• 한국안광학회지
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• 제17권2호
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• pp.127-133
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• 2012

목적: 각막곡률계를 이용하여 비접촉식으로 안경렌즈의 곡률반경을 측정할 수 있는 방법에 관하여 조사하고자 한다. 방법: 각막곡률계의 전면부에 -9.50 D ~ -11.50 D의 시력검사용 시험렌즈를 부착한 후 안경렌즈를 각막곡률계의 전면부에서 약 25 cm 가량 떨어진 곳에 설치한다. 안경렌즈의 위치를 조금씩 변경시키며 선명한 마이어상을 관찰하여 곡률반경을 측정한 후, 구면계를 이용하여 곡률반경의 보정공식을 만든다. 결과: 전면부에 시험렌즈를 부착한 각막곡률계를 이용하여 곡률반경 측정이 성공적으로 수행되었다. 측정한 곡률반경은 구면계 데이터를 이용하여 보정값으로 변환 되었으며, 보정값을 만드는 직선의 방정식 5가지를 얻었다. 임의의 여러 가지 렌즈들을 전면부에 시험렌즈가 부착된 각막곡률계로 측정한 후 직선의 방정식을 이용하여 계산한 결과 3.5% 미만의 오차로 측정이 가능함을 알았다. 결론: 전면부에 시험렌즈를 부착한 각막곡률계를 이용하여 비접촉식으로 안경렌즈의 곡률반경을 측정하는 것이 가능하며, 그 정확도는 렌즈메져보다 오히려 높은 것으로 나타났다.

• 한국기계가공학회지
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• 제13권5호
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• pp.90-97
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• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• 한국해양공학회지
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• 제17권4호
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• 한국군사과학기술학회지
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• 제18권2호
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• pp.181-188
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• 2015

This paper present, the result of the guidance and control law for a course correction munitions(CCM) with 2sets of canards positioned in the rotating nose section. The nonlinear simulation model of the CCM was developed based on 7DOF equation of motion. The ability of correcting position was verified by open-loop control input with nonlinear model. The guidance and control command was constructed by reference trajectory which can be obtained with no control. Finally, the performance of the guidance and control law was evaluated through Monte-carlo simulation. The CEP(Circular Error Probability) was obtained by considering the errors in muzzle velocity, aerodynamic coefficient, wind, elevation and azimuth angle and density.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.265-271
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• 2005

Randomness exists in engineering. Tolerance, assemble-error, environment temperature and wear make the parameters of a mechanical system uncertain. So the behavior or response of the mechanical system is uncertain. In this paper, the uncertain parameters are treated as random variables. So if the probability distribution of a random parameter is known, the simulation of mechanical multibody dynamics can be made by Monte-Carlo method. Thus multibody dynamics simulation results can be obtained in statistics. A new concept called functional reliability is put forward in this paper, which can be defined as the probability of the dynamic parameters(such as position, orientation, velocity, acceleration etc.) of the key parts of a mechanical multibody system belong to their tolerance values. A flexible mechanical arm with random parameters is studied in this paper. The length, width, thickness and density of the flexible arm are treated as random variables and Gaussian distribution is used with given mean and variance. Computer code is developed based on the dynamic model and Monte-Carlo method to simulate the dynamic behavior of the flexible arm. At the same time the end effector's locating reliability is calculated with circular tolerance area. The theory and method presented in this paper are applicable on the dynamics modeling of general multibody systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 춘계 학술발표회
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• pp.715-719
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• 2009

In this study, a method to predict the consolidation behavior of soft clays and marine clays was developed by combining the equation of Terzaghi's 1-dimensional consolidation and CPTu dissipation. The special attention was given to the consolidation anisotropy due to the difference between 1-D consolidation and radial consolidation of CPTu dissipation. The analysis combining two equations enables direct application of CPTu results. And above all it doesn't require to sample undisturbed specimens and determine consolidation coefficient which is both costly and time consuming and often contains measuring error. It is also advantageous that CPTu test can be carried out any position and any depth. Clays typically have a greater horizontal permeability, $k_h$, than vertical permeability, $k_v$, and the coefficient of consolidation in the horizontal direction is generally higher than the vertical direction. Various data of horizontal and vertical consolidation coefficient ratio were collected and analyzed to develop and verify the method.

• 한국기계가공학회지
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• 제18권8호
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• pp.82-90
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• 2019

We propose an equivalent model of a sintered metal mesh filter calculated by Ergun's equation and polynomial regression for the CFD analysis of breakaway devices at a hydrogen fueling station. CFD analysis of filters that cause high pressure loss is essential because breakaway devices in high-pressure hydrogen conditions require low pressure loss. A differential pressure experiment with a filter was performed in a low-pressure air condition considering similarities. An equivalent model was developed by deriving the resistance value by the polynomial regression using the experimental results. The results of CFD analysis using the equivalent model show that there was almost no error in the operating condition of the breakaway device compared to the experimental results. Through this work, we believe that the proposed equivalent model of a filter can be applied to the analysis of breakaway devices in hydrogen fueling stations. We will study how to optimize the shape and position of the filter in breakaway devices using the developed equivalent model.

• 한국항공우주학회지
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• 제46권11호
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• pp.902-910
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• 2018

본 논문은 지구의 J2 섭동을 고려한 비공면 타원궤도에서의 우주비행체의 요격 문제를 다룬다. J2에 의한 영향은 지구를 돌고 있는 우주비행체 궤도를 변화시키는 주된 요인이 되며, 이를 해결하기 위해 실시간 요격 방법을 제안한다. 구형의 지구와 순간추력을 고려한 운동방정식을 기반으로 최적화 문제를 구성하고 수치적으로 얻어진 최적해를 인터셉터의 추진방향으로 설정한다. 위치 오차는 최적화 문제를 반복적으로 해결하고 인터셉터의 추진방향을 수정하는 방식으로 해결한다. 다양한 궤도를 상황을 고려하여 제안하는 방법을 검증한다.

• Nuclear Engineering and Technology
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• 제54권10호
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• pp.3833-3840
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• 2022

A method for calibrating the energy scale and detection efficiency of stilbene scintillators is presented herein. This method can be used to quantitatively analyze the Compton continuum of gamma-ray spectra obtained using such scintillators. First, channel-energy calibration was conducted by fitting a semi-empirical equation for the Compton continuum to the acquired energy spectrum and a new method to evaluate the intrinsic detection efficiency, called intrinsic Compton efficiency, of stilbene scintillators was proposed. The validity of this method was verified by changing experimental conditions such as the number of sources being measured simultaneously and the detector-source distance. According to the energy calibration, the standard error for the estimated Compton edge position was ±1.56 keV. The comparison of the intrinsic Compton efficiencies calculated from the single- and two-source spectra showed that the mean absolute difference and the mean absolute percentage difference are 0.031 %p and 0.557%, respectively, demonstrating reasonable accuracy of this method. The feasibility of the method was confirmed for an energy range of 0.5-1.5 MeV, showing that stilbene scintillators can be used to quantitatively analyze gamma rays in mixed-radiation fields.