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충돌 회피 및 최적 용접 자세를 위한 용접 로봇의 수치적 경로 생성 알고리즘 연구
김동찬,장유창,진상록 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
This paper presents a trajectory planning algorithm to avoid collisions for welding robots using oriented bounding box (OBB) and numerical inverse kinematics solver. When welding a block using a robot, the robot should not run into obstacles and a trajectory must guarantees several weld angle conditions to keep weld quality. OBBs of the 7-axis manipulator and the block were made to detect crashes and for several points on the weld path target position and posture that satisfy angle conditions were created. Numerical inverse kinematics solver was designed with collision avoidance as nonlinear constraints and error norm of position and orientation error as objective function. The algorithm generates a joint path of the robot that satisfies angle conditions to the maximum extent possible without bumping into blocks of complex features. Through a simulation with generated trajectory the algorithm is verified by analyzing orientation error and collision.
김동찬,박익수 경희대학교 디자인연구원 2004 예술· 디자인학연구 Vol.7 No.1
The purpose of this is to evaluate Kyungan Stream Naturalness Index(S.N.I). and to find out stats, problems and opportunities of the Kyungan stream by assessment standard. Assessment standard is mainly based on physical structure of stream environment. The purpose evaluating sectors and elements are physical form and structure restoration of stream. To find out assessment standard of stream naturalness index, conceptual frame of assessment standard has been established, for which four sections, for example, longitudinal section, lateral section, stream bottom structure and water environment, have been selected. Overall stream naturalness index of the Kyungan stream has been distributed at 3rd to 4th grade, and its assessment index accounted for 3.1 to be 3rd grade, and its mode also did 3rd grade. Stream naturalness index of each section was as follows: Longitudinal section index accounted for 3.2 to be 3rd grade, and stream bottom structure index did 3.1 to be 3rd grade, and water environment did 2.6 to be 2nd grade. Analysis of assessment outcome of stream naturalness index has checked status, Problems and opportunities of corresponding stream. Assessment of stream naturalness index of the study provides useful information for restoration of close-to-nature stream, and furthermore has its meaning in checking problems and opportunities of Kyungan stream.
김동찬,이태헌,윤영식,정진모,민경숙 경희대학교 디자인연구원 2001 예술· 디자인학연구 Vol.4 No.1
The gate of school which is the face of university is connecting the intermediate area between inspace and outspace. Simultaneously, it is important transition zone accomplishing a part of meeting, symbolizing, guiding and so on. The purpose of this study is to design an entrance space which represents a spirit and idea of the Kyunghee University with the gate. In addition, it can be judged for an excellent result that is expectated representating Suwon campus and giving confidence to students after completion.
김동찬,민창기 경희대학교 부설 디자인연구원 2002 예술· 디자인학연구 Vol.5 No.1
This study analyzes the interest, the preference and the attribute connected with the preference of night illuminations of urban parks users. For this, six parks in Seoul were chosen and researched with non-specialized random users. The result of this study is expected to serve the information about the park users which can satisfy the demand of users to urban designers and landscape architects as a basic data.
김동찬,김병윤,이병일,김동환,주승기 대한전자공학회 1996 전자공학회논문지-A Vol.33 No.10
A thin film of aluminum for ultra large scale integrated circuits metalization has been deposited on TiN and SiO$_{2}$ substrates by plasma assisted chemical vapor deposition using DMEAA (dimenthylethylamine alane) as a precursor. The effects of plasma on surface topology and growth characteristics were investigated. Thermal CVD Al could not be got continuous films on insulating subsrate such as SiO$_{2}$. However, it was found that Al films could be deposited on SiO$_{2}$ substate without any pretreatments by the hydrogen plasma for pyrolysis of DMEAA. Compared to the thermal CVD, PACVD films showed much better reflectance and resistance on TiN and SiO$_{2}$ substrate. We obtained mirror-like PACVD Al film of 90% reflectance and resistance on TiN and SiO$_{2}$ substrates. We obtained mirror-like PACVD Al film of 90% reflectance on TiN substrate. Excellent conformal step coverage was obtained on submicron contact holes ;by the PACVD blanket deposition.
김동찬,김태현 경희대학교 디자인연구원 2004 예술· 디자인학연구 Vol.7 No.1
Demand of golf sport have suddenly increased in number lately, all through, training place of golfer was golf course and driving range. By the way, resently pitching course that has both golf course element and driving range element become known in the world. this course make up for the weak points of golf course and driving range and it is increasing speedily. moreover some golf facilities builder think pitching course will be, good facilities for the practice of goiter. But, now pitching course is a few in korea and we don't have concept and understanding about it. So, This study carried out to investigate and analyze data that to interview pitching course builder and to collect data about pitching course, we provided basic information of pitching course.
폐타이어/폐유의 복합 열분해에 의한 오일화 공정개발 연구
김동찬,신대현,정수현 한국자원리싸이클링학회 1995 資源 리싸이클링 Vol.4 No.4
In this paper, some representative waste tire pyrolysis were investigated together with the analysis of the problems associated with the commercialization of various waste tire treatment technologies. Also, R & D results on recovering the oil from the pyrolysis of waste tires, when waste oil was used as a heating medium, were summarized in this study. Experimental results show that the present pyrolysis process has both lower pyrolytic temperature and higher pyrolysis rate than usual one and that the quality of the product oil and residue obtained was relatively even with large availability.