• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.7
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• pp.904-914
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• 2004

In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.

• Geomechanics and Engineering
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• v.24 no.4
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• pp.349-358
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• 2021

The Brazilian test has been widely used to determine the indirect tensile strength of rock, concrete and other brittle materials. The basic assumption for the calculation formula of Brazilian tensile strength is that the elastic moduli of rock are the same both in tension and compression. However, the fact is that the elastic moduli in tension and compression of most rocks are different. Thus, the formula of Brazilian tensile strength under the assumption of isotropy is unreasonable. In the present study, we conducted Brazilian tests on flat disk-shaped rock specimens and attached strain gauges at the center of the disc to measure the strains of rock. A tension-compression bi-modular model is proposed to interpret the data of the Brazilian test. The relations between the principal strains, principal stresses and the ratio of the compressive modulus to tensile modulus at the disc center are established. Thus, the tensile and compressive moduli as well as the correct tensile strength can be estimated simultaneously by the new formulas. It is found that the tensile and compressive moduli obtained using these formulas were in well agreement with the values obtained from the direct tension and compression tests. The formulas deduced from the Brazilian test based on the assumption of isotropy overestimated the tensile strength and tensile modulus and underestimated the compressive modulus. This work provides a new methodology to estimate tensile strength and moduli of rock simultaneously considering tension-compression bi-modularity.

• Journal of the Korean Society of Visualization
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• v.16 no.1
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• pp.21-29
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• 2018

Homogeneous and isotropic turbulence (HIT) with no mean flow is a very useful type of flow for basic turbulence research. However, it is difficult to generate HIT in the lab. In this study, we implemented HIT in a confined box through synthetic jet actuators using sub-woofer speakers. Characteristics of HIT are varied depending on the strength of the jets. We used 2D PIV to measure the velocity field. Turbulence statistics such as homogeneity, isotropy ratio, turbulence kinetic energy, dissipation rate, Taylor microscale, Kolmogorov scale, and velocity correlation coefficient were calculated. Most of the turbulence statistics increased exponentially according to the strength of the jets, and the Taylor Reynolds number reached up to 185.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.4
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• pp.359-367
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• 2015

The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

• The Journal of Engineering Geology
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• v.5 no.3
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• pp.237-274
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• 1995

This study was focused on the improvement of the measurement technique of P-wave velocity for the assesment of the anisotropy of the engineering property of rock. Samples used were collected from a working quarry within the Carnmenellis granite area on which series of engineering geological data have been accumulated. This study mainly concerned the development of measurement technique at the curved surface of rock, the use of natural honey-based coupling agent and the drying method for rock specimen over $P_2O_5$. According to the results, the range of the P-wave velocity anisotropy in two dimensional plane, fell between 0 and 4.68 (%). The direction where maximum velocity occurred was parallel to the orientation of the maximum in-situ stress. The result showed that P - wave velocity is a useful measure to asses the anisotropy of the engineering property of rock and it is suggested that the improvements adopted here can be applied to the experimental work on the rocks in Korea.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.8-13
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• 2008

In this study, an investigation of shear wave ultrasonic technique was carried out to detect stacking orientation error for CF/Epoxy quasi-isotropy composite laminates. The ultrasonic shear wave is particularly sensitive to ply orientation and layup sequence in tire CF/Epoxy composite laminates. In the manufacturing of composite laminates, it is important that layup errors be detected in samples. In this work, an effect was mack to develop shear wave techniques that can be applied to composite laminates. During testing, the mast significant problem is that the couplant conditions do not remain the same because of its changing viscosity. The design and use of a shear ware transducer would greatly alleviate the couplant problem. A pyramid of aluminum, with isosceles triangle (two 45o angles) sides, was made to generate shear waves, using two longitudinal transducers based on an ultrasonic-polarized mechanism. A signal splitter was connected to the pulser jack on a pulser/receiver and to the longitudinal transducers. The longitudinal transducers were mounted with mineral oil, and the shear transducer was mounted with burnt honey on the bottom as a receiver. The shear wave was generated at a maximum and a minimum based on the ultrasonic-polarized mechanism. Results show it is feasible to measure layup error using shear wave transducers on a stacking of prepregs in composites.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.5 s.120
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• pp.553-562
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• 2007

In this paper, we designed and implemented the system for telemetering ELF(Extremely Low Frequency) magnetic field intensity. The magnetic field measurement system used a 3-axis magnetic field sensor to measure the magnetic field with isotropy and the equalizer to compensate the frequency characteristic in band. By multiplexing three output signals of the magnetic field sensor in time domain, we got the uniform gain and frequency characteristic among three axes. This system was designed that the magnetic field measurement level range was $0.01{\sim}10.0\;uT$ and the measurement frequency band was $40{\sim}180\;Hz$. The control system would access to the magnetic field measurement system with RF and the maximum access distance was 1.0 km. We confirmed that the measurement level error of the fabricated system was within 5 %. The fabricated system was installed to a golf practice range where a high voltage power transmission line was crossed.

• Geophysics and Geophysical Exploration
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• v.20 no.4
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• pp.207-215
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• 2017

To develope shale play which is one of unconventional energy resources, horizontal drilling and hydraulic fracturing are necessary and those are applied to the place where the differential horizontal stress ratio (DHSR) is low. The differential horizontal stress ratio is generally calculated by the minimum and maximum horizontal stress, but it is also calculated from dynamic elastic constants and anisotropic parameters. In this study we analyzed anisotropic properties through the core samples from Danyang limestone and calculated DHSR. The three types of core samples shaped in three directions (vertical, parallel and 45 degree to bedding) were used for laboratory test. We measured P-, S-wave velocities, and density and then calculated dynamic elastic constants, compliance and DHSR. According to the results of the core sample analysis the calculated DHSR is 0.185. Thomsen parameters of the Danyang limestone used in this study are characterized by the P- and S-wave velocities varying along the bedding symmetry axis. It is observed that the DHSR value is more affected by the change in compliance value than the Poisson's ratio. It is necessary to measure SH-wave velocity for more correct petrophysical properties.