• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.1 s.232
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• pp.1-13
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• 2005

Kinematics of grasping and manipulation by a multi-fingered robotic hand where multi-fingertip surfaces are in contact with an object is solved. The surface of the object was represented by B-spline surfaces in order to model the objects of various shapes. The fingers were modeled by cylindrical links and a half ellipsoid fingertip. Geometric equations of contact locations have been solved for all possible contact combinations between the fingertip surface and the object. The simulation system calculated joint displacements and contact locations for a given trajectory of the object. Since there are no closed form solutions for contact or intersection between these surfaces, kinematics of grasping was solved by recursive numerical calculation. The initial estimate of the contact point was obtained by approximating the B-spline surface to a polyhedron. As for the simulation of manipulation, exact contact locations were updated by solving the contact equations according to the given contact states such as pure rolling, twist-rolling or slide-twist-rolling. Several simulation examples of grasping and manipulation are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1997.10a
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• pp.161-166
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• 1997

Application of hot roiling oil lubrication technology was broadened to the field of RM stands of Hot Rolling Mill at Pohang works. The primary object was to improve the quality of the strip sttrface and the rolls by oil lubrication in hot rolling process. Prior to the actual field application preliminary test was conducted to evaluate the effect of hot rolling oil lubrication at RM stands. From the test, it has been found that the use of oil lubrication tends to prevent the progression of the heat cracks and thereby increases the quality of the strip surface and the wear life of the rolls. New hot rolling oil lubrication system was applied to the RM stands VSB, R1, R2, R3, R4 and edger rolls. With the introduction of a rolling lubricant, the quality of the strip surface and rolls was improved and overall roll dressing has decreased. Also there has been a improvement of productivity from the long roll life.

• Transactions of Materials Processing
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• v.9 no.2
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• pp.112-119
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• 2000

The roll Pass design is one of the most important processes to design the whole equipment of the rods and bars rolling system. In this study, the roll pass design program named TollRo(Rolling Factory Organizer) was developed. conventional methods to design roll pass were analyzed and a new algorithm to design the dimension of the intermediate groove was introduced. Object oriented programming technology was implemented in this design program. It comprises GUI(Graphic User Interface), function of automatic pass design, function of modifying pass schedule and database of material properties. The developed program can be used to design roll pass with consistency for the rods and bars rolling system. The man-hours for the whole design can be drastically reduced. The design parameters of rolling system can be extracted quickly by this program.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.1
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• pp.24-30
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• 2008

A simulation of hot strip finishing mill automatic gauge control (AGC) system is built, which is divided into four modules such as rolling mill system, AGC module, looper system and strip model. The rolling mill system is built by mechanism modeling, the looper system and strip model are built by function modeling, and the AGC model is tried to use intelligent control of a multi-function AGC system. The target is attempted to use this simulation object to minimize finisher exit strip thickness deviation resulting from strip entry thickness disturbance and rolling force deviation. Simulation results show that the result of this AGC/LPC synthetical system module simulation is quite close to the actual result. The simulation system can also analyze most kinds of disturbance which affect the rolling process. It is proved that the system can represent practical situation of hot strip finishing mill process control, and be used as a basic platform of research and development for researcher and engineer.

• Journal of Navigation and Port Research
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• v.34 no.2
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• pp.123-129
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• 2010

The object of this study is to develop the method of safe conducting of a vessel through stormy sea when we encounter typoon or hurricane on ocean. The scope of investigation in this paper will be limited to safe maneuvering related only with rolling motions of a vessel. The processes of investigations are as follows; Firstly, we decide a CPA(Closest Point of Approach) with the center of the storm and decide significant wave height($H_{1/3}$) by SMB method and then calculate wave height of the highest of 1000 waves($H_{1/1000}$) and other data. Secondly, we make mathematical model of rolling motions of the vessel on the stormy sea and calculate the biggest rolling angle of the vessel and etc. Thirdly, we decide the most safe maneuvering method to ride out the stormy sea. By the above mentioned method we are able to calculate the status of the stormy sea and ships motions to be encountered and ride out safely through violently rough sea.

• Journal of Science Education
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• v.42 no.2
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• pp.120-131
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• 2018

The purpose of this study is to examine the characteristics of science gifted students' understanding of friction acting on a rolling object, and to examine the implications of teaching methods that can be derived from them. For this purpose, 48 students in grade 3 students who take advanced physics classes at the science high school for the gifted were asked to answer three questions about the friction problems. As a result, students' responses were divided into three types: rule, none-rule, and calculation. In addition, students of the rule type have difficulty in reasoning about the friction by using friction rules. We believe that students will be able to reach a deeper understanding of friction if we teach them to correctly infer the direction of friction without using friction rules, along with a strategy to emphasize relative motion in contact.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.5
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• pp.837-845
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• 1987

In the research of the rolling of strip, producing the strip with a close tolerance of thickness over the rolling direction was a principal object. But it was solved by the contribution of two-dimensional theory of rolling and the development of automatic gauge control system. And new requirements for the study of flatness, crown of rolled strip and edge drop grow up recently. These phenomena are closely related with the thickness distribution along the lateral direction of rolled strip. To analyse the thickness distribution of rolled strip along the lateral direction, elastic deformation of rolls and plastic deformation of work material must be discussed simultaneously. In this report, an approximate three-dimensional analysis based on Tozawa's three dimensional approach was applied to 12 cases of different rolling conditions and the numerical results were investigated. Especially stresses were laid upon the investigation of optimal boundary position between the three-dimensional analysis region and the plane strain analysis region.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.39-48
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• 2021

In this paper, an in-plane deformation measuring system using a dual-beam shear interferometer was constructed to measure the in-plane deformation of the measuring object. The in-plane deformation of the object was quantitatively measured according to the load and surface treatment conditions of the object. We also verified the reliability of the proposed technique by simultaneously performing the technique with an electronic speckle pattern interferometry system (ESPI), which is another laser application measurement technology. Digital shearography directly measures the deformation gradient or strain components and has the advantages of being full-field, noncontact, highly sensitive, and robust. It offers a much higher measurement sensitivity compared with noncoherent measurement methods and is more robust and applicable to in-field tests.