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충격관내에서의 n-핵산-산소 혼합물의 점화지연에 관한 연구
박종회,최기영,윤석승,최성락 충남대학교 자연과학연구소 1984 忠南科學硏究誌 Vol.11 No.1
The ignition delay of n-hexane-oxygen mixture in a shock tube has been theoretically calculated adapting the ignition reaction model of the H_2-O_2 fuel system at pre-ignition step. It has been presumed that the reaction model for the oxidation of n-butane, which was proposed previously, would be safely applied for the oxidation of n-hexane.
Finite Motion Analysis for Multifingered Robotic Hand Considering Sliding Effects
Nak Young Chong,Donghoon Choi,Il Hong Suh 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
An algorithm for the motion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally, time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.