• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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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.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.6
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• pp.463-467
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• 2016

In this paper, acceleration and pressure exerted on a human model were measured under a supersonic condition in a shock tunnel. In order to measure these in an interference-free environment, free-fall technique with an electromagnet and a three-dimensional iron-powdered human model was used. Free-fall experiment was conducted at Mach 4 and the force acting on the model was obtained by calculating the displacement from the flow visualization images.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.11
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• pp.914-921
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• 2017

The experimental research on a high-altitude environment simulation of space launch vehicle is important for securing independent technologies with launching space vehicles and completing missions. This study selected an altitude of 65 km for the experiment environment where it exceeded Mach number of 6 after the launch of Korean Space Launch Vehicle(KSLV-II). Shock tunnel was used to replicate the flight condition. After flow establishment, in order to confirm aerodynamic characteristics and normal and oblique shockwaves, the flow verification was carried out by measuring stagnation pressure and heat flux of a forebody model, and shockwave stand-off distance of a hemispherical model. In addition, a shock-free technique to recover free-stream condition has been developed and verified. From the results of the three verification tests, it was confirmed that the flow was replicated with the error of about ${\pm}3%$. The error between the slope angle of inclined shockwave of the scaled down transition section model using the shock-free shape and the slope angle of the horizontal plate model, and between the theoretical and the experimental value of the static pressure of the model were confirmed to be 2% and 1%, respectively. As a result, the efficiency of the shockwave cancellation technique has been verified.

• ETRI Journal
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• v.40 no.3
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• pp.330-336
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• 2018

Free-space optical (FSO) systems have attracted much attention from both research and application perspectives owing to their many benefits, such as license-free operation, low-cost, and high data rates. This paper investigates the ergodic capacity of FSO systems, which is an important metric of system performance. The stochastic temporary laser-beam blockage, pointing errors, and atmospheric turbulence are simultaneously considered. The results illustrate that the link blockage causes a decreased ergodic capacity. We show that to maximize the ergodic capacity, there is an optimal value of the laser-beam radius at the waist, which largely depends on pointing errors; however, it is independent of the atmospheric turbulence and the probability of link blockage.

• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.49-55
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• 2009

This paper evaluates performances of a recently developed divergence-free finite element method based on Hermite interpolated stream functions. Velocity bases are derived from Hermite interpolated stream functions to form divergence-free basis functions. These velocity basis functions constitute a solenoidal function space, and the simple gradient of the Hermite functions constitute an irrotational function space. The incompressible Navier-Stokes equation is orthogonally decomposed into a solenoidal and an irrotational parts, and the decoupled Navier-Stokes equations are projected onto their corresponding spaces to form proper variational formulations. To access accuracy and convergence of the present algorithm, three test problems are selected. They are lid-driven cavity flow, flow over a backward-facing step and buoyancy-driven flow within a square enclosure. Hermite interpolation functions from cubic to quintic are chosen to run the test problems. Numerical results are shown. In all cases it has shown that the present method has performed well in accuracies and convergences. Moreover, the present method does not require an upwinding or a stabilized term.

• Structural Engineering and Mechanics
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• v.13 no.6
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• pp.713-730
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• 2002

This paper presents a finite element approach for determining the natural frequencies for planar inclined arches of various shapes vibrating in three-dimensional space. The profile of inclined arches, represented by undeformed centriodal axis of cross-section, is defined by the equation of plane curves expressed in the rectangular coordinates which are : circular, parabolic, sine, elliptic, and catenary shapes. In free vibration state, the arch is slightly displaced from its undeformed position. The linear relationship between curvature-torsion and axial strain is expressed in terms of the displacements in three-dimensional space. The finite element discretization along the span length is used rather than the total are length. Numerical results for arches of various shapes are given and they are in good agreement with those reported in literature. The natural frequency parameters and mode shapes are reported as functions of two nondimensional parameters: the span to cord length ratio (e) and the rise to cord length ratio (f).

• International Journal of Aeronautical and Space Sciences
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• v.5 no.2
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• pp.62-70
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• 2004

CFD method has been coupled with a time-marching free-wake model by usingfield velocity approach suggested by J. D. Baeder (Ref. 1). The coupled method hasbeen applied to rectangular and BERP-like blades and the calculated perfonnance dataare compared with the experimental results.For hovering analysis, the present method could yield sufficiently good resultswith reasonable computation time and is particularly suitable for the flow fieldanalysis with the complex shaped blade.

• Journal of Ocean Engineering and Technology
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• v.25 no.5
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• pp.9-14
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• 2011

The divergence-free finite elements introduced in this paper are derived from Hermite functions, which interpolate stream functions. Velocity bases are derived from the curl of the Hermite functions. These velocity basis functions constitute a solenoidal function space, and the gradient of the Hermite functions constitute an irrotational function space. The incompressible Navier-Stokes equation is orthogonally decomposed into its solenoidal and irrotational parts, and the decoupled Navier-Stokes equations are then projected onto their corresponding spaces to form appropriate variational formulations. The degrees of the Hermite functions we introduce in this paper are bi-cubis, quartic, and quintic. To verify the accuracy and convergence of the present method, three well-known benchmark problems are chosen. These are lid-driven cavity flow, flow over a backward facing step, and buoyancy-driven flow within a square enclosure. The numerical results show good agreement with the previously published results in all cases.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2001.05a
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• pp.56-59
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• 2001

This study for enquete an exact the present conditions museum plan for analyzing barrier free theory. The research is base on the side of consciousness, space and activity the present condition for person of an advanced age and the physically handicapped person. Through the research for purpose of confirm that baker free theory. And also, using for the result i]f this research that for all user. And then, it will be turn out that direct data linked to solve of the realistic subject, so therefore basic course and guide line what was due to point out

• Earthquakes and Structures
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• v.26 no.2
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• pp.163-174
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• 2024

Dynamic equilibrium equations for finite element analysis were derived for the free field one-dimensional shear wave propagation through the horizontally layered soil deposits with the elastic half-space. We expressed Rayleigh's viscous damping consisting of mass and stiffness proportional terms. We considered two cases where damping matrices are defined in the total and relative displacement fields. Two forms of equilibrium equations are presented; one in terms of total motions and the other in terms of relative motions. To evaluate the performance of new equilibrium equations, we conducted two sets of site response analyses and directly compared them with the exact closed-form frequency domain solution. Results show that the base shear force as earthquake load represents the simpler form of equilibrium equation to be used for the finite element method. Conventional finite element procedure using base acceleration as earthquake load predicts exact solution reasonably well even in soil deposits with unrealistically high damping.