• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.165-172
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• 1995

Many algorithms to enhance a speed performance of a robot have been studied, but it's rare to consider disign aspect of a robot arm for time optimal problem. In this paper, section demensions of a robot arm and a velocity profile of an end-effector were optimally designed to minimize the cycle time. Capacity of actuators, deflections of end-effector, and a fundamental natural frequency of the robot arm were constrained in optimal design. For a given path with a trapezoidal velocity profile, torques of each joint were calculated using the inverse kinematics and dynamics. For the SCARA type robot which is mainly used for assembly tasks, the time optimal design of each robot arm id presented with the above constraints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.679-684
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• 2000

This paper presents the development of system and program for a Parallel-Typed CNC Machine. The system consists of parallel manipulator, PC (Personal Computer), DMC (DSP Motion Controller), and machining tools. In order to control the manipulator, the program, which is implemented in "c/c++" language, involves inverse/direct kinematics, velocity mapping, Jacobian and etc. A controller computes the kinematic formulation in real-time and generates and motion by the DMC. A monitor, which has access to program and sensory information, displays the status of manipulator.nipulator.

• 한국연소학회:학술대회논문집
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• 2003.12a
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• pp.49-56
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• 2003

Mathematical formulation of the zone conditional two-fluid model is established to consider flame-generated turbulence in premixed turbulent combustion. The conditional statistics of major flow variables are investigated to understand the mechanism of flame generated turbulence. The flow field in burned zone shows substantially increased turbulent kinetic energy, which is highly anisotropic due to reaction kinematics across thin flamelets. The transverse component of rms velocities in burned zone become larger than axial component in the core of turbulent flame brush. The major source or sink terms of turbulent kinetic energy are the interfacial transfer by the mean reaction rate and the work terms by fluctuating pressure and velocity on a flame surface.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.4 s.193
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• pp.109-114
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• 2007

The mobility (degree of freedom) of mechanisms can be regarded as independent coordinate to define its position. This concept is essential for kinematics, and for designing mechanisms in the practical point of view. Gruebler's equation has been applied to estimate the mobility using number of links and joints of a mechanism. In practical case, there are many types of mechanisms, which transfer motion by direct contact between two links. However, no exact kinematic definition has existed for the joint that the contact takes place in a mechanism. In this paper, a new concept of contact joint is defined and modified Gruebler's equation is suggested to calculate mobility of a mechanism with the joint. This concept would be useful in mechanism design because it will be possible to manage many contact mechanisms with kinematic exactness.

• Steel and Composite Structures
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• v.18 no.3
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• pp.693-709
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• 2015

In this article, nonlinear free vibration behaviour of functionally graded spherical panel is analysed. A nonlinear mathematical model is developed based on higher order shear deformation theory for shallow shell by taking Green-Lagrange type of nonlinear kinematics. The material properties of functionally graded material are assumed to be varying continuously in transverse direction and evaluated using Voigt micromechanical model in conjunction with power-law distribution. The governing equation of the shell panel is obtained using Hamilton's principle and discretised with the help of nonlinear finite element method. The desired responses are evaluated through a direct iterative method. The present model has been validated by comparing the frequency ratio (nonlinear frequency to linear frequency) with those available published literatures. Finally, the effect of geometrical parameters (curvature ratio, thickness ratio, aspect ratio and support condition), power law indices and amplitude of vibration on the frequency ratios of spherical panel have been discussed through numerical experimentations.

• Korean Journal of Applied Biomechanics
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• v.13 no.2
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• pp.29-47
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• 2003

This study is to analyze the kinematic variables in release motion of discuss throwing. For the matter, 5 people from the national team and collegiate discuss throwing in the year 2001 were chosen as the subjects and two S-VHS video cameras set in 60frames/sec were used for recording their motions. Coordinated raw positions data through digitizing are smoothing by butter-worth 's low-pass filtering method at a cut off frequency 6.0Hz. and the direct linear transformation(DLT) method was employed to obtain 3-D position coordinates. The conclusions were as follows; 1. The better record players showed the shorter approach time in the last support phase. 2. In the displacement CG, the better record players showed the shorter displacement in medial-lateral direction, and the longer displacement in horizontal direction. In the motion, the COG showed longer displacement vertical direction. 3. The better record players showed the faster horizontal velocity than vertical velocity in the release. 4. The better record players showed to take the posture of vertical axis in the release.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.54.1-54.1
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• 2016

Stellar wind and radiation pressure from massive stars can trigger the formation of new generation of stars. The sequential age distribution of stars, the morphology of cometary globules, and bright-rimmed clouds have been accepted as evidence of triggered star formation. However, these characteristics do not necessarily suggest that new generation of stars are formed by the feedback of massive stars. In order to search for any physical connection between star forming events, we have initiated a study of gas and stellar kinematics in NGC 1893, where two prominent cometary nebulae are facing toward O-type stars. The spectra of gas and stars in optical and near-infrared (NIR) wavelength are obtained with Hectochelle on the 6.5m MMT and Immersion GRating INfrared Spectrograph on the 2.7m Harlan J. Smith Telescope at McDonald observatory. In this study, the radial velocity field of gas across the cluster is investigated using $H{\alpha}$ and [N II] ${\lambda}$ 6584 emission lines, and that of the cometary nebula Sim 130 is also probed using 1-0 S(1) transition line of $H_2$. We report a distinctive velocity field of the cometary nebulae and many ro-vibrational transitions of $H_2$ even at high energy levels in the NIR spectra. These properties indicate the interaction between the cometary nebulae and O-type stars, and this fact can be a clue to triggered star formation in NGC 1893.