. The analysis is also compared to the conventional model, showing that after contacting a $45^{\circ}$ wall, the directions of flexible media of two models are different.

• Steel and Composite Structures
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• 제19권6호
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• pp.1333-1354
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• 2015

A higher order analytical solution for static analysis of a truncated conical composite sandwich panel subjected to different loading conditions was presented in this paper which was based on a new improved higher order sandwich panel theory. Bending analysis of sandwich structures with flexible cores subjected to concentrated load, uniform distributed load on a patch, harmonic and uniform distributed loads on the top and/or bottom face sheet of the sandwich structure was also investigated. For the first time, bending analysis of truncated conical composite sandwich panels with flexible cores was performed. The governing equations were derived by principle of minimum potential energy. The first order shear deformation theory was used for the composite face sheets and for the core while assuming a polynomial description of the displacement fields. Also, the in-plane hoop stresses of the core were considered. In order to assure accuracy of the present formulations, convergence of the results was examined. Effects of types of boundary conditions, types of applied loads, conical angles and fiber angles on bending analysis of truncated conical composite sandwich panels were studied. As, there is no research on higher order bending analysis of conical sandwich panels with flexible cores, the results were validated by ABAQUS FE code. The present approach can be linked with the standard optimization programs and it can be used in the iteration process of the structural optimization. The proposed approach facilitates investigation of the effect of physical and geometrical parameters on the bending response of sandwich composite structures.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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• pp.1156-1159
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• 2017

한국형발사체 및 시험발사체에 대한 지상 운용을 위해서는 우주센터 종합조립동 내에 여러 가지 지상지원장비가 필요하다. 여러 가지 지상지원장비 중 발사체 접속장치와 고압유연배관은 지상의 고압가스 공급장비와 발사체 사이에 고압배관 연결을 위해 필수적인 장비이다. 본 논문에서는 고압가스 연결을 위해 필요한 발사체 접속장치와 고압유연배관에 대한 개요와 개발 진행 상황에 대해 소개하고자 한다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.573-576
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 한국실내디자인학회논문집
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• 제25권6호
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• pp.3-14
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• 2016

According to Plato's ontology, we lead our lives by establishing a relationship with others in the society. However in rapidly changing era, our lives was gradually moving towards personal tendency. Even for the relationship with family, not with others. Thus, awareness about owning properties has changed due to the sociocultural factors and increase number of single-person households. So in this study, the considerations for single-person housing were perceived through preceding research, and the elements making spatial boundary of shared housing were drawn to make rational space sharing based on the boundary with others and of the living environment. With overall analysis based on the spatial boundary features of planned shared housing, the plan characteristics according to the spatial boundary of the current shared housing is to be drawn and analyzed. Third, The expressive and structural features of spatial boundary as above appear with mutual flexible connectivity, And the result shows that the modularity was the highest. Among them variable coupling modularity of shows how it is possible to combine efficiently and variously the private and public spaces with regularity of 'space of optimal unit'. This study drew plan characteristics from more detailed space border of shared housing. Therefore, The basic framework of the characteristics spin for the cases that newly emerge later on.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2000
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• pp.348-355
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• 2000

The characteristics on non linear behavior and the failure mechanism of RC space frame structure serving railway under seismic action have been investigated by numerical analysis in time domain. The structure concerned is modeled in 3 dimensional extent and RC frame elements with fibers are employed. Fibers are characterized as RC one and PL one to distinguish different energy release after cracking. Due to deviation of mass center and stiffness center of entire structure the complex behavior under seismic action is shown. The excessive shear force is concentrated on the pier beside flexible one relatively, which leads to failure of bridge concerned.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.37.1-37.1
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• 2008

Space Science and Technology Laboratory at Kyung Hee University developed an 80cm Nasmyth telescope with the joint work of Space & Astronomy, Inc. It was set up at Muju county public astronomical observatory in Jeonlabuk-Do. Nasmyth focus system was selected for the telescope to use two focal points by a rotatable tertiary mirror. Focal ratios of the telescope are f10, f5 respectively. Support of the main mirror is made with Lasalle-system. This system uses 24-points in the back side of the mirror that are all resting on small counter-weights and side support is 10-points Boll link Flexible type with 2 Lasalle type. The mount is wheel & disk type Alt-Azimuth design using DC-servo motors. External high accuracy encoder has 47,600 sine-waves/rot. These encoders are used to make real-time corrections on all gearing errors.

• 대한환경공학회지
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• 제27권4호
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• pp.438-444
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• 2005

본 연구에서는 가변형 간벽을 설치하고 이 가변형 간벽의 열고 닫음에 따라 하나의 SBR 반응조를 시간적으로 뿐만 아니라 공간적으로도 분리시킴으로써 aerobic, anaerobic 또는 anoxic 상태의 구분을 명확히 하여 탈질 및 탈인 효율을 증대시켰다. 본 연구 결과 $COD_{Cr}$/N ratio 10($BOD_5$/N ratio 5) 정도의 실 플랜트 조건에서 T-N 및 T-P 제거효율은 90.9%와 75%를 나타내었다. 또한 잉여슬러지내 인 함유량 조사결과 기존 처리장에서 발생된 잉여슬러지의 인 함량비율을 100%라 할 때 pilot plant에서 발생된 잉여슬러지의 인 함유율은 생 슬러지의 경우 133.6%, 건조 슬러지의 경우 124.3%로서 기존 처리장의 슬러지내 인 함유율보다 $25{\sim}30%$ 정도 높은 것으로 조사되었다. 따라서 SBR반응조 내에 가변형 간벽을 설치함으로서 명확한 탈질 탈인을 위한 반응조건을 제시해 줄 수 있는 것으로 나타났다.