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김문상,김노수,김상용,Kim, Mun-Sang,Kim, No-Su,Kim, Sang-Yong 한국섬유공학회 1966 한국섬유공학회지 Vol.3 No.2
Studies were carried out on shrinkage of cotton rib knit fabrics and the following results were obtained: Wale shrinkages increase abruptly in (+) direction and course shrinkages in (-) direction beyond a certain c.p.i. limit. Effects of the immersion time and temperature to shrinkages are random and negligible. Bleaching increases considerably the shrinkages of rib knit fabrics. Area shrinkages increase linearly with c.p.i and the more complex the constructions are, the larger the increasing ratios. Increasing ratios of area shrinkage of bleached are larder than the scoured and immersed.
김문상,조경래,박강,신현오,Kim, Mun-Sang,Cho, Kyung-Rae,Park, Kang,Shin, Hyun-Oh 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.8
Inspecting the dimensional accuracy of a car-body in assembly line is a very important process to assure high productivity. Now there exist two common inspecting methods in practice. One is to measure a sampled car-body with three dimensional measuring machine, and the other is to measure car-body with three dimensional measuring machine, and the other is to measure car-body in assembly line using many sensors fixed to a large jig frame. The formal method takes too long to inspect a sampled car-body of a same sort, and cannot therefore give an useful error trend for the whole production. On the other hand, the latter lacks flexibility and is very cost-intensive. By using industrial robots and sensors, an in-line Car-Body Measuring(CBM) system which ensured high flexiblity and sufficient accuracy was developed. This CBM cell operates in real production line and measures the check points by the non-contact type using camera and laser displacement sensor(LDS). This system can handle about 15 Measuring points within a cycle time of 40 seconds. A process computer controls whole process such as data acquisition file handling and data analysis. Robot arms changes in length due to ambient temperature fluctuation affecting the measuring accuracy. To compensate this error, a robot arm calibration process was developed.
이상용(Sang-yong Lee),김문상(Mun-sang Kim),최문택(Mun-taek Choi) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper first starts from the concept that momentum generated from COM of robot is an important parameter of keeping the balance of robot, and the robot will not fall down as long as the COM momentum is maintained as zero. However, it is difficult to measure this momentum with sensor in the actual robot where external perturbation is working, and even more difficult to make it into zero. In this study, LIDM oriented from LIPM is suggested. By this model, angular momentum generated in COM actually can be predictive. Additionally, we define that ZMP regions are divided into 3 stages by the strength of external perturbation in order to avoid robot’s fall. Hence, balance recovery region defined in each stage signifies the minimum radius of action for avoiding robot’s fall. This becomes an important criterion of proposing a solution to act upon each stage differently so that the robot may not actually fall down by external perturbation.