• Proceedings of the Korea Crystallographic Association Conference
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• 2001.10a
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• pp.105-148
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• 2001

• Proceedings of the KWS Conference
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• 1994.05a
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• pp.232-234
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• 1994

• Proceedings of the KWS Conference
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• 1995.04a
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• pp.160-163
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• 1995

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.218-222
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• 2014

In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot's coordinates, and the geometric relation (i.e. rotation and translation) between the robot's coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot's TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.

• Journal of The Korean Astronomical Society
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• v.51 no.4
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• pp.111-117
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• 2018

A numerical method is proposed to calculate the response of detectors measuring particle energies from incident isotropic fluxes of electrons and positive ions. The isotropic flux is generated by injecting particles moving radially inward on a hypothetical, spherical surface encompassing the detectors. A geometric projection of the field-of-view from the detectors onto the spherical surface allows for the identification of initial positions and momenta corresponding to the clear field-of-view of the detectors. The contamination of detector responses by particles penetrating through, or scattering off, the structure is also similarly identified by tracing the initial positions and momenta of the detected particles. The relative contribution from the contaminating particles is calculated using GEANT4 to obtain the geometric factor of the instrument as a function of the energy. This calculation clearly shows that the geometric factor is a strong function of incident particle energies. The current investigation provides a simple and decisive method to analyze the instrument geometric factor, which is a complicated function of contributions from the anticipated field-of-view particles, together with penetrating or scattered particles.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.628-633
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• 1994

A new Riemannian geometric model for the controlled plant is proposed by imbedding the control vector space in the state space, so as to reduce the dimension of the model. This geometric model is derived by replacing the orthogonal straight coordinate axes on the state space of a linear system with the curvilinear coordinate axes. Therefore the integral manifold of the geometric model becomes homeomorphic to that of fictitious linear system. For the lower dimensional Riemannian geometric model, a nonlinear optimal regulator with a quadratic form performance index which contains the Riemannian metric tensor is designed. Since the integral manifold of the nonlinear regulator is determined to be homeomorphic to that of the linear regulator, it is expected that the basic properties of the linear regulator such as feedback structure, stability and robustness are to be reflected in those of the nonlinear regulator. To apply the above regulator theory to a real nonlinear plant, it is discussed how to distort the curvilinear coordinate axes on which a nonlinear plant behaves as a linear system. Consequently, a partial differential equation with respect to the homeomorphism is derived. Finally, the computational algorithm for the nonlinear optimal regulator is discussed and a numerical example is shown.

• Current Optics and Photonics
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• v.2 no.2
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• pp.140-146
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• 2018

In this paper, mesoscale optical surface structures are found to possess both geometric and wave optics features. The study reveals that geometric optic analysis cannot correctly predict the experimental results of light transmission or reflection by mesoscale optical structures, and that, for reliable analyses, a hybrid approach incorporating both geometric and wave optic theories should be employed. By analyzing the transmission patterns generated by the mesoscale periodic pyramid prism plates, we show that the wave optic feature is mainly ascribed to the edge diffraction effect and we estimate the relative contributions of the wave optic diffraction effect and the geometric refraction effect to the total scattering field distribution with respect to the relative dimension of the structures.

• Korean Journal of Computational Design and Engineering
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• v.12 no.5
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• pp.376-381
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• 2007

The geometric configuration in the weight-reduced structure is very required to be started from the conceptual design with low cost, high performance and quality. In this point, a structural-topological shape concerned with conceptual design of structure is important. The method used in this paper combines three optimization techniques, where the shape and physical dimensions of the structure and material distribution are hierachically optimized, with the maximum rigidity of structure and lightweight.

• Bulletin of the Korean Mathematical Society
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• v.31 no.2
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• pp.237-242
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• 1994

One of the most well-known geometric lattices is a partition lattice. Every upper interval of a partition lattice is a partition lattice. The whitney numbers of a partition lattices are the Stirling numbers, and the characteristic polynomial is a falling factorial. The set of partitions with a single non-trivial block containing a fixed element is a Boolean sublattice of modular elements, so the partition lattice is supersolvable in the sense of Stanley [6]. In this paper, we rephrase four results due to Heller[1] and Murty [4] in terms of matroids and give several characterizations of partition lattices. Our notation and terminology follow those in [8,9]. To clarify our terminology, let G, be a finte geometric lattice. If S is the set of points (or rank-one flats) in G, the lattice structure of G induces the structure of a (combinatorial) geometry, also denoted by G, on S. The size vertical bar G vertical bar of the geometry G is the number of points in G. Let T be subset of S. The deletion of T from G is the geometry on the point set S/T obtained by restricting G to the subset S/T. The contraction G/T of G by T is the geometry induced by the geometric lattice [cl(T), over ^1] on the set S' of all flats in G covering cl(T). (Here, cl(T) is the closure of T, and over ^ 1 is the maximum of the lattice G.) Thus, by definition, the contraction of a geometry is always a geometry. A geometry which can be obtained from G by deletions and contractions is called a minor of G.

• Journal of the Korea institute for structural maintenance and inspection
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• v.6 no.3
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• pp.129-138
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• 2002

The purpose of this study is to propose the nonlinear analysis method which combines the nonlinear incremental method with the layered method to solve the problems due to the geometric and the material nonlinearities. As numerical analysis models, the reinforced concrete simple beam and the steel arch frame are used to verify the algorithm of the proposed nonlinear method. The results are gotten from the computation procedures. According to the results of this study, the fracture pattern of the beam according to the ratio of tensile steel and the strength of the concrete and the steel can be estimated by the proposed method. Therefore, the load-deflection curve of structure can be, exactly, depicted by the proposed method. Also, the rupture load, the site and the depth of crack of the beam can analytically be checked by the proposed method. In this respect, the proposed method contributes for the solving the stability problem of the actual structure.