• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.53-55
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• 2006

본 논문은 청소 로봇 메카니즘을 위한 소프트 팁의 접촉력을 제어하기 위한 방법을 제안한다. 제안한 방법에 사용하면, 어떤 소프트 팁의 기하학적인 탄성 모델을 근거로, 청소작업이 수행되는 동안 소프트 팀에 작용되는 접촉력을 팁의 압축변위 정도에 따라 적절히 판단할 수 있다. 이것을 청소 로봇 메카니즘에 탑재된 매니퓰레이터의 위치제어 변위로 활용함으로써, 소프트 팁의 적절한 접촉상태를 유지하는 것이 가능해진다.

• Journal of the Korean Society of Propulsion Engineers
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• v.21 no.6
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• pp.83-90
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• 2017

Performance analysis of the turboshaft engines for combined rotorcraft was executed. A tip jet and a ducted fan aircraft were selected for combined rotorcraft application. Gasturb 12 software was used for turboshaft engine performance analysis. In the results, maximum required power for the tip jet engine is about 1,600 hp class and maximum required power for the ducted fan engine is about 1,000 hp class at the required aircraft mission. This is due to the additional power of the auxiliary compressor to get a bleed air mass flow rate for the tip jet operation. At the same time, fuel consumption of the tip jet aircraft is 2.8 times larger than ducted fan case. Therefore ducted fan type aircraft is more efficient than tip jet aircraft in terms of fuel economy.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.670-673
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• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 한국신재생에너지학회:학술대회논문집
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• 2005.11a
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• pp.575-578
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• 2005

The optimum design and the performance analysis software called POSEIDON for the HAWT (Horizontal Axis Wind Turbine) was developed by use of BEMT. The Prandtl's tip loss theory was adopted to consider the blade tip loss. The lift and the drag coefficient of S-809 airfoil were predicted via X-FOIL and also the post stall characteristics of S-809 were estimated by the Viterna's equations. All the predicted aerodynamic characteristics are fairly well agreed with the wind tunnel test results, performed by Sommers in Delft university of technology. The rated power of the testing rotor is 20kW(FIL-20) at design conditions. The experimental aerodynamic parameters and the X-FOIL data were used for the power prediction of the FIL-20 respectively. The comparison results shows good agreement in power prediction.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.3
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• New & Renewable Energy
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• v.1 no.4 s.4
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• pp.38-42
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• 2005

The optimum design and the performance analysis software called POSEIDON for the HAWT [Horizontal Axis Wind Turbine] was developed by use of BEMT. The Prandtl's tip loss theory was adopted to consider the blade tip loss. The lift and the drag coefficient of S-809 airfoil were predicted via X-FOIL and also the post stall characteristics of S-809 were estimated by the Viterna's equations. All the predicted aerodynamic characteristics are fairly well agreed with the wind tunnel test results, performed by Sommers in Delft university of technology. The rated power of the testing rotor is 20kW[FIL-20] at design conditions. The experimental aerodynamic parameters and the X-FOIL data were used for the power prediction of the FIL-20 respectively. The comparison results shows good agreement in power prediction.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.