• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집A
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• pp.674-679
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• 2001

For a large deformation nonlinear dynamic analysis of two-dimensional frictional contact, the linear complementarity formulation combined with a linearization is used. The solution procedure is based on the total Lagrangian formulation with a predictor and corrector scheme. For contact searching, a hierarchical scheme with a circular territory is used. A second-order approximation of displacements is used to detect impact time and position. The formulation is illustrated by means of numerical examples.

• 한국생산제조학회지
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• 제7권5호
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• pp.38-45
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• 1998

The Z-map model which is quite similar to the non-parametric patch is widely used to describe the shape of a surface because of its simplicity. Despite the inherent advantage of z-map model. it has drawbacks that there exists difficulty in expressing the vertical walls and its related contact treatment method. In the region of vertical walls, there is a convergence problem in searching the contact point. In this study a contact point finding scheme is presented, based on the z value of the z-map model on the sheet normal direction. To show the utility of this scheme a compared with the experimental results. The effects of the Z-map grid distances and the interpolations of the inside Z-map value are also discussed.

• 소성∙가공
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• 제5권1호
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• pp.47-54
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• 1996

An improved nonparametric tool description based on successive refined nonparametric patches is proposed and the related criterion for refinement is also discussed. In the proposed scheme any required order of tool surface conformity can be achieved by employing successive refinements according to the suggested criterion. By using the suggested adaptive tool refinement technique based on the nonparametric patch tool description the locally refined nonparametric tool surface with economic memory size and sufficient accuracy as well as with favorable characteristics for contact treatment can be obtained directly from the parametric patch related with commercial CAD system. Computation is carried out for a chosen complex sheet forming example of an actual autobody panel in order to verify the validity and the efficiency of the developed tool surface description.

• 한국자동차공학회논문집
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• 제18권4호
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• pp.92-98
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• 2010

Virtual ground modeling is one of key topic for real-time vehicle dynamic simulation. This paper discusses about the virtual 3D road modeling process using parametric surface concept. General road data is a type of lumped position vector so interpolation process is required to compute contact of internal surface. The parametric surface has continuity and linearity within boundaries and functions are very simple to find out contact point. In this paper, the parametric surface formula is adopted to road modeling to calculate road hight. Position indexing method is proposed to reduce memory size and resource possession, and a simple mathematical method for contact patch searching is also proposed. The developed road process program is tested in dynamic driving simulation on off-road. Conclusively, the new virtual road program shows high performance of road hight computation in vast field of off-road simulation.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 추계학술대회 논문집(제1권)
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• pp.211-216
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• 2006

수중세장체의 동적거동 해석시, 세장체간의 접촉, 세장체와 지면의 접촉이 흔히 포함된다. 본 논문에서는 접촉모델의 동적거동 해석을 위해 효율적이고 일반적인 접촉알고리듬을 다루고 있다. 절대 좌표계에서 시스템의 경계상자를 만들고, 그것을 세분화하여 접촉감지에 사용하는 전역 감지 기술이 제안되었다. 접촉 감지의 횟수, 즉 접촉 감지 시간이 다른 방법에 비해 작다는 것이 이 방법의 장점이다. 개발된 효율적인 접촉 감지 알고리듬을 3차원 비선형 세장체 해석 프로그램에 적용하였으며, 몇 가지 수치예제를 통하여 제안된 방법의 효율성을 검증하였다.

• 한국항해항만학회지
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• 제31권1호
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• pp.15-20
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• 2007

수중세장체의 동적거동 해석시, 세장체간의 접촉, 세장체와 지면의 접촉이 흔히 포함된다. 본 논문에서는 접촉모델의 동적거동 해석을 위해 효율적이고 일반적인 접촉알고리듬을 다루고 있다. 절대좌표계에서 시스템의 경계상자를 만들고, 그것을 세분화하여 접촉감지에 사용하는 전역 감지 기술이 제안되었다. 접촉 감지의 횟수, 즉 접촉 감지 시간이 다른 방법에 비해 작다는 것이 이 방법의 장점이다. 개발된 효율적인 접촉 감지 알고리듬을 3차원 비선형 세장체 해석 프로그램에 적용하였으며, 몇 가지 수치예제를 통하여 제안된 방법의 효율성을 검증하였다.

• Journal of Astronomy and Space Sciences
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• 제16권2호
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• pp.217-266
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• 1999

우리 은하안에서 암혹물질을 찾는 OGLE 프로젝트가 발견한 식쌍성중에서 6개의 대표적인 접촉형쌍성을 선택하여 광도곡선을 분석하여 측광학적인 해를 구하였다. 이들 쌍성들은 태양 근방의 쌍성과 비교할 때 기울기가 낮게 나타났으며, Roche lobe를 채우는 정도인 filling factor는 0.12-0.90로 다양하게 나타났다. 분광관측이 수행되지 않은 쌍성이므로 케플러 궤적과 isochrone 궤적의 교점을 이용한 간접적인 방법으로 쌍성 계열의 질량을 구하고, 이를 기초로 각 쌍성의 절대량과 거리를 구하였다. 이와같은 방법으로 산출한 쌍성들의 거리는 1 kpc - 6 kpc 사이에 분포하는 것으로 나타났다. 이는 주기가 1일 이하인 접촉형 쌍성이 보일 수 있는 한계 거리로 추정하며, 대부분의 접촉형 쌍성은 은하벌지에 속하지 않은 별들이다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 한국문헌정보학회지
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• 제19권
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• pp.151-188
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• 1990

The aims of automation efforts in libraries are the rationalization of interval work and improvement of user services. After a period of exclusive internal computer utilization, later voluntary contact with the computer (e.g., circulation control with self services), patrons of American libraries now have to go to a computer terminal if they want certain information. Online public access catalogs(OPAC) have been used in American libraries since the end of the seventies. But OP AC are accepted by patron only if they have a useful and flexible user interface. This paper briefly describes the use of online catalogs in different type of libraries, categories of user (user, non-user), aspect of catalog use in context with computer experience etc. The disscussion then focuses on the characteristics of the final report of online catalog use study of Council on Library Resources and user problems in searching, as reported in many other catalog use studies.