• Journal of Advanced Marine Engineering and Technology
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• v.36 no.5
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• pp.635-644
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• 2012

In order to design a wave energy generating system, a 6-DOF analysis technique is applied to the three-Dimensional CFD analysis on of a floating body and the behavior is interpreted according to the nature of the incoming wave. A wave period of 5.5s & amplitude of 0.57m from Marado is chosen. 12 case of natural pitching period from 1.25 to 2.8s has been modeled. The relation between tuning factor & pitch angle for the waves generated is compared to analyze the effects of energy absorption variables, namely mass moment of inertia, angular velocity and angular acceleration. From the results obtained, we conclude that model L is the maximum power absorbed, 6kW approximately. A maximum pitch angle of 1.91 degree was attained by Model F, and the maximum displacement of nearly 0.7m was attained by Model L among models D, F and L.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.

• Structural Engineering and Mechanics
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• v.75 no.4
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• pp.477-485
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• 2020

Finite element (FE) model based structural damage detection (SDD) methods play vital roles in effectively locating and quantifying structural damages. Among these methods, structural model updating should be conducted before SDD to obtain benchmark models of real structures. However, the characteristics of updating parameters are not reasonably considered in existing studies. Inspired by the l_∞ norm regularization, a novel anti-sparse representation method is proposed for structural model updating in this study. Based on sensitivity analysis, both frequencies and mode shapes are used to define an objective function at first. Then, by adding l_∞ norm penalty, an optimization problem is established for structural model updating. As a result, the optimization problem can be solved by the fast iterative shrinkage thresholding algorithm (FISTA). Moreover, comparative studies with classical regularization strategy, i.e. the l₂ norm regularization method, are conducted as well. To intuitively illustrate the effectiveness of the proposed method, a 2-DOF spring-mass model is taken as an example in numerical simulations. The updating results show that the proposed method has a good robustness to measurement noises. Finally, to further verify the applicability of the proposed method, a six-storey aluminum alloy frame is designed and fabricated in laboratory. The added mass on each storey is taken as updating parameter. The updating results provide a good agreement with the true values, which indicates that the proposed method can effectively update the model parameters with a high accuracy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.7
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• pp.612-618
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• 2007

The dynamic behaviors of a KT-1 family aircraft nose landing gear have been analyzed and the optimal design of an aircraft shock absorber has been conducted to improve efficiency of shock energy absorption. The nose landing gear is modeled as a 2 DOF system using ADAMS and various operational and environmental landing conditions were considered. The results of dynamic simulation for various landing conditions agree well with experiments. Also the effect of parameters of a shock strut on the dynamic behaviors and on shock energy absorption of the nose landing gear has been evaluated for optimal design to define design variables. It has been found that the parameters of a shock strut such as oil-density and orifice area have more effects on dynamic behaviors than those of operation conditions. Optimal design is performed to maximize the efficiency of shock energy absorption using Feasible Direction Method. As a result the design values of the shock strut for maximum efficiency of shock energy absorption are derived and it turns out that efficiency and dynamic behaviors of the nose landing gear were improved by the optimal design.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.290-299
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• 2017

Reconfigurable flight control using various kinds of adaptive control methods has been studied since the 1970s to enhance the survivability of aircraft in case of severe in-flight failure. Early studies were mainly focused on the failure of actuators. Recently, studies of reconfigurable flight controls that can accommodate complex damage (partial wing and tail loss) in conventional aircraft were reported. However, the partial wing loss effects on the aerodynamics of conventional type aircraft are quite different to those of BWB(blended wing body) aircraft. In this paper, a reconfigurable flight control algorithm was designed using a direct model reference adaptive method to overcome the instability caused by a complex damage of a BWB aircraft. A model reference adaptive control was incorporated into the inner loop rate control system enhancing the performance of the baseline control to cope with abrupt loss of stability. Gains of the model reference adaptive control were polled out using the Liapunov's stability theorem. Outer loop attitude autopilot was designed to manage roll and pitch of the BWB UAV as well. A 6-DOF dynamic model was built-up, where the normal flight can be made to switch to the damaged state abruptly reflecting the possible real flight situation. 22% of right wing loss as well as 25% loss for both vertical tail and rudder control surface were considered in this study. Static aerodynamic coefficients were obtained via wind tunnel test. Numerical simulations were conducted to demonstrate the performance of the reconfigurable flight control system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.967-976
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• 2012

This study presents a model to minimize vibration and noise of powertrain mount on a compact car which has the application of Stop & Go performance, in order to reduce CO2 and achieve better fuel-efficiency in accordance with the environmental regulations in automotive industries. In the first step, we analyze the powertrain mount system of the automobile "A" and present variables about rubber stiffness applied on powertrain mount using the Taguchi method. In the next step, we verify the optimization of vibration and noise which meet Stop & Go performance using the AHP(Analytic Hierarchy Process) method on the proto products for each variable. Using this validation system on the initial stage of the powertrain mount design, it is expected that we can grasp vibration and noise problems caused by engine movements and control them effectively without engineering know-how about powertrain mount rubber stiffness.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.6
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• pp.358-366
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• 2006

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF programmable foot platforms. When a human walks on the locomotion interface (LI), the walking motions of the human are recognized by several sensors. Then, the sensed information is used by the LI for generation of infinite surfaces for continuous walking and the virtual environments for scene update according to motions of the human walking. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation. A novel navigation algorithm is suggested to allow natural navigation in virtual environments by utilizing conditions of normal gait analysis. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. From experiments, the subjects were satisfied with the reality of the suggested navigation algorithm using the locomotion interface. Therefore, the suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1273-1280
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• 2013

The UKF algorithm for tracking moving objects has fast convergence speed and good tracking performance without the derivative computation. However, this algorithm has serious drawbacks which limit its use in conditions such as Gaussian noise distribution. Meanwhile, the particle filter(PF) is a state estimation method applied to nonlinear and non-Gaussian systems without these limitations. But this method also has some disadvantages such as computation increase as the number of particles rises. In this paper, we propose the Unscented Particle Filter (UPF) algorithm which combines Unscented Kalman Filter (UKF) and Particle Filter (PF) in order to overcome these drawbacks.The performance of the UPF algorithm was tested to compare with Particle Filter using a 2-DOF (Degree of Freedom) Pendulum System. The results show that the proposed algorithm is more suitable to the nonlinear and non-Gaussian state estimation compared with PF.