• Journal of the Computational Structural Engineering Institute of Korea
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• v.26 no.4
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• pp.247-254
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• 2013

In this paper, dynamic response analysis of a heave compensation system is performed for offshore drilling operations based on multibody dynamics. With this simulation, the efficiency of the heave compensation system can be virtually confirmed before it is applied to drilling operations. The heave compensation system installed on a semi-submersible platform consists of a passive and an active heave compensator. The passive and active heave compensator are composed of several bodies that are connected to each other with various types of joints. Therefore, to carry out the dynamic response analysis, the dynamics kernel was developed based on mutibody dynamics. To construct the equations of motion of the multibody system and to determine the unknown accelerations and constraint forces, the recursive Newton-Euler formulation was adapted. Functions of the developed dynamics kernel were verified by comparing them with other commercial dynamics kernels. The hydrostatic force with nonlinear effects, the linearized hydrodynamic force, and the pneumatic and hydraulic control forces were considered as the external forces that act on the platform of the semi-submersible rig and the heave compensation system. The dynamic simulation of the heave compensation system of the semi-submersible rig, which is available for drilling operations with a 3,600m water depth, was carried out. From the results of the simulation, the efficiency of the heave compensation system were evaluated before they were applied to the offshore drilling operations. Moreover, the calculated constraint forces could serve as reference data for the design of the mechanical system.

• Journal of Internet Computing and Services
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• v.15 no.1
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• pp.171-178
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• 2014

This paper presents dynamic modelling of a virtual object in augmented reality environments when external forces are applied to the object in real-time fashion. In order to simulate a natural behavior of the object we employ the theory of Newtonian physics to construct motion equation of the object according to the varying external forces applied to the AR object. In dynamic modelling process, the physical interaction is taken placed between the augmented object and the physical object such as a haptic input device and the external forces are transferred to the object. The intrinsic properties of the augmented object are either rigid or elastically deformable (non-rigid) model. In case of the rigid object, the dynamic motion of the object is simulated when the augmented object is collided with by the haptic stick by considering linear momentum or angular momentum. In the case of the non-rigid object, the physics-based simulation approach is adopted since the elastically deformable models respond in a natural way to the external or internal forces and constraints. Depending on the characteristics of force caused by a user through a haptic interface and model's intrinsic properties, the virtual elastic object in AR is deformed naturally. In the simulation, we exploit standard mass-spring damper differential equation so called Newton's second law of motion to model deformable objects. From the experiments, we can successfully visualize the behavior of a virtual objects in AR based on the theorem of physics when the haptic device interact with the rigid or non-rigid virtual object.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.4
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• pp.114-131
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• 1992

In the present work, a two-dimensional boundary-value problem for a large amplitude motion is treated as an initial-value problem by satisfying the exact body-boundary and nonlinear free-surface boundary conditions. The present nonlinear numerical scheme is similar to that described by Vinje and Brevig(1981) who utilized the Cauchy's theorem and assumed the periodicity in the horizontal coordinate. In the present thesis, however, the periodicity in the horizontal coordinate is not assumed. Thus the present method can treat more realistic problems, which allow radiating waves to infinities. In the present method of solution, the original infinite fluid domain, is divided into two subdomains ; ie the inner and outer subdomains which are a local nonlinear subdomain and the truncated infinite linear subdomain, respectively. By imposing an appropriate matching condition, the computation is carried out only in the inner domain which includes the body. Here we adopt the nonlinear scheme of Vinje & Brevig only in the inner domain and respresent the solution in the truncated infinite subdomains by distributing the time-dependent Green function on the matching boundaries. The matching condition is that the velocity potential and stream function are required to be continuous across the matching boundary. In the computations we used, if necessary, a regriding algorithm on the free surface which could give converged stable solutions successfully even for the breaking waves. In harmonic oscillation problem, each harmonic component and time-mean force are obtained by the Fourier transform of the computed forces in the time domain. The numerical calculations are made for the following problems. $\cdot$ Forced harmonic large-amplitude oscillation(${\omega}{\neq}0,\;U=0$) $\cdot$ Translation with a uniform speed(${\omega}=0,\;U{\neq}0$) The computed results are compared with available experimental data and other analytical results.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.3
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• pp.299-305
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• 2019

This study was initiated to solve the difficulties of aged and female workers in agriculture society due to aging and demise of young people. In the case of the conventional elevated lift, the risk of exposure to uneven road or work environment, not the difficulty of professional qualification and operation, and the risk of exposure to the uneven road or working environment, were also studied based on previous researches so that women could easily and efficiently perform productive agriculture. First, the simulation was carried out through the prediction model of traction performance using the object of agricultural forklift, and the soil of the Kimhae city in Gyeongnam (34.125kPa, internal friction angle 35.294deg, external friction angle 13.620deg, Adhesion force 5.750 kPa, average cone index 0-15 cm cl, 1001.8 kPa). In the case of the forklift for simulation, the driving force and the kinetic resistance prediction modeling of the agricultural electric forklift are modeled. Based on this model, the motor control drive adopts the 1232E model, which is a drive dedicated to AC motor, and divides the two drivers into master and slave And the model for the simulation was designed to control motor drive, hydraulic drive, and various outputs on the main PCB. The simulation model is undergoing continuous simulation, modification and supplementation. Based on this research, we will continue research for development of safer and more efficient agricultural electric forklift.

• Journal of Aerospace System Engineering
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• v.16 no.1
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• pp.49-55
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• 2022

The role of drones has been expanded to various fields such as agriculture, construction, and logistics. In particular, agriculture drones are emerging as an effective alternative to solve the problem of labor shortage and reduce the input cost. In this study therefore, we proposed the fruit recognition algorithm and harvesting mechanism for fruit harvesting drone system that can safely harvest fruits at high positions. In the fruit recognition algorithm, we employ "You-Only-Look-Once" which is a deep learning-based object detection algorithm and verify its feasibility by establishing a virtual simulation environment. In addition, we propose the fruit harvesting mechanism which can be operated by a single driving motor. The rotational motion of the motor is converted into a linear motion by the scotch yoke, and the opened gripper moves forward, grips a fruit and rotates it for harvesting. The feasibility of the proposed mechanism is verified by performing Multi-body dynamics analysis.

• Journal of the Korean Society for Railway
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• v.15 no.6
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• pp.572-578
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• 2012

In the electric railway vehicles, securing stable current collection performance is an important factor which determines the quality of operation and the maximum speed. In order to predict such current collection performance, various analysis methods have been proposed for a long time. Also, investigations for improving the accuracy of the results and the efficiency of the analysis process have been performed. In this paper, a method for the efficiency improvement has been proposed. This method is based on the basic concept that the system equations of motion of a catenary numerical model include only interactive range with a pantograph. In this paper, an algorithm and generalized process for applying proposed method are introduced. Also, validity of the results and utility of the method was verified and studied.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.12
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• pp.1287-1295
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• 2015

Recently, fieldbus communication technologies have been widely deployed for industrial automation because they are profitable in providing easy system integration and management for multiple devices, as well as high-speed communication. It is essential for smart encoders to support fieldbus connectivity, where the device configuration and various types of information related to position are exchanged between an external controller and multiple encoders over the communication link. In this study, we implemented the CiA 406 device profile for smart encoders from the CANopen standards by extending an open-source CANopen standard-compliant framework, called CanFestival. The CiA 406 functionalities implemented in this study were validated on a test-bed consisting of a CANopen master and virtual CANopen encoders with our CiA 406 extension module.

• Bulletin of the Society of Naval Architects of Korea
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• v.27 no.2
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• pp.1-12
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• 1990

Interactions between a propeller and vortex system contained in a ship stern flow is treated theoretically. A new formulation to determine the effective velocity distributions is developed, which may be immediately applicable to the design and analysis of compound propulsors under the influence of severe vortical cross-flows around ship stern. An axisymmetric shear flow is represented by a system of ring vortices and the axial variation of the stream lines due to the action of propeller is represented by a cubic function. The strengths of ring vortices, which are varying along the stream lines, are determined by the conservation of angular momentum. Two simplified effective velocity models are proposed to confirm the theory. Sample calculations using the simplified models are made to compare with the results by other investigators.

• Journal of Broadcast Engineering
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• v.9 no.3
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• pp.257-273
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• 2004

In stereoscopic or multi-view three dimensional display systems, the synthesis of intermediate sequences is inevitably needed to assure look-around capability and continuous motion parallax so that it could enhance comfortable 3D perception. The quadtree-based disparity estimation is one of the most remarkable methods for synthesis of Intermediate sequences due to the simplicity of its algorithm and hardware implementation. In this paper, we propose two ideas in order to reduce the annoying flicker at the object boundaries of synthesized intermediate sequences by quadtree-based disparity estimation. First, new split-scheme provides more consistent auadtree-splitting during the disparity estimation. Secondly, adaptive temporal smoothing using correlation between present frame and previous one relieves error of disparity estimation. Two proposed Ideas are tested by using several stereoscopic sequences, and the annoying flickering is remarkably reduced by them.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.20-29
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• 2017

Motion synchronization between developed real and virtual robots for object recognition and target tracking is introduced. ASUS's XTION PRO Live is implemented as a sensor and configured to recognize walls and obstacles, and perceive objects. In order to create virtual reality, Unity 3D is adopted to be associated with the real robot, and the virtual object is controlled by using an input device. A Bluetooth serial communication module is used for wireless communication between the PC and the real robot. The motion information of a virtual object controlled by the user is sent to the robot. Then, the robot moves in the same way as the virtual object according to the motion information. Through motion synchronization, two scenarios, which map the real space and current object information with virtual objects and space, were demonstrated, yielding good agreement between the two spaces.