• Structural Engineering and Mechanics
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• 제2권4호
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• pp.327-343
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• 1994

This is the second part of the paper (Rojek and Kleiber 1993) devoted to nonlinear dynamic analysis of structures consisting of rigid and deformable parts. The first part contains a theoretical formulation of nonlinear equations of motion for the coupled system as well as a solution algorithm. The second part presents the computer implementation of the equations derived in the first part with a short review of the capabilities of the computer program used and the library of finite elements. Details of material nonlinearity treatment are also given. The paper is illustrated by discussing a practical problem of a safety cab analysis for an agricultural tractor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.221-224
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• 1996

Since impact phenomenon is highly nonlinear, the analysis and control of the contact motion has been a challenging subject. Various researches have been carried out mostly for the contact of a rigid robotic manipulator with a stiff and elastic environment. This paper is motivated by a new contact task: the in-circuit test of a printed circuit board. In this process, high speed contact occurs between a rigid probing manipulator and a plastically deformable work environment. A new dynamic model of the impact controlled probing task has been proposed, considering contact with the plastically deformable object. Approaching velocity conditions to avoid an excess of the allowable penetration depth and control the generated impact force properly are derived from the proposed model. The results of the simulation studies are made for various probing conditions and show the validity of the proposed model.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.349-353
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• 1992

The purpose of this paper is to develop methods for the dynamic analysis of multibody system that consist of interconnected rigid and deformable component. The equations of motion are derived by using the Lagrange's equation and finite element theory for the elastic mechanism systems. The type of equation of motion is the differential algebraic equation included kinematic nonlinear algebraic equation. The generalized coordinate partitioning method is used for solving this equation. To show the validity of this analysis solver, couple of models were canalized and those results were compared with the commercial package(ADAMS).

• Advances in nano research
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• 제12권5호
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• pp.467-482
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• 2022

In the current work, static and free torsional vibration of functionally graded (FG) nanorods are investigated using Fourier sine series. The boundary conditions are described by the two elastic torsional springs at the ends. The distribution of functionally graded material is considered using a power-law rule. The systems of equations of the mechanical response of nanorods subjected to deformable boundary conditions are achieved by using the modified couple stress theory (MCST) and taking the effects of torsional springs into account. The idea of the study is to construct an eigen value problem involving the torsional spring parameters with small scale parameter and functionally graded index. This article investigates the size dependent free torsional vibration based on the MCST of functionally graded nano/micro rods with deformable boundary conditions using a Fourier sine series solution for the first time. The eigen value problem is constructed using the Stokes' transform to deformable boundary conditions and also the convergence and accuracy of the present methodology are discussed in various numerical examples. The small size coefficient influence on the free torsional vibration characteristics is studied from the point of different parameters for both deformable and rigid boundary conditions. It shows that the torsional vibrational response of functionally graded nanorods are effected by geometry, small size effects, boundary conditions and material composition. Furthermore, for all deformable boundary conditions in the event of nano-sized FG nanorods, the incrementing of the small size parameters leads to increas the torsional frequencies.

• 한국소음진동공학회논문집
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• 제14권2호
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.13-16
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• 1999

An active contour model, Snake, was developed as a useful segmenting and tracking tool lot rigid or non-rigid (i.e. deformable) objects by Kass in 1987 In this research, Snake is newly designed to cover this large moving case. Image flow energy is proposed to give Snake the motion information of the target object. By this image flow energy Snake's nodes can move uniformly along the direction of the target motion in spite of the existences of local minima. Furthermore, when the motion is too large to apply image flow energy to tracking, a jump mode is proposed for solving the problem. The vector used to make Snake's nodes jump to the new location can be obtained by processing the image flow. The effectiveness of the proposed Snake is confirmed by some simulations.

• 인터넷정보학회논문지
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• 제17권4호
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• pp.35-42
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• 2016

최근 제한적인 마커기반 증강현실의 여러 가지 단점들을 보완하기 위해 사용자의 얼굴, 발, 손 등을 활용한 비 마커기반 증강현실 시스템에 관한 연구들이 활발하게 진행되고 있는 추세이다. 또한 대부분의 기존 증강현실 시스템들은 사용자에게 보여주는 것과 기본적인 상호작용에 목표를 두고 강체를 증강하여 수행되는 경우가 많았다. 본 논문에서는 단지 보여주는 것에 국한되는 것이 아니라 여러 분야에서 활용이 가능한 변형물체를 사용자와의 상호작용을 바탕으로 시뮬레이션을 제공하는 비 마커기반의 증강현실 시스템을 설계 및 구현하였다. 변형물체는 질량-스프링 모델, 유한 요소 모델 두 가지 방법을 주로 사용하여 구현한다. 질량-스프링 모델은 실시간 시뮬레이션에 장점이 있으며 유한 요소 모델은 변형물체의 정밀함을 나타낼 때 장점을 가진다. 본 논문에서는 실시간으로 시뮬레이션을 목표로 하고 있기 때문에 질량-스프링 모델을 기반으로 하는 테트라헤드론 구조를 이용하여 변형물체를 구현하였다. 변형물체의 자연스러운 움직임을 실시간으로 시뮬레이션하기 위해 키넥트 SDK를 통해 사용자의 손의 위치를 추적 하고, 손의 위치 변화량을 바탕으로 힘을 계산한다. 이를 바탕으로 $4^{th}$ order Runge-Kutta Integration 수치적분법을 이용하여 물체의 다음 위치를 계산하여 시뮬레이션 하도록 하였다. 그리고 자연스러운 동작을 표현하기 위해서 사용자의 손을 통해 물체에 작용하는 힘이 너무 많이 작용하지 않기 위해 제스처에 임계값을 정하였으며 해당 임계값을 넘는 힘이 작용할 경우 임계값으로만 적용되도록 설정하였다. 각 실험을 5회씩 반복하였으며 실험에 따른 시뮬레이션 연산속도를 분석하였다. 본 논문을 통해 구현한 변형물체를 활용한 비 마커기반 증강현실 시스템을 바탕으로 기존의 강체 기반의 증강현실에서 활용하기 힘들었던 의료, 교육 및 다양한 방면으로 시뮬레이션이 가능할 것으로 기대한다.

• 자동차안전학회지
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• 제8권3호
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• pp.33-38
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• 2016

Recently, development in vehicle safety could increase interest in children's safety in vehicle collisions. But the research of children safety in vehicle collisions is not being conducted as many as that of adult's. Especially the study for the vehicle crash was not much. This study focused on the comparison of child safety between test protocols to evaluate children's safety in crash test. Injuries of Q6 and Q10 dummy were evaluated using FFRB (Full frontal rigid barrier) test and 40% ODB (Offset deformable barrier) test with one model vehicle. Even though the limit number of test, the tendency of injury criteria of Q6 and Q10 dummy between the test protocols was not conformed but injury criteria of Q6 and Q10 were not same between FFRB and 40% ODB.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.323-331
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• 1997

A new probing mechanism and an active compliance control algorithm have been developed for the in-circuit test of a PCB( printed circuit board ). Commercially available robotic probing devices are incapable of controlling contact force generated through rigid probe contacts with a solder joint, at high speed. The uncontrollable excessive contact force often brungs about some defects on the surface of the solder joint, which is plastically deformable over some limited contact force. This force also makes unstable contact motions resulting in unreliable test data. To overcome these problems, we propose that a serially connected macro and micro device with active compliance provide the best potential for a safe and reliable in-circuit test. This paper describes the design characteristics, modeling and control scheme of the newly proposed device. The experimental results clearly show the effectiveness of the proposed system.

• Journal of Information Processing Systems
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• 제8권1호
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• pp.55-66
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• 2012

This paper presents a dual modeling method that simulates the graphic and haptic behavior of a volumetric deformable object and conveys the behavior to a human operator. Although conventional modeling methods (a mass-spring model and a finite element method) are suitable for the real-time computation of an object's deformation, it is not easy to compute the haptic behavior of a volumetric deformable object with the conventional modeling method in real-time (within a 1kHz) due to a computational burden. Previously, we proposed a fast volume haptic rendering method based on the S-chain model that can compute the deformation of a volumetric non-rigid object and its haptic feedback in real-time. When the S-chain model represents the object, the haptic feeling is realistic, whereas the graphical results of the deformed shape look linear. In order to improve the graphic and haptic behavior at the same time, we propose a dual modeling framework in which a volumetric haptic model and a surface graphical model coexist. In order to inspect the graphic and haptic behavior of objects represented by the proposed dual model, experiments are conducted with volumetric objects consisting of about 20,000 nodes at a haptic update rate of 1000Hz and a graphic update rate of 30Hz. We also conduct human factor studies to show that the haptic and graphic behavior from our model is realistic. Our experiments verify that our model provides a realistic haptic and graphic feeling to users in real-time.