• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1972-1979
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• 2003

Transport of a scalar quantity, such as chemical concentration or temperature, is important in many engineering applications and environmental flows. Here we report on results obtained from the large eddy simulations of flow and concentration fields inside the tank performed using a spectral multi-domain technique. The computations were driven by specifying the impeller-induced flow at the blade tip radius (Yoon et al. $^{(1)}$). This study focused on the concentration development at different molecular diffusivities in a stirred tank operated under turbulent conditions. The main objective of the work presented here is to study the large-scale mixing structure at different molecular diffusivities in a stirred tank by using the large eddy simulation. The time sequence of concentration and flow fields shows the flow dependency of the concentration development. The presence of spatial inhomogenieties is detailed by observing the time variation of local concentration at different positions.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.382-387
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• 1990

In this paper, the dynamic modeling and tip position of rotating Timoshenko beam analyzed by means of FEM (finite element method) and Hyperstability MRAC(model referenced adaptive control) technique of each other. The governing equations of the rotating beams are drived from Hamilton's principle. The dynamic model of this multi-link is drived by Lagrange approach. The shear deformation and rotary inertia are incorporated into a finite element model for determining the bending frequencies of the rotating beam. Simulation results for uniform cantilever beams by using the MRAC are compared with the available results. It will be shown that the proposed method offers an accurate and effective one to solve the free vibration problems of rotating beams' stability.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.162-164
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• 2006

This whitepaper is a research about the sensor network technology which enhance the performance of the blood management system. The problem of measuring and monitoring the real time temperature of a every point in a limited environment let us to develop a system which is able to monitor the temperature of a remote area using multi-hop networking technology. This whitepaper propose the error correction technologies, which were used to eliminate problems that might occur during real tests of the system.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.107-112
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• 2010

A gas turbine consists of an upstream compressor and a downstream turbine with a combustion chamber, and also the compressor and the turbine are generally coupled using a single shaft. Large scale gas turbine compressor is designed as multi-stage axial flow and the blade is fan-type which is thick and wide. Recently radial cracking happens occasionally at the compressor blade tip of large scale gas turbine. So, FEM was performed on the compressor blade and vibration modes and dynamic stresses were analyzed. According to the analysis, 9th natural frequency mode of the blade, which is 2 strip mode, is near the vane passing frequency by the vane located at the upstream of the blade.

• Applied Microscopy
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• v.46 no.3
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• pp.155-159
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• 2016

This paper analyses the relationship between the distribution of a dielectric layer on the apex of a metal field electron emitter and the distribution of electron emission. Emitters were prepared by coating a tungsten emitter with a layer of epoxylite resin. A high-resolution scanning electron microscope was used to monitor the emitter profile and measure the coating thickness. Field electron microscope studies of the emission current distribution from these composite emitters (Tungsten-Clark Electromedical Instruments Epoxylite resin [Tungsten/CEI-resin emitter]) have been carried out. Two forms of image have been observed: bright single-spot images, thought to be associated with a smooth substrate and a uniform dielectric layer; and multi-spot images, though to be associated with irregularity in the substrate or the dielectric layer.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.746-751
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• 2002

This purpose of this study was to design the effect of recovering of a hand amputees by myoelectronic hand. It was designed with 2 degree of freedom in tile laboratory. Myoelectronic hand had only one degree of freedom and one movement until now. Also this myoelectronic hand had multi-joint system. Myoelectronic hand data was obtained by measuring hand and data was applied when it was designed myoelectronic hand. PID controll of myoelectronic hand was used to it. Displacement control was applied the first link of finger. Experiment was accomlkished in Tip grasp, power grasp and Hook grasp modes. Displacement controll was good in low frequency. Velocity control was applied to each mode. This myoelectronic hand with a hand amputees could do some jobs such as grasping materials. Further studies were needed to evaluate the effect of a myoelectronic hand with more precise laboratory equipment.

• Geomechanics and Engineering
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• v.20 no.2
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• pp.147-154
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• 2020

A novel approach for predicting lateral displacement caused by pile installation in anisotropic clay is presented, on the basis of the cylindrical and spherical cavities expansion theory. The K₀-based modified Cam-clay (K₀-MCC) model is adopted for the K₀-consolidated clay and the process of pile installation is taken as the cavity expansion problem in undrained condition. The radial displacement of plastic region is obtained by combining the cavity wall boundary and the elastic-plastic (EP) boundary conditions. The predicted equations of lateral displacement during single pile and multi-pile installation are proposed, and the hydraulic fracture problem in the vicinity of the pile tip is investigated. The comparison between the lateral displacement obtained from the presented approach and the measured data from Chai et al. (2005) is carried out and shows a good agreement. It is suggested that the presented approach is a useful tool for the design of soft subsoil improvement resulting from the pile installation.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.24 no.3
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• pp.265-270
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• 2012

A finned tube type heat exchange module has been proposed for a multi-burner water tube boiler. Fin density and length increase in streamwise direction to equalize the evaporation for each module, which makes it difficult to apply conventional bulk design procedure. The design program has been improved by updating data for every row of tubes along the flow. A numerical simulation has been also conducted to evaluate the effect of inlet conditions and validated with experiment. The heat transfer of the first row has been underpredicted by the conventional Zhukauskas correlation, since the acceleration of the flow due to the blockage is not fully inflected. The fin tip temperature is also underpredicted by Bessel solution, because of the interaction with neighboring fins.