• 한국전자파학회지:전자파기술
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• 제6권2호
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• pp.54-58
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• 1995

1957년 인공위성의 효시가 되는 스프티닉 1호 발사이래 1994년 현재까지 약 4,000회로 추정되는 각종통신 측지 첩보 및 실험 위성 등의 발사로 지구 적도상공 36,000Km의 정지궤도 이하의 공간에는 수많은 퇴역위성, 소아마비위성(부분기능고장위성)과 더불어 발사로켓트 상단의 위성 격납용기인 내연성의 훼 어링(Fairing)의 탈락파련(Fragment)등으로 혼재된 부유물은 약 4,000톤으로 예상되며 이중 95%가 쓸모 없는 우주 쓰레기에 해당된다고 보고 있다. 여기서, 우주쓰레기의 정의는 "현재와 장래에도 유용한 목적에 이용되지 못하는 인공물체"로서 크기 로는 10여미터로 부터 산화된 연료 분사개스의 수미크론의 분진으로까지 광범위하다. 그러나, 본고에서는 우주 활동에 악영향을 끼칠수 있는 대량으로 산재된 밀리미터에서 쎈티미터의 크 기의 고속 운동 에너지를 지닌 쓰레기 조각(Debris)을 고찰해 보고자 한다.

• 대한기계학회논문집A
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• 제29권4호
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• pp.540-554
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• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.476-480
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• 2003

This paper presents an effective method to analyze the dynamic characteristics for the shilling transients of power transmission system using the multibody dynamics, which is composed of subsystem equation, subsystem assemble, and the self-determining technique for the system degree of freedom. Using the advantages of multibody dynamics, the proposed method can be used easily for mathematical models of mechanical systems, such as a power transmission, compared with newtonian method. With this theory, dynamic simulation program was developed. The program can be used to verify system performances, transient phenomena, and other dynamic problems. The simulation of a target system was presented, and its validity was attained by being compared with the previous analysis using newtonian method.

• 전자공학회논문지B
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• 제32B권5호
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• pp.777-787
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• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.

• 한국수산과학회지
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• 제28권3호
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• pp.309-315
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• 1995

This paper describes a monitoring system for fish farm formation effect based on personal computer by using an image processing technique. This method is based on image processing technique incorporating concept of window and threshold processing to track the target object and to distinguish it from background. The image processing program runs in the veal time so that all program modules are able to process multi-task. The effectiveness is evaluated through the comparative study on the motion of lantern net for the scallop culturing by wave action in an experimental wave tank.

• Journal of Advanced Marine Engineering and Technology
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• 제26권5호
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• pp.573-580
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• 2002

Animation and time-resolved analysis of the wake characteristics of 2-D bluff body flows were examinated by applying the multi-vision PIV to square cylinders(three angles of attack: $0^{circ}, 30^{circ} and 45^{\circ}$) and circular cylinders(three rotating speeds: 0rpm, 76rpm, 153rpm) submerged within a circulating water channel $(Re=10^4)$, The macroscopic shedding patterns and their dominant frequencies were discussed in terms of instantaneous velocity, vorticity and turbulent quantities such as turbulent intensity, turbulent kinetic energy and three Reynolds stresses. Particularly the time-averaged distribution of turbulent intensity 'islands' where their peak magnitudes were focused always small regions behind the bodies without noticeable spatial migration were particularly discovered in all cases. And the dominant frequencies of the turbulent quantities in the wake regions were two times larger than those of the velocity and vorticity.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1988년도 제8회 학술강연회초록집
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• pp.35-48
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• 1988

상대 접촉하고 있는 물체에 미끄럼 운동이 가해질 경우 마찰에 의해 발생되는 거의 모든 에너지는 열로써 나타나게 된다. 이러한 마찰열은 주로 adhered junctions의 파괴 및 표면돌기(surface asperities)들의 소성 변형에 의한 열역할적 비가역 반응의 결과로 발생된다. 접촉부위의 발생열은 양 접촉제의 접촉면에 전달되어 접촉표면 온도의 급격한 증가를 초래하며 그 결과로 여러가지 surface phenomena, 즉 마찰, 마모, 산화(oxidation), 부식 및 구조적 열화(structural degradation) 금속학적 상변화등에 큰 영향을 미치게 된다. 딸서 볼 및 로울링 엘레먼트 베어링, 기어, 캠과 태핏, 브레이크 등 기계요소의 설계를 위한 주인자로서 근래에 들어 접촉표면의 온도가 주목받고 있다. 표면에 존재하는 layer로서는 금속표면에 응착시킨 coating layers, contaminant films, physisorbed 또는 chemisorbed films, oxide layers 또는 마찰열에 의해 형성되는 경도가 아주 높은 내마모층(hard wear-resistant layers) 등이 고려될수 있다. 낮은 열전도성을 가진 oxide film이 접촉 표면이 온도를 증가시킨다는 것이 Jaeger에 의해 지적되었으며 Ling과 Lai는 moving heat sjource가 가해지는 layered surface의 표면온도분포를 구하면서 substrate와 thermal property가 다른 layer가 존재하게 되면 그 두께가 아주 얇더라도 (1 마이크론 정도) 표면온도는 크게 변화됨을 보였다.

• 한국측량학회지
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• 제15권2호
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• pp.185-193
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• 1997

While close range photogrammetry has been widely applied for static deformation analysis, video cameras have many characteristics that make them the sensors of choice for dynamic analysis of rapidly changing situations. They also have limitations. The aim of this research is to explore the potential of a video system for monitoring dynamic objects. A pilot system consists of two camcorders, VCR, and PC with frame grabber. To estimte the performance of this system for moving objects, a car was imaged covering several phases when starting to drive. The sequential images of a moving car were recorded on VCR. 15 images per second were digitized in an off-line mode by frame grabber. The image coordinates of targets attached to the rear bumper of a car were acquired by IDRISI, and the object coordinates were derived based on DLT. This research suggests that home video cameras, PC, and photogrammetric principles are promising tools for monitoring of the moving objects and vibrations as well as other time dependent situations.

• 한국자동차공학회논문집
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• 제2권4호
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• pp.80-90
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• 1994

Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.

• 한국자동차공학회논문집
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• 제5권1호
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• pp.154-161
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• 1997

This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.