• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of KSNVE
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• v.7 no.5
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• pp.861-869
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• 1997

An approximate analytical method has been developed for estimating hydrodynamic forces acting on oscillating inner cylinder in concentric annulus. When the rigid inner cylinder executes translational oscillation, fluid inertia and damping forces on the oscillating cylinder are generated by unsteady pressure and viscous skin friction. Considering the dynamic-characteristics of unsteady viscous flow and the added mass coefficient of inviscid fluid, these hydrodynamic forces including viscous effect are dramatically simplified and expressed in terms of oscillatory Reynolds number and the geometry of annular configuration. Thus, the viscous effect on the forces can be estimated very easily compared to an existing theory. The forces are calculated by two models developed for relatively high and low oscillatory Reynolds numbers. The model for low oscillatory Reynolds number is suitable for relatively high ratio of the penetration depth to annular space while the model for high oscillatory Reynolds number is applicable to the case of relatively low ratio. It is found that the transient ratio between two models is approximately 0.2~0.25 and the forcea are expressed in terms of oscillatory Reynolds number, explicity. The present results show good agreements with an existing numerical results, especially for high and low penetration ratios to annular gap.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.1
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• pp.26-33
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• 2003

Recess is a geometrical configuration shape that the exit surface of an inner injector is located at a certain length inward from that of an outer injector. It is known to have the characteristics that it can augment mixing efficiency and flame stabilization through internal mixing of propellant in it. So, various experiments, such as backlit stroboscopic photography, phase Doppler particle analyzer(PDPA) and mechanical patternator, were performed at several recess lengths to grasp its effect on the spray characteristics of spray angle, breakup length, atomization and' mixing. Recess length was normalized to dimensionless recess number and two principal mechanisms of impingement and swirl recovery were introduced to explain its influence on the spray characteristics. The effect of recess on SMD doesn't appear significantly near the recess number where mixing efficiency attains to the maximum, whereas mass distribution and mixing efficiency are changed considerably. Thus, it can be inferred that a certain optimum recess number exists, where mixing efficiency becomes the maximum.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.4
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• pp.27-34
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• 2005

The paper discussed on the stability of cantilevered pipe conveying fluid subjected to distributed follower force. Governing equations of motion are derived by extended Hamilton's principle, and the numerical scheme using finite element method is applied to obtain the discretized equations. The critical flow velocity as a function of the distributed follower force for the various mass ratio is determined. The flutter configurations of the pipes at the critical flow velocities are drawn graphically at every twelfth period to define the order of quasi-mode of flutter configuration The critical mass ratios, at which the transference of the eigenvalue branches related to flutter take place, are definitely determined. Also, the effect of damping on the stability of the system is considered.

• Korean Journal of Computational Design and Engineering
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• v.13 no.5
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• pp.372-381
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• 2008

We developed a design automation system to reduce the lead time and help engineers in designing a solid fuel, or a grain, for rocket missiles. First, we analyzed design activities and shapes of a grain, which resulted in the standard of design process and shape. We decided development process which consisted of two typical activities such as constructing master library and implementing design system. We constructed some master models for typical external shapes and core shapes of grains which were used in modeling the shape of a designing grain. Also we implemented a design automation program to use the master models according to the pre-defined design process. It can calculate some design parameters such as mass, mass center, volume and combustion area that are used in analyzing a proposed grain. Finally, we could reduce the design time dramatically and increase design quality by automating many routine and difficult works.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2002.05a
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• pp.181-190
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• 2002

전자 카탈로그 상에서의 상품 검색은 카탈로그에 명시되어 있는 상품을 찾는 표준상품검색과 소비자가 원하는 상품을 맞춤 하는 맞춤상품검색으로 분류할 수 있다. 현재의 대부분의 상품 검색은 표준상품검색에 의존하고 있다. 특히 기업간 구성요소기반(Component-based) 상품의 경우 표준상품검색만으로는 구매자의 다양한 요구에 응하기가 어렵다. 따라서 웹 상의 전자 카탈로그에서의 동적인 맞춤검색에 대한 요구가 증가하고 있다. 본 연구에서는 구성기반 상품에 대해서 표준상품검색만으로는 구매자가 원하는 상품의 검색가능성(Feasibility)과 검색된 대안들이 조정(Adjust) 프로세스 과정을 거쳐 최적해 도달 가능성(Admissibility)이 보장되지 않음을 보이고, 이에 대한 효과적인 방법론으로 검색가능성과 최적해 도달 가능성을 지원하는Template-based Reasoning 방법론을 제안 한다. Template-based Reasoning은 구매자의 요구사항에 따른 대안탐색 부분과 선택된 대안에 대한 조정과정의 두 단계로 이루어진다. 구매자의 주요 선호도(MUST Preference)에 근거하여 대안들을 탐색하고, 탐색 된 대안들 간의 우선순위를 결정한다. 조정 단계에서는 옵션(Options)의 확장을 통해 구매자의 맞춤사양에 따른 상품을 제안하고, 제약 및 규칙기반 추론(Constraint and Rule Satisfaction Approach)을 이용하여 옵션(Options)들 간의 제약조건에 따른 호환성(Compatibility)을 조사하고, 적정가격의 상품을 제안한다. 본 방법론은 Template을 사용하여 기본적으로 구매자가 원하는 상품을 검색하기 위한 검색노력을 줄이고, 검색된 대안들로부터 구매자와 시스템이 웹상에서 서로 상호작용(interactivity) 하여 해를 찾고, 제약조건과 규칙들에 의해 적합한 해를 찾아가는 방법을 제시한다. 본 논문은 구성기반 예로서 컴퓨터 부품조립을 사용해서 Template-based reasoning 예를 보인다 본 방법론은 검색노력을 줄이고, 검색에 있어 Feasibility와 Admissibility를 보장한다.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.5
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• pp.638-644
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• 2016

In this research, theoretical study on empirical analysis method to estimate waterdrop's deformation by shock wave is presented. Flow field is calculated using theoretical and empirical relations. Waterdrop's deformation including movement, size, mass, and orientation is modeled using empirical relations derived from existing experimental data. Developed method is applied to specific flight examples with arbitrary flight speed and vehicle's configuration. The flight speed is assumed to Mach number of 2 and 4. The diameter of waterdrop is varied from 1 to 5 mm. Waterdrops along the stagnation line in front of hemispherical nose with the radius of 50 mm and around a cone-shaped side wall with the half angle of 20 degree are considered. It is found that the maximum diameter of the waterdrop is increased up to 2.77 times the initial diameter. The mass is conserved more than 66.7 %. In the case of a cone-shaped side wall, waterdrop's orientation angles defined from the flight direction when the Mach number is 2 and 4 are calculated as 33.0 and 25.6 degree, respectively.

• 한국태양에너지학회:학술대회논문집
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• 2009.11a
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• pp.168-174
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• 2009

High water vapour content in air can cause a number of problems as for human or surrounding materials. For human a high water vapour can create physiological stress, discomfort, and also can encourage ill health. While, the cause for the environment is can accelerate the corrosion of metals, accelerate the growth of spores and mould, can reduce the electrical resistance of insulators and etc. Desiccant systems have been proposed as energy saving alternatives to vapor compression air conditioning for handling especially the latent load and also sensible load. Use of liquid desiccants offers several design and performance advantages over solid desiccants, especially when solar energy is used for regeneration. The liquid desiccants contact the gas inside the packed tower of liquid desiccant solar cooling system and the heat transfer and mass transfer will occur. This thesis is trying to study the characteristics inside the packed tower of dehumidifier systems. This characteristics consist of mass transfer rate, heat transfers rate, human comfort and energy that consume by the system. Those characteristics were affected by air flow rates, air temperature and humidity, and desiccant temperature and all that variation will influence the performance of the systems. The results of this thesis later on can be used to determine the best performance of the systems.

• KCI Concrete Journal
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• v.12 no.1
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• pp.47-56
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• 2000

Once a structure fabricated with mass concrete is in a form of wall such as retaining wall, side walls of a concrete caisson and so on, cracks induced by hydration heat have been known to be governed by exterior restraints which are mainly related to the boundary conditions of the structure. However, it is thought that the degree of restraints can be alleviated considerably only if a lift height of concrete placement or a panel size of the wall is selected properly before construction. As a way of minimizing thermal cracking commonly observed in massive wall-typed structure, this study aimed at evaluating effects of geometrical configuration on the temperature rise and thermal stress through parametric study. Evaluation of the effect was also performed for cement types using anti-sulphate cement, blast furnace slag cement and cement blended with two mineral admixture and one ordinary Portland Cement. so called ternary blended cement. As a result of analytical study, it was found that a lift height of concrete placement is the most important factor in controlling thermal cracking in massive wall, and the increase of a lift height is not always positive to the crack occurrence as not expected.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.74-80
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• 2000

In this paper, we present a control method of mobile power assist systems. Most of mobile power assist systems have a heavy base for preventing easy tumbling, so continual movement of the base during operations causes high energy consumption and gives the high risk of human injury. Furthermore, the slow dynamics of the base limits the frequency bandwidth of the whole system. Thus we propose a cooperation control method of the mobile base and manipulator, which removes the unnecessary movements of the base. In our scheme, the mobile base does not move until the center of gravity(C.G) of the system goes outside a safety region. When C.G. reaches the boundary of the safety region, the base starts moving to recover the manipulator's initial configuration. By varying the parameters of a human impedance controller, the operator is warned by a force feedback that C.G. is on the marginal safety region. Our scheme is implemented by assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator. Our scheme is implemented by a nonlinear mass-spring impedance to the tip of the manipulator. The experimental results show the efficacy of the proposed control method.