• Proceedings of the KSR Conference
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• 2000.05a
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• pp.439-446
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• 2000

In this study, 7 dof (Including warping) beam element was developed to estimate the effects of wagner effects and load height effects on the lateral buckling strength of mono-symmetric I beam. Finite element buckling analysis of mono-symmetric I-shaped girders subjected to transverse loading applied at different heights on the cross-section were conducted. Linear moment gradient were considered, too. In these cases, girders are subjected to both single-curvature and Reverse-curvature bending. An applicability of current LRFD C$\sub$b/ on the mono-symmetric I beam was studied from the finite element results. The problems of current LRFD C$\sub$b/ occurring from load height effects and reverse curvature bending in unbraced length when applied on the mono-symmetric I beam were studied. Solutions to these problems are also presented.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.7
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• pp.502-509
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• 2002

A two-degree of freedom model Is suggested to understand the basic dynamical behaviors of the interaction between two masses of the friction induced vibration system. The two masses may be considered as the pad and the dusk of the brake. The phase space analysis is performed to understand complicated dynamics of the non-linear model. Attractors in the phase space are examined for various conditions of the parameters of the model especially by emphasizing on the damping parameters. In certain conditions, the attractor becomes a limit cycle showing the stick-slip phenomena. In this Paper, not only titre existence of the limit cycle but also the sloe of the limit cycle is examined to demonstrate the non-linear dynamics that leads the unstable state. For the two different cases of the system frequency[(1) Two masses with same natural frequencies, (2) with different natural frequencies] . the propensity of limit cycle Is discussed In detail. The results show an important fact that it may make the system worse when too much damping Is present in the only one part of the masses.

• Advances in Computational Design
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• v.7 no.3
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• pp.189-210
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• 2022

Deployable structures have the ability to shift from a compact state to an expanded functional configuration. By extension, reconfigurability is another function that relies on embedded computation and actuators. Linkage-based mechanisms constitute promising systems in the development of deployable and reconfigurable structures with high flexibility and controllability. The present paper investigates the deployment and reconfigurability of modular linkage structures with a pin and a sliding support, the latter connected to a linear motion actuator. An appropriate control sequence consists of stepwise reconfigurations that involve the selective releasing of one intermediate joint in each closed-loop linkage, effectively reducing it to a 1-DOF "effective crank-slider" mechanism. This approach enables low self-weight and reduced energy consumption. A kinematics and finite-element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems' behavior.

• Structural Engineering and Mechanics
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• v.52 no.2
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• pp.221-238
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• 2014

A four-noded curved shell finite element for the geometrically non-linear analysis of beams curved in plan is introduced. The structure is conceived as a sequence of macro-elements (ME) having the form of transversal segments of identical topology where each slice is formed using a number of the curved shell elements which have 7 degrees of freedom (DOF) per node. A curved box-girder beam example is modelled using various meshes and linear analysis results are compared to the solutions of a well-known computer program SAP2000. Linear and non-linear analyses of the beam under increasing uniformly distributed loads are also carried out. In addition to box-girder beams, the proposed element can also be used in modelling open-section beams with curved or straight axes and circular plates under radial compression. Buckling loads of a circular plate example are obtained for coarse and successively refined meshes and results are compared with each other. The advantage of this element is that curved systems can be realistically modelled and satisfactory results can be obtained even by using coarse meshes.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.19 no.1
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• pp.1-7
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• 2009

To establish the Fourier-Transform Infra-Red spectrophotometry(FTIR) Direct-On-Filter(DOF) technique as a useful analytical method for quartz in respirable dust samples, an influence of the kaolinite should be corrected. Respirable dust, created in a dust chamber containing the standard material of quartz and kaolinite were collected using a cyclone equipped with a 25 mm, $0.8\;{\mu}m$ pore size DM filter as a collection medium. This study was designed to compare three methods of correction for kaolinite when quantifying the content of quartz, including the least square, the optimum choice and the spectral subtraction methods. The content of quartz in the respirable dust samples was overestimated by 6.2% when mixed with kaolinite(35.5% by weight). The content of quartz containing kaolinite(72.8% by weight) were overestimated by 32%. The spectral subtraction method underestimated the quartz content by 1.5%, while the other two correction methods, the optimum choice and the least square method, overestimated the quartz content by 1.9% to 6.4% and 0.04 to 1.1%, respectively. The results of this study are suggested that, when correcting for effects of kaolinite on quantitative analysis of quartz in respirable dust by FTIR direct-on-filter method, the least square method produce the most unbiased results be compared with those of other correction methods.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1178-1186
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• 2001

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.793-799
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• 2014

EO GRD(Ground Resolved Distance) resolution of airborne EO/IR(Electro-Optical/Infrared) sensor is a critical factor in test and evaluation for EO sensor performance. We propose the laboratory measurement set-up for EO GRD by constructing optical collimator which includes integrated sphere, blackbody, equivalent 3-bar target and 6 DOF motion simulator. GRD is measured in the photographic imagery of bar targets by 3 different distances for 3 EO/IR sensors and the measured results were analyzed statistically. We found that at least 7 sheets of imagery are needed in order to obtain meaningful EO GRD. The result of statistical analysis shows that the distribution of the measured GRD is nearly symmetric about the average GRD, and the better imagery ratio above the average GRD is about 40~70%. Also from the best GRD analysis, it is estimated that the design goal for EO GRD should be 30% superior to the required GRD.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.1 s.151
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• pp.1-7
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• 2007

Recently, researches to find rational mathematical model for prediction of capsizing have been progressed by ITTC. Lee(1997) developed a mathematical model which describes 6 DOF transient motions, such as capsizing, of a ship in regular waves. In this study a mathematical model for prediction of capsizing in following and quartering seas is developed based on Lee's model. And factors affecting prediction of capsizing are analyzed through comparing simulation results with experimental results. Present simulation results are compared with ITTC bench mark test results. In rolling tests with beam seas and tree runs with stern quartering seas, capsizing events are predicted well. But calculated roll angle is larger than experimental one. It is found that nonlinear manoeuvring coefficients don't affect the prediction of capsizing events.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.