• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.398-406
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• 2003

In modular fixturing systems, a given part or a subassembly is fixed by placing fixture elements such as locators and clamps adequately on a plate with a lattice of holes. It is known that the minimal number of point contacts to restrict translational and rotational motions on a plane is four and the type of three locators and a clamp(3L/1C) is the minimal future. Brost and Goldberg developed the complete algorithm to automatically synthesize 3L/1C types of fixtures which satisfy the condition of form closure. Due to the nature of the fixture, the clearance between the fixture and the part is extremely small. It is hard to load the part repeatedly and accurately for human as well as for robot. However the condition of loadability has not been taken into account in the B&G algorithm. In this paper, a new method to decide a given fixture to be loadable by using configuration space is proposed. A method to plan for a part to be loaded by using compliance safely even in the presence of control and sensing uncertainty is proposed is well.

• Journal of Biosystems Engineering
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• v.16 no.2
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• pp.118-123
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• 1991

This study was conducted to investigate the influences of virtual hitch point (VHP) positions of a three-point hitch on the steering stability of agricultural tractors. The VHP locations were determined analytically from the linkage geometry and implement posture during the normal tillage operations. The maximum force applicable to the VHP was also determined under the given soil and power constraints. From these possible ranges of the VHP locations, a safe region for steering control was determined theoretically by using maximum applicable forces for the given tractor and implement combinations. With VHP positions within the safe region, tractor can maintain the minimum soil reaction forces, assumed 20% of the total tractor weight in this study, at the front wheels which is required for the steering control under the maximum traction conditions. This paper mainly concerns with mathematical developments for the determination of VHP locations and maximum forces applicable to the VHP for steering control. Experimental validation of the theory developed here follows as the second part of this study.

• Advances in aircraft and spacecraft science
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• v.7 no.4
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• pp.309-333
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• 2020

The proposed study aims to numerically investigate the performance of hydrofoils in the context of amphibious aircraft application. In particular, we also study the effectiveness of a slotted hydrofoil in minimizing the cavitation phenomenon, to improve the overall water take-off performance of an amphibious aircraft. We use the ICON A5 as a base model for this study. First, we propose an approach to estimate the required hydrofoil surface area and to select the most suitable airfoil shape that can minimize cavitation, thus improving the hydrodynamic efficiency. Once the hydrofoil is selected, we perform 2D numerical studies of the hydrodynamic and cavitating characteristics of a non-slotted hydrofoil on ANSYS Fluent. In this work, we also propose to use a slotted hydrofoil to be a passive method to control the cavitation performance through the boundary layer control. Numerical results of several slotted configurations demonstrate notable improvement on the cavitation performance. We then perform a multiobjective optimization with a response surface model to simultaneously minimize the cavitation and maximize the hydrodynamic efficiency of the hydrofoil. The optimization takes the slot geometry, including the slot angle and lengths, as the design variables. In addition, a global sensitivity study has been carried and it shows that the slot widths are the more dominant factors.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.49-55
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• 2008

Arc welding process is one of the most important technologies to join metal plates. Robotic welding offers the reduced manufacturing cost sought, but its widespread use demands a means of sensing and correcting for inaccuracies in the part, the fixturing and the robot. A number of problems that need to be addressed in robotic arc welding processes include sensing, joint tracking, and lack of adequate models for process parameter prediction and quality control. Problems with parameter settings and quality control occur frequently in the GMA(Gas Metal Arc) welding process due to the large number of interactive process parameters that must be set and accurately controlled. The objectives of this paper are to realize the mapping characteristics of bead width using a sensitivity analysis and develop the neural network and multiple regression method, and finally select the most accurate model in order to control the weld quality(bead width) for fillet welding. The experimental results show that the proposed neural network estimator can predict bead width with reasonable accuracy, and guarantee the uniform weld quality.

• Journal of KSNVE
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• v.8 no.4
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• pp.632-642
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• 1998

A method based on finite element discretization is developed for optimizing the polarization profile of PVDF film to create the modal transducer for specific modes. Using this concept, one can design the modal transducer in two-dimensional structure having arbitrary geometry and boundary conditions. As a practical means for implementing this polarization profile without repoling the PVDF film the polarization profile is approximated by optimizing electrode patterns, lamination angles, and poling directions of the multi-layered PVDF transducer. This corresponds to the approximation of a continuous function using discrete values. The electrode pattern of each PVDF layer is optimized by deciding the electrode of each finite element to be used or not. Genetic algorithm, suitable for discrete problems, is used as an optimization scheme. For the optimization of each layers lamination angle, the continuous lamination angle is encoded into discrete value using binary 5 bit string. For the experimental demonstration, a modal sensor for first and second modes of cantilevered composite plate is designed using two layers of PVDF films. The actuator is designed based on the criterion of minimizing the system energy in the control modes under a given initial condition. Experimental results show that the signals from residual modes are successfully reduced using the optimized multi-layered PVDF sensor. Using discrete LQG control law, the modal peaks of first and second modes are reduced in the amount of 12 dB and 4 dB, resepctively.

• Journal of the Korean Society for Marine Environment & Energy
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• v.5 no.3
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• pp.35-44
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• 2002

In this paper, the analytic studies on the wave control performance of moored pontoon-type floating breakwater are presented. A two-dimensional eigenfunction expansion method is adopted to study the motion responses and the transmission coefficients of pontoon-type floating breakwater in beam waves. The stiffness coefficients of mooring line are idealized as linear elastic spring. Comparison of the analytical results with a numerical results (FEM) shows good agreement over a wide range of frequencies. The performance of mooed pontoon-type floating breakwater is tested with various design parameters such as sectional geometry, mooring line characteristics and wave frequencies. It is found that the properly designed floating breakwater can be an effective wave control structure.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.121-127
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• 2013

In this study, suspension geometry is controlled to improve vehicle handling performance. The toe and camber of the rear suspension is controlled independently by using a double knuckle structure designed to enhance the vehicle cornering stability. Camber and toe changes in the rear wheel during high speed turning maneuver are important factors that influence the vehicle stability. Toe in the rear outer wheel plays a dominant role in cornering. A control algorithm for the camber and the toe angle input is developed to carry out the control simulation of the vehicle such as single lane change, the steady state cornering, the double lane change and the step steering simulation. Effects of the camber and toe angle control are analyzed from the computer simulations. A double lane change simulation revealed that the suspension mechanism with variable camber angle and variable toe angle decreases the peak body slip angle and peak yaw rate, 50% and 10%, respectively.

• Nuclear Engineering and Technology
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• v.20 no.4
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• pp.233-240
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• 1988

The hafnium shroud is used to control the excess reactivity and power distribution in KMRR. The core analysis is performed by the diffusion code VENTURE using the 5 group macroscopic cross sections homogenized for an assembly. Investigated are the applicability of the diffusion calculation by homogenized cross sections to the analysis of control assembly which features unusual geometry such that hafnium shroud surrounds a multiplying medium inside. Comparative calculation is performed for the excess reactivity and power levels by the transport code TWOTRAN. The results show the acceptability of the diffusion calculation by the homogenized cross sections without significant error.

• Journal of Advanced Marine Engineering and Technology
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• v.19 no.1
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• pp.28-35
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• 1995

The fluid flow for a energy transfer is essential for the design and operation of power plants, petrochemical plants and ships including a process. When the operating conditions of a plant are changed or any transitional event occured, the flow controls of a fluid must be performed to follow the new operating state or mitigate the results of a event. Generally these flow controls to accommodate the new operating state of a plant are made by the use of various valves. The refore the design of valves and the related techniques are very important to the system and component designs. However the system and component design are not familiar with the practical theory of the valve since the derivative procedures of the flow equations in a valve are difficult and it is not easy to found the theoretical foundamentals and informations about the design of a valve from the present references. In this study the flow equations applicable to a valve for liquid are theoretically derived in detail. And the definition of valve reynolds number and its boundary values between the tubulent and laminar flow is described compared with the values of a circular pipe flow.

• Journal of the Semiconductor & Display Technology
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• v.10 no.1
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• pp.1-6
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• 2011

In this paper, the air flow induced by the rotating flat disk is numerically investigated in a hope to better understand the air flow structures inside the wax spin coater for a silicon wafer polishing station. Due to the complex inner geometry of actual spin coater such as the casing around the rotating ceramic block and servo motor, recirculation of air flow is inevitably found on the coating target if the internal space of spin coater is closed at the bottom and it could be the possible source of contamination on the wax coating. By numerical flow simulation, we found that it is necessary to install the air vent at the bottom and to apply the sufficient air suction in order to control the path of air flow and to eliminate the air recirculation zone above the spinning surface of coating target.