• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.267-268
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• 2006

Cam mechanisms are one of the most popular devices for generating irregular motion and are widely used in many industrial areas. The purpose of this study is the development of high precision measuring system fur measurement data acquisition and analysis of a manufactured cam profile. The developed system is composed of servo motor, CNC controller, rotary encoder, and laser interferometer And also, this system is non-contact measuring type. The developed system takes only 5 minutes to measure a cam profile and to analyze the measuring data while the CMM(coordinate measuring machine) takes about 1 hours even by a skilled operator.

• 한국소음진동공학회논문집
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• 제16권1호
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• pp.57-65
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• 2006

In this paper, we present the principle of virtual work, from which the exact non-linear equations of motion of a rotating ring can be derived, by using the theory of finite deformation. For a thin ring of which the effect of variation in curvature across the cross-section is neglected, the radial displacement and the extensional stress are determined from the principle of virtual work at the steady state where the ring is rotating with a constant angular velocity. And also we formulate systematically the governing equations concerned to the in-plane vibrations and the out-of-plane vibrations at the disturbed state by using the principle of virtual work which is expressed with the disturbed displacements about the steady state. The formulated governing equations are classified by four models along the cases of considering or neglecting all or partly the secondary effects of flexural shear, rotary inertia, circumferential extension, and twist inertia. The natural vibrations of thin rings are analyzed, and its results are compared and discussed.

• 동력기계공학회지
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• 제11권1호
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• pp.98-106
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• 2007

This paper presents a statistical prediction procedure for the propeller racing of ships with twin screw propellers sailing in ocean waves. The propeller racing is one of the most important factors of seakeeping qualities in relation to the safety of main engine and shafting system. It is especially significant key word for designing the twin-screw-propeller-type ship in view of allowable maximum propeller diameter etc.. In former studies, the propeller racing generally means the situation (propeller exposed) in which the relative motion amplitude between ship hull and wave surface would exceed a depth of point in rotary disk propeller. Therefore, it seems that the magnitude of the amplitude and its exceeding frequency have been examined as a principal subject of study as usual. However, the time during which the amplitude exceeds a depth of point must be also one of most important factor affecting the trend of propeller racing. This paper proposes a simply practical method for estimating the time lasting of exposed propeller related to twin screw propeller racing in rough confused seas on the basis of the statistics. Then, it is confirmed that the practical method is useful and convenience for considering the propeller racing in the stage of the basic design.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 하계학술대회 논문집 Vol.9
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• pp.343-343
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• 2008

Newly designed structure of a thin ultrasonic rotary motor was proposed. Thin brass plate was used as a cross shaped vibrator and eight ceramic plates were attached on the upper and bottom sides of the brass plate as in Figure 1. The thin type ultrasonic motor has the structure adherent piezoelectric ceramic on the top and bottom surface of the thin elastic body. The direction of polarization is decided so as to occur the elliptical displacement in regular sequence at touch point A, B, C and D of stator contacted with rotor. By applying two electric fields which have 90 degree phase difference on the ceramics, each contact points make rotational displacements as in figure 2. Finite element analysis program ATILA was used to find the optimal size of the stator. As a result of the simulation, elliptical displacements of the tips were obtained at off-resonance frequencies. The maximum displacements of the contact tips were obtained at the length of 16[mm], width of 6[mm] and thickness of 0.4[mm]. Changes of the resonance frequencies were inversely proportional to the length of ceramic and proportional to the width of ceramic. Elliptical motions of the contact tips. of the stator were consistently obtained at off resonance frequencies. From a prototype motor, speed of 600[rpm] was obtained at 20[Vrms].

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 A
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• pp.154-156
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• 1999

A Linear Stepping Motor(LSM) can operate open loop control mode similarly to a rotary stepping motor. The linear motion without any mechanical linkage in the LSM results in several advantages for precise positioning actuators. However, to realize the more stable and higher speed control without hunting, it is necessary to derive an equivalent circuit to explain the steady-state and transisent characteristics in order to find an adequate control rule for high performance control of the LSM. In this paper, magnetic equivalent circuit is obtained, based on the structure of the LSM, and then the electric equivalent circuit of the LSM is derived by solving equations for the magnetic equivalent circuit. The 1-step response characteristic of the LSM is analyzed by the ACSL with the voltage equations, the force equations, the force equations and the kinetic equation.

• 한국지진공학회논문집
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• 제8권6호통권40호
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• pp.1-11
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• 2004

이전의 연구(1)에서는 해석적 및 수치적 방법을 사용하여 전단변형 및 회전관성효과를 고려하는 현수교의 수직진동에 대하여 유한요소법을 이용하여 이동하중 해석을 수행하였다. 본 연구에서는 전단변형 및 회전관성 효과가 고려된 Hermitian 다항식을 사용하는 현수교요소를 이용하여 현수교의 수직진동에 대한 고유치 해석을 수행하고 이를 이용한 현수교요소와 차량 및 열차와의 상호작용을 고려한 운동방정식을 유도한다. 이와 같이 모드중첩법을 이용하여 유도된 운동방정식을 수치적분방법으로 Newmark $\beta$ Method를 사용하여 동적해석을 수행하였다.

• Structural Engineering and Mechanics
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• 제59권2호
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• pp.343-371
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• 2016

In this paper thermo-mechanical vibration analysis of a porous functionally graded (FG) Timoshenko beam in thermal environment with various boundary conditions are performed by employing a semi analytical differential transform method (DTM) and presenting a Navier type solution method for the first time. The temperature-dependent material properties of FG beam are supposed to vary through thickness direction of the constituents according to the power-law distribution which is modified to approximate the material properties with the porosity phases. Also the porous material properties vary through the thickness of the beam with even and uneven distribution. Two types of thermal loadings, namely, uniform and linear temperature rises through thickness direction are considered. Derivation of equations is based on the Timoshenko beam theory in order to consider the effect of both shear deformation and rotary inertia. Hamilton's principle is applied to obtain the governing differential equation of motion and boundary conditions. The detailed mathematical derivations are presented and numerical investigations are performed while the emphasis is placed on investigating the effect of several parameters such as porosity distributions, porosity volume fraction, thermal effect, boundary conditions and power-low exponent on the natural frequencies of the FG beams in detail. It is explicitly shown that the vibration behavior of porous FG beams is significantly influenced by these effects. Numerical results are presented to serve benchmarks for future analyses of FG beams with porosity phases.

• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.62-71
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• 1999

Integrating micro-machined sensors and actuators on the conventional devices with the copper power lines was incompatible to fabricate the mass produced micro electromechanical system (MEMS) devices. To achieve the compatibility of the wiring method between MEMS parts and devices, we developed the three-dimensional sputter-evaporation system that coats micropatterned thin copper films on the surface of the MEMS element. The system consists of a process chamber, two branch chambers, the substrate holder, and a linear-rotary motion feedthrough. Thin copper film was sputtered and evaporated on the biocompatible polymer, Pellethane$^{circed{R}}$ and silicone, catheter that is 2 mm in diameter and 700 mm in length. The metal film coating technique with three-dimensional thin film sputter-evaporation system was developed to apply the power and signal lines on the micro active endoscope. In this paper, we developed the three-dimensional metal film sputter-evaporation system operated on the low temperature for the biopolymeric substrates used in the medical MEMS devices.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.585-592
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• 2005

In this paper, we present the principle of virtual work, from which the exact non-linear equations of motion of a rotating ring can be derived, by using the theory of finite deformation For a thin ring of which the effect of variation in curvature across the cross-section is neglected, the radial displacement and the extensional stress are determined from the principle of virtual work at the steady state where the ring is rotating with a constant angular velocity. And also we formulate systematically the governing equations concerned to the in-plane vibrations and the out-of-plane vibrations at the disturbed state by using the principle of virtual work which is expressed with the disturbed displacements about the steady state. The formulated governing equations are classified by four models along the cases of considering or neglecting all or partly the secondary effects of flexural shear, rotary inertia, circumferential extension, and twist inertia. The natural vibrations of thin rings are analyzed, and its results are compared and discussed.