• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.3 s.96
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• pp.251-258
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• 2005

The free vibration of a spinning flexible disk-spindle system supported by hydro dynamic bearings (HDB) in an HDD is analyzed by FEM. The spinning flexible disk is described using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. It is discretized by annular sector element. The rotating spindle which includes the clamp, hub, permanent magnet and yoke, is modeled by Timoshenko beam including the gyroscopic effect. The flexible supporting structure with a complex shape which includes stator core, housing, base plate, sleeve and thrust pad is modeled by using a 4-node tetrahedron element with rotational degrees of freedom to satisfy the geometric compatibility. The dynamic coefficients of HDB are calculated from the HDB analysis program, which solves the perturbed Reynolds equation using FEM. Introducing the virtual nodes and the rigid link constraints defined in the center of HDB, beam elements of the shaft are connected to the solid elements of the sleeve and thrust pad through the spring and damper element. The global matrix equation obtained by assembling the finite element equations of each substructure is transformed to the state-space matrix-vector equation, and the associated eigen value problem is solved by using the restarted Arnoldi iteration method. The validity of this research is verified by comparing the numerical results of the natural frequencies with the experimental ones. Also the effect of supporting structures to the natural modes of the total HDD system is rigorously analyzed.

• Steel and Composite Structures
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• v.20 no.5
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• pp.1023-1042
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• 2016

Based on Hamilton's principle, the flexural vibration differential equations and boundary conditions of the steel-concrete composite beam (SCCB) with comprehensive consideration of the influences of the shear deformation, interface slip and longitudinal inertia of motion were derived. The analytical natural frequencies of flexural vibration were compared with available results previously observed by the experiments, the results calculated by the FE model and the other similar beam theories available in the open literatures. The comparison results showed that, the calculation results of the analytical and Timoshenko models had a good agreement with the results of the experimental test and FE model. Finally, the influences of shear deformation and interface slip on the flexural natural frequencies of the SCCB were discussed. The shear deformation effect increases with the increase of the mode orders of flexural natural vibration, and the flexural natural frequencies of the higher mode orders ignoring the influence of shear deformations effect would be overestimated. The interface slip effect decrease with the increase of the mode orders of flexural natural vibration, and the influence of the interface slip effect on flexural natural frequencies of the low mode orders is significant. The influence of the degree of shear connection on shear deformation effect is insignificant, and the low order modes of flexural natural vibration are mainly composed of the rotational displacement of cross sections.

• Journal of the Earthquake Engineering Society of Korea
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• v.5 no.6
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• pp.21-27
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• 2001

In this paper, a nonlinear finite element procedure is presented for the dynamic analysis of reinforced concrete shells. A computer program, named RCAHEST(reinforced concrete analysis in higher evaluation system technology), for the analysis of reinforced concrete structures was used. A 4-node flat shell element will drilling rotational stiffness is used for spatial discretization. The layered approach is used to discretize behavior of concrete and reinforcement through the thickness. Material nonlinearity is taken into account by comprising tensile, compressive and shear models of cracked concrete and a model of reinforcing steel. The smeared crack approach is incorporated. Solution of the equations of motion is obtained by numerical integration using Hilber-Hughes-Taylor(HHT) algorithm. The proposed numerical method for the nonlinear dynamic analysis of reinforced concrete shells is verified by comparison with reliable analytical results.

• Transactions of the Korean hydrogen and new energy society
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• v.22 no.4
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• pp.552-558
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• 2011

A 50 kW class rotating body type wave energy converter consisted of two floating bodies and a PTO (Power Takeoff) unit is studied. As an wave energy extractor, the body is designed to have a VLCO (Variable Liquid-Column Oscillator) having a liquid filled U-tube with air chambers. Owing to the oscillation of the liquid in the U-tube caused by the air spring effect of the air chambers, the amplitude of response of the VLCO becomes significantly amplified for a target wave period. The PTO converts the rotational moment introduced from the relative motion of the hinged bodies to an hydraulic power by means of a cylinder. A high pressure accumulator, hydraulic motor and a generator are equipped in the PTO to convert the hydraulic power to electric power. A control law for adjusting the oscillation period of the VLCO is proposed for the efficient operation of the VLCO with various wave conditions. It is found that the effect of the air spring has an important role to play in making the oscillation of the VLCO match with the ocean wave. In this way, the wave energy converter equipped with the VLCO provides the most effective mode for extracting energy from the ocean wave.

• Ocean Systems Engineering
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• v.6 no.4
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• pp.377-400
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• 2016

Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.606-612
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• 1985

On the stability of the Beck's column with a tip mass, the influence of the characteristics of the springs at the fixed end of the column are studied. The equations of motion and boundary conditions of this system are established by using the Hamiton's principle. On the evaluation of the stability of the column, t he effect of the shear deformation and rotatory inertial is considered in calculation. For the maintenance of the stability of the column, it is proved that the constant of the translational spring at the fixed end must be very large while th magnitude of the constant of the rotational spring at the fixed end has no effect. When the constants of the springs at the fixed end are small, it is also proved that the influence of the moment of inertial of the tip mass on the stability of the column are decreased and for the translational spring the degree of the decrease is more and more. Therefore it is found that the characteristics of the springs at the fixed end are very effective elements for the stability of the column when the columns subjected to a compressive follower force are designed.

• Design & Manufacturing
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• v.2 no.1
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• pp.33-38
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• 2008

As consumer in optics, electronics, aerospace and electronics industry grow, the demand for ultra precision aspherical surface lens increases higher. Precision turning with single-diamond tools has a long history of development for fabrication of optical quality surfaces since the advent of aerostatic rotary spindles and precise linear motion guide ways. To enhance the precision and productivity of ultra precision aspherical surface micro lens, the following specification of ultra precision grinding system is required: the highest rotational speed of the grinder is 100,000rpm and its turning accuracy is $0.1{\mu}m$, positioning accuracy is $0.1{\mu}m$. The development process of the grinding system for the ultra precision aspherical surface micro lens for optoelectronics industry is introduced. In the work reported in this paper, an intelligent grinding system for ultra precision aspherical surface machining was designed by considering the factors affecting the surface roughness and profiles accuracy. An aerostatic form was adopted to build the spindle of the workpiece and the spindle of grinder and ultra precision LM guide way was adopted in this system. And this paper deals with mirror grinding of an aspheric surface micro lens by resin bonded diamond wheel and spherical lens of BK7. It results was that a form accuracy of $0.6{\mu}m$ P-V and a surface roughness of $0.006{\mu}m$ Rmax.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.572-578
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• 2003

The free vibration of a spinning flexible disk-spindle system supported by hydro dynamic bearings in a HDD is analyzed by FEM. The spinning flexible disk is described using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. It is discretized by annular sector element. The rotating spindle which includes the clamp, hub, permanent magnet and yoke, is modeled by Timoshenko beam including the gyroscopic effect. The flexible supporting structure with a complex shape which includes stator core, housing, base plate, sleeve and thrust pad is modeled by using a 4-node tetrahedron element with rotational degrees of freedom to satisfy the geometric compatibility. The dynamic coefficients of HDB are calculated from the HDB analysis program, which solves the perturbed Raynolds equation using FEM. Introducing the virtual nodes and the rigid link constraints defined in the center of HDB, beam elements of the shaft are connected to the solid elements of the sleeve and thrust pad through the spring and damper element. The global matrix equation obtained by assembling the finite element equations of each substructure is transformed to the state-space matrix-vector equation, and the associated eigenvalue problem is solved by using the restarted Arnoldi iteration method. The validity of this research is verified by comparing the numerical results of the natural frequencies with the experimental ones. Also the effect of supporting structures to the natural modes of the total HDD system is rigorously analyzed.

• Journal of Biosystems Engineering
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• v.40 no.3
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• pp.289-295
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• 2015

Purpose: From the perspective of biomechanics, joint moments quantitatively show a subject's ability to perform actions. In this study, the effect of normalization in the fast and asymmetric motions of a golf swing was investigated by applying three different normalization methods to the raw joint moment. Methods: The study included 13 subjects with no previous history of musculoskeletal diseases. Golf swing analyses were performed with six infrared cameras and two force plates. The majority of the raw peak joint moments showed a significant correlation at p < 0.05. Additionally, the resulting effects after applying body weight (BW), body weight multiplied by height (BWH), and body weight multiplied by leg length (BWL) normalization methods were analyzed through correlation and regression analysis. Results: The BW, BWH, and BWL normalization methods normalized 8, 10, and 11 peak joint moments out of 18, respectively. The best method for normalizing the golf swing was found to be the BWL method, which showed significant statistical differences. Several raw peak joint moments showed no significant correlation with measured anthropometrics, which was considered to be related to the muscle coordination that occurs in the swing of skilled professional golfers. Conclusions: The results of this study show that the BWL normalization method can effectively remove differences due to physical characteristics in the golf swing analysis.