• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1445-1457
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• 1996

In building a finite element model of as automotive structure, the pillars and rockers are generally modeled as beam elemnts. The finite elemtns modeling using beam is faster and more efficient than that using shell elemetns. A joint is defined as theintersectio region of beam elemts and generally modeled with coupled rotational springs. In this study, hoint modeling technique is presented. First, the definitions of and anlaysis hypothesis for the joint are defined. Second the evaluation method of the joint stiffness from the static test is proposed. This method is simpler than existing evaluaiton methods. Third, the sensitivity analysis method and updating algorithm forjoint stiffness are presented. To verify these melthods, the finite element results of structural models with rigid joints and rotational spring joints are compared with experimental results.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.822-827
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• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.10
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• pp.1240-1247
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• 1999

Particle motion through a disk type critical orifice placed in a 3.0cm diameter chamber has been studied numerically. In the simulation, the velocity field is solved using Pantankar's SIMPLER algorithm for the compressible flow and convergence of the computation is confirmed if the mass source at each control volume is smaller than $10^{-7}$. The particle motion in the flow field is solved in Lagrangian method. The particle trajectories showed that the particles injected away from the center line are expanded rapidly. At lower pressures, this expansion phenomena are more dominant. At lower pressures, the clear difference in particle and air speed is showed all the way down to the exit plan. It was found that particles with Stokes number of ca.2.5 tend to focus close to the center line very well except the particles travelling near the wall. However, particles with Stokes number greater than ca.2.5 show a tendency to cross the center line.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.795-802
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• 1992

A numerical analysis is performed on the turbulent flow in the plain seal with injection. The parameters used in this study are as follows : Reynolds number, rotation speed, injection speed, clearance ratio, injection angle, and axial injection location. Flow pattern and leakage performance due to the variation of parameters are investigated. SIMPLER algorithm is used to solve the Navier-Stokes equation governing steady, incompressible turbulent flow and standard K- .epsilon. turbulent model is used to consider the turbulence effects. The leakage performance is significantly enhanced with injection. The increases of the injection flow rate and be rotation speed of the shaft cause the leakage performance to the increased. With the increase of the Reynolds number the leakage performance is diminished. At the injection angle of 90deg, the leakage coefficient has a minimum value. The pressure drop has a maximum value at axial center location but the injection location has little effect on the pressure drop. Clearance ratio has a significant effect on the pressure drop.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.3
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• pp.203-211
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• 2014

To raise the industrial competitiveness in the field of ship-building, it is crucially important that the yard should use production facilities and working space effectively. Among the related works, the management of tremendous blocks' number, the limited area of assembly shops and inefficient personnel and facility management still need to be improved in terms of being exposed to a lot of problems. To settle down these conundrums, the various strategies of block arrangement on the assembly floors have been recently presented and in the results, have increasingly began to be utilized in practice. However, it is a wonder that the sampled or approximated block shapes which usually are standardized projections or the geometrically convex contour only have been prevailed until now. In this study, all parts including the panel, stiffeners, outer shells, and all kinds of outfitting equipment are first extracted using the Volume Primitive plug-in module from the ship customized CAD system and then, the presented system constructs a simpler and more compact ship data structure and finally generates the novel projected contours for the block arrangement system using the adaptive concave hull algorithm.

• Journal of the Korea Computer Graphics Society
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• v.3 no.1
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• pp.17-22
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• 1997

This paper presents a new modeling technique to reconstruct road environments. The reconstruction algorithm for road environments consists of three parts - reconstructing 3D models of architectures in road environments, editing and creating road models, and modeling auxiliary objects. Different modeling technique is applied to each of these three parts according to properties objects to be modeled contain. In this reconstruction system, modified Photogrammetric Modeling techique is used, of which the user interface is more convenient, and in which constraints of road environments are considered. These improvements make this road environment reconstruction system much simpler and easier to use compared with Photogrammetric Modeling technique[1, 2].

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2738-2750
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• 1994

The Effects of radiative heat transfer on turbulent flow in a partitioned enclosure is studied numerically. The enclosure is partially divided by a thin, poorly conducting vertical divider projecting from the ceiling of the enclosure. The low Reynolds number $k-{\epsilon}$ model is adopted to calculate the turbulent flow field. The solutions to the radiative transfer equations are obtained by the discrete ordinates method(DOM). This method is based on control volume method and is compatible with the SIMPLER algorithm used to solve the momentum and energy equations. The effects of optical thickness and Planck number on the flow, temperature fields and heat transfer rates are investigated for a moderate Rayleigh number($=10^9$). The changes in buoyant flow fields and temperature distributions due to the variation of baffle length are also analyzed. From the predictions, radiant heat exchange between the baffle and the sidewalls strongly influences the temperature distribution in the baffle and its vicinity and total heat transfer increases as the optical thickness and the baffle length decrease. It is possible to neglect the radiative heat transfer effect when Planck number is over one.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.6
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• pp.796-803
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• 2003

The discrete ordinates interpolation method (DOIM) has shown good accuracy and versatile applicability for the radiation $problems^{(1,2)}$. The DOIM is a nonconservative method in that the intensity and temperature are computed only at grid points without considering control volumes. However, when the DOIM is used together with a finite volume algorithm such as $SIMPLER^{(3)}$, intensities at the control surfaces need to be calculated. For this reason, a 'quadratic' and a 'decoration' schemes are proposed and examined. They are applied to two kinds of radiation problem in one-dimensional geometries. In one problem, the intensity and temperature are calculated while the radiative heat source is given, and in the other, the intensity and the radiative heat source are computed with a given temperature field. The quadratic and the decoration schemes show very successful results. The quadratic scheme gives especially accurate results so that further decoration may not be needed. It is recommended that the quadratic and the decoration schemes may be used together, or, one of them may be applied for control volume radiative energy balance.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.414-423
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• 1994

The planar laminar impingement jet with a confinement plate has been studied numerically. Discretzing the convection term with the QUICKER scheme, the full Navier-Stokes equations for fluid flow were solved using the well known SIMPLER algorithm. The flow characteristics with Reynolds number and jet exit velocity profile effects on it were considered for H=3, Re=200 - 2000. Results show that vortical flow forms in turn along the confinement and impingement plates as the Reynolds number increases and such a complicated flow pattern has never been reported prior. The jet exit velocity profile is shown to do an important role in determining the position of vortex flow and its size as well as in stagnation and wall jet flow region. Parabolic jet exit profile results in peak of skin friction 1.4-1.6 times greater than that of uniform profile. The channel height effects are also studied and shown to have an effect on flow pattern similar to that of Reynolds number. Also shown is that effects of the jet exit velocity profile becomes less significant over a certain channel height.