• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.1
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• pp.109-117
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• 2004

The objective of this study is to investigate the effect of the spray characteristics on the etching characteristics for the optimization of etching process in the micro fabrication industry. The etching characteristics such as etching rate and etching factor were investigated under different etching conditions. To compare with the etching characteristic, the spray characteristics such as droplet size and velocity were measured by PDA system. The etching rate was increased in case of high spray pressure and in the region of spray center. The etching factor was increased with decrease in the distance from nozzle tip and increase in the etchant temperature. It was found that the spray characteristics were correlated with the etching characteristics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.127-131
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• 2000

The paper presents both theoretical and experimental study for dynamic instabilities of a vertical cantilevered pipe with two attached lumped masses conveying fluid. The two attached lumped masses can be considered as valves or some mechanical parts in real pipe system. Eigenvalue behaviors depending on the flow velocity are investigated for the change of positions and magnitudes of an attached lumped mass and a tip mass. In order to verify appropriaty of numerical solutions, experiments were accomplished. Theoretical predictions have a good agreement with experimental ones.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.12
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• pp.2110-2117
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• 2003

A physics-based material removal model in various scales is described and a feature scale simulation for a chemical mechanical polishing (CMP) process is performed in this work. Three different scales are considered in this model, i.e., abrasive particle scale, asperity scale and wafer scale. The abrasive particle and the asperity scales are combined together and then homogenized to result in force balance conditions to be satisfied in the wafer scale using an extended Greenwood-Williamson and Whitehouse-Archard statistical model that takes into consideration the joint distribution of asperity heights and asperity tip radii. The final computation is made to evaluate the material removal rate in wafer scale and a computer simulation is performed for detailed surface profile variations on a representative feature. The results show the dependence of the material removal rate on the joint distribution, applied external pressure, relative velocity, and other operating conditions and design parameters.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1297-1304
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• 2000

The reflective photoelastic experiment can be used more effectively than the transparent type in industrial fields. Therefore the reflective photoelastic experimental hybrid method applied to the fatigue fracture problems is introduced in this research. It is verified that the reflective photoelastic experimental hybrid method is very useful on the determination of crack propagation velocity and stress intensity factor of the fatigue crack and on the separation of stress components in the vicinity of fatigue crack tip etc.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.3
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• pp.134-140
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• 2008

Micro electrochemical machining (ECM) is conducted on stainless steel 304 using non-toxic electrolyte of citric acid. Electrochemical dissolution region is minimized by applying a few hundred second duration pulses between the tungsten SPM tip and the work material. ECM characteristics according to citric acid concentration, feeding velocity and electric conditions such as pulse amplitude, pulse frequency, and offset voltage are investigated through a series of experiments. Micro holes of $60{\mu}m$ in diameter with the depth of $50{\mu}m$ and $90{\mu}m$ in diameter with the depth of $100{\mu}m$ are perforated. Square and circular micro cavities are also manufactured by electrochemical milling. This research can contribute to the development of safe and environmentally friendly micro ECM process.

• Journal of ILASS-Korea
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• v.9 no.3
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• pp.42-49
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• 2004

The present article investigates the influence of droplet drag models on predictions of diesel spray behaviors under ultra-high injection pressure conditions. To consider drop deformation and shock disturbance, this study introduces a new hybrid model in predicting drag coefficient from the literature findings. Numerical simulations are first conducted on transient behaviors of single droplet to compare the hybrid model with earlier conventional model. Moreover, using two different models, extensive numerical calculations are made for diesel sprays under ultra-high pressure sprays. It is found that the droplet drag models play an important role in determining the transient behaviors of sprays such as spray tip velocity and penetration lengths. Numerical results indicate that this new hybrid model yields the much better conformity with measurements especially under the ultra-high injection pressure conditions.

• Journal of the Korean Society of Visualization
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• v.6 no.2
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• pp.9-13
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• 2008

The reproducibility of water droplet formation which is indispensible in the investigation of a drop-on-demand piezoelectrically driven inkjet was verified by checking the size of droplet and distance from the nozzle tip of inkjet head to droplet. Based on the reproducibility of droplet formation, we visualized the formation of micro-scale droplets by acquiring consecutive images at the jetting frequency of 500 Hz for which air bubbles were not generated. Two different electric waveforms were used to drive the piezoelectric actuator. The visualization system consists of a high-speed camera that can capture images up to 250,000fps, a long-distance microscope and a halogen lamp as a light source.

• Journal of the Korean Ceramic Society
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• v.22 no.5
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• pp.23-28
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• 1985

A model for degradation of $eta$-$Al_2O_3$ is derived from sress generated by Poiseuille pressure capillary effect and effulent flux in charging process of Na-S Battery. Critical current density for degradation increase with increasing the crack length and crack tip radius. radius 10-7cm and crack length 10-5cm Dependence of crack growth velocity on crack lengh is seperated two regions that is for a large crack length it is predominated by Poiseuille pressure and effulent fluex but in the case of small crack length it is controlled by capillary effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1273-1280
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• 2003

In this paper, transparent dynamic photoelastic experimental hybrid method for propagating cracks in orthotropic material was developed. Using transparent dynamic photoelastic experimental hybrid method, we can obtain stress intensity factor and separate the stress components from only isochromatic fringe patterns without using isoclinics. When crack is propagated with constant velocity, the contours of stress components in the vicinity of crack tip in orthotropic material are similar to those of isotropic material or orthotropic material with stationary crack under the static load. Dynamic stress intensity factors are decreased as crack growths. It was certified that the dynamic photoelastic experimental hybrid method was very useful for the analysis of the dynamic fracture mechanics.