• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.213-216
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• 1996

This paper studies a class of in-parallel manipulators with special geometry where the forward displacement analysis problem can be solved easier than the fully parallel manipulators. Three horizontal links of this mechanism provide 3DOFs(Degrees of Freedom), which are one degree of orientational freedom and two degrees of translatory freedom. Three vertical links of this mechanism provide 3DOFs, which are two degrees of orientational freedom and one degree of translatory freedom. The main advantages of this manipulator, compared with the Stewart platform type, are the capability to produce pure rotation and to predict the motion of the moving platform easily. Since this manipulator has simple kinematic characteristics compared with the Stewart platform, controlling in real-time is possible due to less computational burden. The purpose of this investigation is to develope an analytical method and systematic method to analyze the basic kinematics of the manipulator. The basic kinematic equations of the manipulator are derived and simulation is carried out to show the performance of the mechanism.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1128-1131
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• 1996

The collision-free path planning presented here uses linear parametric curve with one intermediate connection point between start and target points. The algorithm, in which connection point is organized in elliptic chord.(.theta., .delta.), maps objects in Euclidean Space into images in CPS through intersection check between path and obstacles a process defined as GM. Elliptic locus has special property that the total distance between focus points through a point on ellipse is the same regardless of .theta.. Hence by locating the start and target points to focus points of ellipse, and organizing connection point in elliptic coordinate, the .delta.-axis of CPS represents length of path. The GM of EWS requires calculation of interference in circumferential direction only. The procedures for GM is developed which include categorization of obstacles to reduce calculation amount. Simulations of GM of EWS, on a PC with Pentium/90MHz, is carried out to measure performance of algorithm and the results are reported on a table. The simulations are done for number of cases with different number of obstacles and location of start/target points.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2010-2014
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• 2005

Object detection and parameter estimation in point cloud data is a relevant subject to robotics, reverse engineering, computer vision, and sport mechanics. In this paper a software is presented for fully-automatic object detection and parameter estimation in unordered, incomplete and error-contaminated point cloud with a large number of data points. The software consists of three algorithmic modules each for object identification, point segmentation, and model fitting. The newly developed algorithms for orthogonal distance fitting (ODF) play a fundamental role in each of the three modules. The ODF algorithms estimate the model parameters by minimizing the square sum of the shortest distances between the model feature and the measurement points. Curvature analysis of the local quadric surfaces fitted to small patches of point cloud provides the necessary seed information for automatic model selection, point segmentation, and model fitting. The performance of the software on a variety of point cloud data will be demonstrated live.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.11a
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• pp.301-304
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• 2003

Nowadays, hydration heat analysis using FEM is common in thermal crack control of concrete structure. Many kinds of general FEM programs for hydration heat analysis are used in practice. But there are some problems in this using. In this study hydration heat analysis of wall according to placement length are performed. In this results we could get two conclusions. First, general structures like wall having general geometry and construction condition have similar behavior. So it is not necessary to analysis thermal crack in every case. Second, the results of 2D analysis is possible to be applied instead of those of 3D analysis because the results of 2D analysis is similar to 3D analysis in long wall having about 15~18m or over length at 3m height.

• International Journal of Fluid Machinery and Systems
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• v.1 no.1
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• pp.24-32
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• 2008

Bleeding away a part of the boundary layer next to the wall is an effective method for controlling boundary-layer distortions from incident shock waves or curvature in geometry. When the boundary-layer flow is supersonic, the physics of bleeding with and without an incident shock wave is more complicated than just the removal of lower momentum fluid next to the wall. This paper reviews CFD studies of shock-wave/boundary-layer interactions on a flat plate with bleed into a plenum through a single hole, three holes in tandem, and four rows of staggered holes in which the simulation resolves not just the flow above the plate, but also the flow through each bleed hole and the plenum. The focus is on understanding the nature of the bleed process.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.63.4-63
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• 2001

An x-ray vision can be a unique method to monitor and analyze the motion of mechanical parts in real time which are invisible from outside. Our problem is to identify the pose, i.e. the position and orientation of an object from x-ray projection images. It is assumed here that the x-ray imaging conditions that include the relative coordinates of the x-ray source and the image plane are predetermined and the object geometry is known. In this situation, an x-ray image of an object at a given pose can be estimated computationally by using a priori known x-ray projection image model. It is based on the assumption that a pose of an object can be determined uniquely to a given x-ray projection image. Thus, once we have the numerical model of x-ray imaging process, x-ray image of the known object at any pose could be estimated ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.153.5-153
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• 2001

This paper presents a simple modeling system that constructs 3D models from an indoor cylindrical environment map using all of the available geometry of the interior structure such as vertical and horizontal lines and parallel and perpendicular planes. The indoor scene abstract model is created through this system and the navigation through the process of 3D reconstruction. This system first automatically detects the vanishing points in a cylindrical environment map from parallel lines and planes, and determines the indoor scene topology previously defined using this information. The determined topology enables he user intervention UI simply construct a 3D model by using the photogrammetry. The modeling system can be ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.96.5-96
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• 2002

This paper describes extraction procedures for the center coordinates of steam generator tubes of Youngkwang nuclear power plant No. 6 unit. The centering coordinates of tubes are needed for monitoring whether ECT probe is exactly inserted into tube or not. However, The tube image tends to have poor contrast because steam generator bowl is sealed. The centering coordinates extraction procedure consists of two steps. The first step is to process the region with high contrast in entire image of steam generator tubes. Using the center points extracted in the first step and the geometry of tubes lined up in regular triangle patterns the centering coordinates of the rest region with low contrast...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.34-38
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• 1992

Geometry based CAD/CAM system is hard to achieve "net shape machining" For a net shape machining, the machining errors should be compensated by off-line CAD/CAM system followed by on-line control system. In this paper, we investigate an off-line compensation scheme for the machining errors due to tool deflection in contouring operation. The significance of the deflection errors is first shown, and a compensation is sought via modifying the nominal tool path. In modification, tool deflection amount is iteratively compensated until the deflection amount is iteratively compensated until the deflected path results in the desired contour within a tolerance. The path modification algorithm has been tested via computer simulation. The developed algorithm can be used as a postprocessor for the current CAD/CAM system based on geometric modeling as a means for enhancing the machining accuracy.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.823-826
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• 2000

Burr formed in drilling are classified into three types. no burr, burrs with cap, teared burr. To control burr size in drilling. the second type burrs with cap are to be formed because it is small and uniform. It is necessary to understand the mechanism of cap formation to derive the burr formation into second type burr with cap. In several materials, second type burrs are formed in drilling by changing cutting conditions. It is observed that cap is formed as a result of the plastic deformation along the outside of exit hole. According to the tension behavior of the material in concentrated region between hole and drill outside edge, the geometry of burr with cap is determined.