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원종범(Jong-Bum Won),하언태(Eon-Tae Ha),김병창(Byung-Chang Kim),조상영(Sang-yeong Cho) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange"s equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.
난류모델 변화에 따른 수평축 풍력터빈 유동해석 및 출력성능 예측
김범석(Bum-suk Kim),음학진(Hark-jin Eum),원종범(Jong-bum Won),김만응(Mann-eung Kim) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Despite of the laminar-turbulent transition region co-exist with fully turbulence region around the leading edge of an airfoil, still lots of researchers apply to fully turbulence models to predict aerodynamic characteristics. It is well known that fully turbulent model such as standard k-model couldn't predict the complex stall and the separation behavior on an airfoil accurately, it usually leads to over prediction of the aerodynamic characteristics such as lift and drag forces. So, we apply correlation based transition model to predict aerodynamic performance of the NREL (National Renewable Energy Laboratory) Phase Ⅳ wind turbine. And also, compare the computed results from transition model with experimental measurement and fully turbulence results. Results are presented for a range of wind speed, for a NREL Phase Ⅳ wind turbine rotor. Low speed shaft torque, power, root bending moment, aerodynamic coefficients of 2D airfoil and several flow field figures results included in this study. As a result, the low speed shaft torque predicted by transitional turbulence model is very good agree with the experimental measurement in whole operating conditions but fully turbulent model(k-ε) over predict the shaft torque after 7m/s. Root bending moment is also good agreement between the prediction and experiments for most of the operating conditions, especially with the transition model.
이경우(Kyoung-woo Lee),송영수(Young-Soo Song),원종범(Jong-bum Won),류경부(Kyoung-Boo Ryu) 한국마린엔지니어링학회 2010 한국마린엔지니어링학회 학술대회 논문집 Vol.2010 No.4
The combined high expansion foam fire extinguishing system (hereinafter combined system) is newly develiped high expansion foam system and the combined system will be replaced carbon-dioxide fire extinguishing system rapidly in future. The approval standards for the combined system is developing in IMO FP Sub-committee and the developing work would be completed in FP 54 held on April of 2010. In this paper, some discussion point of proposed approval standards for the combined system.
Jun-Seok Yang(양준석),Young-Mok Koo(구영목),Sang-Young Jo(조상영),Jong-Bum Won(원종범),Jong-Dae Won(원종대),Sung-Hyun Han(한성현) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.