• Smart Structures and Systems
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• 제18권4호
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• pp.801-818
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• 2016

To estimate structural displacement, a visually servoed paired structured light system (ViSP) was proposed in previous studies. The ViSP is composed of two sides facing each other, each with one or two laser pointers, a 2-DOF manipulator, a camera, and a screen. By calculating the positions of the laser beams projected onto the screens and rotation angles of the manipulators, relative 6-DOF displacement between two sides can be estimated. Although the performance of the system has been verified through various simulations and experimental tests, it has a limitation that the accuracy of the displacement measurement depends on the alignment of the laser pointers. In deriving the kinematic equation of the ViSP, the laser pointers were assumed to be installed perfectly normal to the same side screen. In reality, however, this is very difficult to achieve due to installation errors. In other words, the pose of laser pointers should be calibrated carefully before measuring the displacement. To calibrate the initial pose of the laser pointers, a specially designed jig device is made and employed. Experimental tests have been performed to validate the performance of the proposed calibration method and the results show that the estimated displacement with the initial pose calibration increases the accuracy of the 6-DOF displacement estimation.

• 대한조선학회논문집
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• 제50권1호
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• pp.41-48
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• 2013

Several fatigue damages have recently been reported which cannot be resolved in the context of the existing fatigue design procedure, and they are suspected to be the cracks induced by the low cycle fatigue mechanism. To tackle the problem, a series of material tests together with fatigue tests have been carried out, and elasto-plastic notch strain analysis using nonlinear kinematic hardening model has been performed. The cyclic stress-strain curves are obtained and the nonlinear kinematic hardening model was calibrated based on the obtained material data. Also, the fatigue test with non-load-carrying cruciform fillet welded joint has been performed in low cycle fatigue regime. Then, the notch strain analyses have been carried out to find the precise elasto-plastic behavior of the material at the notch root of the cruciform joint. The variation of the material property from the base metal via HAZ up to the weld metal was taken into account using spatial variation of the material property. Then the detail elasto-plastic behavior of the welded joint subjected to the repeated cyclic loading has been investigated further through the comparison with the prediction with Neuber's rule. The calibration of the nonlinear kinematic hardening model and nonlinear notch strain analyses have been performed using the commercial FE program ABAQUS.

• 전기의세계
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• 제39권6호
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• pp.14-19
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• 1990

1. CAD system과 PROPS를 접속하여 CADsystem에서 Design된 surface를 사용할 수 있으며 Robot Kinematics를 graphic library화하여 surface배치 수상 및 path generation 및 animation을 통하여 가공작업을 위한 로보트 운동을 simulation할 수 있게 되었다. 2. Denavit-hartenberg transformation form에 의해 여러 Robot Kinematic을 일반적인 형식으로 library화 하였다. 3. 금형 가공의 공정들을 Menu로 만들어서 Expert system을 도입, 손쉽게 Interactive한 작업을 할 수 있게 하였다. 4. 차후의 연구 목표는 로보트 Calibration S/W의 개발 및 실현 그리고 Expert System을 이용한 Robot Program Generator의 완성을 통한 전체 Off-line programming System을 정립하는데 있다. 이를 위해서 더 실제적인 Tool Path Generation과 Expert System을 이용한 가공 조건의 결정 및 User Interface를 위한 Window가 개발되어야 한다. 5. 1차년도에 개발된 Robotonomic Tool System의 유연성을 확장시킨다. 실험결과를 바탕으로 공정 자동화 시스템을 확장시킨다. 6. 연마공정자동화에 필수적인 공구 및 공구 Tip의 표준화 및 자동교환장치를 개발한다. 7. 금형연마 Cell의 구성요소들간의 Interface 및 System Controller에서의 집적화를 시킨다.

• 한국정밀공학회지
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• 제9권4호
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• pp.13-21
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• 1992

Standards concerning the determination of positioning accuracy and repeatability of numerically controlled(NC) machine tools have been published relentlessly over the last 20 years. Since the publication in 1988 of the International Standard 230-2 there has been a pronounced move, both at national and international standards level, to embrace further test procedures for a complete machine tool performance assessment. For example, measurements of angular (pitch, roll, and yaw) and straightness errors along linear axes are now commonplace and complement the existing positioning accuracy and repeatablity tests. More recently the subject of circularity evalutaion has also gained considerable interest. Here dynamic tests, using a kinematic ballbar or circular masterpiece, give an instant overview of the contouring ability of the machine in two axes at specific feedrates. This information is extremely important in optimising machining accuracy. This paper describes moves to complete the machine calibration package in national and international standardis- ation for the assessment of machine tool performance.

• 대한기계학회논문집A
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• 제35권6호
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• pp.661-667
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• 2011

접촉식 측정 프로브는 3 차원 좌표 측정기 및 CNC 공작기계 등에서 제품 검사에 많이 활용되고 있고, 최근 품질 향상을 위한 가공 및 검사장비의 고정도화에 따라 측정의 정확도도 또한 매우 중요시 되고 있다. 이에 따라 스트레인 게이지 등을 이용한 고정도의 측정 프로브가 사용되고 있기는 하지만, 본 연구에서는 경제적인 측면을 고려하여 산업현장에서 공작기계에 많이 활용되는 일반 접촉식 측정 프로브의 메커니즘을 이해하고, 측정 시 발생할 수 있는 프로빙 오차에 대한 분석 및 보정을 통하여 그 활용성을 높이고자 하였다. 이를 위하여 스타일러스 반경 및 중심 정렬오차가 규명되었고, 3 차원 공간상의 측정 좌표에서 프로빙 오차에 대한 해석이 이루어졌다. 이러한 오차들을 보정하기 위한 알고리즘이 개발되었으며, 실제 CNC 공작기계 상에서 기준구 측정을 통한 검증이 이루어졌다.

• 대한토목학회논문집
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• 제14권4호
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• pp.875-886
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• 1994

본 연구는 유역의 지형인자를 고려한 강우의 수리학적 단기유출 해석 시스템을 개발한 것이다. 강우 유출의 기본 개념은 Kinematic Wave 이론에 의거하였으며, 그 수치해는 특성곡선 추적법에 의하여 산출된다. 개발된 강우유출해석 시스템은 한개의 하도를 중심으로 좌우 2개의 등가사면을 지니는 단위 등가조도 모델이 복수개의 하도망을 따라 결합된 복합 등가조도 유역 모델로 구성되며, 등가조도유역 모델은 유역의 하천차수이론에 근거하여 규정됨으로써 유역이 지니는 확률적 지형인자를 모델 파라메타에 함축시키는 특성을 지닌다. 모델 파라메타의 민감도분석과 IHP 대표유역인 보청천 유역의 지형 및 수문자료를 이용한 모델 보정과 검정을 통하여 제안 시스템의 현장 적용성과 재현가능성이 확인되었다. 본 연구의 성과에 의하여 해석대상 등가유역의 시공간상 임의 위치에서 수리량의 시간변동 예측 및 유역의 개발에 따른 단기적 수질변동 해석에 요구되는 수리량의 해석이 가능하게 되었다.

• 한국수자원학회논문집
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• 제49권6호
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• pp.459-467
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• 2016

홍수범람모의에 주로 활용되는 LISFLOOD-FP 모형은 하도에서 1차원 운동파 방정식을 이용하고, 상대적으로 평평하여 흐름이 확산되는 홍수터에서 단순화된 2차원 확산파 방정식을 이용하여 흐름을 해석한다. 본 연구에서는 분포형 수문모형인 LISFLOOD-FP 모형의 하천홍수위 예측 적용성을 검토하기 위하여 배수영향을 받는 만경강 하류구간에서 기 발생한 홍수사상을 대상으로 모형을 보정하고 검증하였다. 모형의 주요 매개변수인 Manning 조도계수와 하류단 경계조건의 민감도를 분석하였고, 초기조건 영향을 검토하기 위하여 warm-up 유무에 따른 해석결과를 비교하였다. 그 결과, 운동파 모형임에도 불구하고 배수영향을 받는 만경강 하류구간의 홍수위를 비교적 잘 재현하는 것을 확인하였고, 민감도 분석은 실제 홍수사상의 적용 시 여러 가지 매개변수와 경계 조건에 의해 홍수위 값이 상이한 결과를 나타났다. 이러한 결과를 바탕으로 운동파 수문모형의 적용시 홍수위 해석에 대한 충분한 검증 및 검토가 필요하다고 사료되며, 검증된 모형을 바탕으로 다양한 유역의 홍수범람모의에 적용이 된다면 향후 홍수피해 저감을 위한 정책적인 의사결정에 기여할 수 있을 것으로 판단된다.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2007년도 학술발표회 논문집
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• pp.454-458
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• 2007

Nonpoint source (NPS) pollution is a serious problem causing the degradation of soil and water quality. Concentrated overland flow is the primary transport mechanism for a large amount of NPS pollutants from hillslope areas to downslope areas in a watershed. In this study, a soil erosion model, nLS model, to identify transitional overland flow regions (i.e., ephemeral gully head areas) was developed using the kinematic wave overland flow theory. Spatial data, including digital elevation models (DEMs), soil, and landcover, were used in the GIS-based model algorithm. The model was calibrated and validated using gully head locations in a large agricultural watershed, which were identified using 1-m aerial photography. The model performance was better than two previous approaches; the overall accuracy of the nLS model was 72 % to 87 % in one calibration subwatershed and the mean overall accuracy was 75 to 89 % in four validation subwatersheds, showing that the model well predicted potential transitional erosion areas at different watersheds. However, the user accuracy in calibration and validation was still low. To improve the user accuracy and study the effects of DEM resolution, finer resolution DEMs may be preferred because DEM grid is strongly sensitive to estimating model parameters. Information gained from this study can improve assessing soil erosion process due to concentrated overland flow as well as analyze the effect of microtopographic landscapes, such as riparian buffer areas, in NPS control.