• Journal of Institute of Control, Robotics and Systems
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• 제6권7호
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• pp.559-567
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• 2000

This paper proposes simple and practical methods in order to overcome complex formulation and heavy computational burden of the forward kinematics of 6 앨 3-6 type parallel manipulators. Three ap-proaches for the forward kinematics are presented : one extra sensor a modified structure and novel numerical method. The proposed methods are applied to the forward kinematics of a new 6 앨 parallel manipulator with special geometry that has three internal links three external links and a moving platform of a cone shape. The proposed methods use three tetrahedrons for finding the position and orientation vector of the moving platform. The main advantages of the appraches using tetrahedrons are to abbreviate the formulation to easily find so-lutions of the forward kinematics and to be able to practically control of the manipulator in real time.

• Journal of Institute of Control, Robotics and Systems
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• 제5권8호
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.1-16
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• 2005

Adaptive control methods are studied for the Satellite to isolate vibration in spite of the nonlinear system dynamics and parameter uncertainties of disturbance. First, a centralized control scheme is developed based on the particle swarm optimization(PSO) algorithm and feedback theory to automatically tune controller gains. A simulation study of a 3 degree-of-freedom device was conducted to evaluate the performance of the proposed control scheme. Next, since a centralized control scheme is hard to construct model dynamics and not goad at performance when controller and systems environment are easily changed, a decentralized control scheme is presented to avoid these defects of the centralized control scheme from the point of view of production and maintenance. It is based on the adaptive control methodologies to find PID controller parameters. Experiment studies were conducted to apply the adaptive control scheme and evaluate the performance of the proposed control scheme with those of the conventional control schemes.

• Special Issue of the Society of Naval Architects of Korea
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• 대한조선학회 2011년도 특별논문집
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• pp.5-11
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• 2011

In this paper, the dynamic response analysis of a floating crane with elastic booms and a cargo is performed. The objective is to consider the effects of the elastic boom in the lifting design stage. Governing equations of the motion for the system which consists of interconnected rigid and flexible bodies are derived based on the formulation of flexible multibody system dynamics. To model the boom as a flexible body, floating reference frame and nodal coordinates are used. Coupled surge, pitch, and heave motion of the floating crane with the cargo which has 3 degree of freedom is simulated by solving the equation numerically. Finally, the effects of the elastic boom for the lifting design that the floating crane is required to lift a heavy cargo are discussed by comparing the simulation result between with the elastic boom and with the rigid one.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.364-374
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• 2015

The purpose of this research is to compare and analyze the advanced speed of ships with different rudder controller in wavy condition by using a simulation. The commercial simulation tool named AQWA is used to develop the simulation of ship which has 3 degree of freedom. The nonlinear hydrodynamic force acting on hull, the propeller thrust and the rudder force are calculated by the additional subroutine which interlock with the commercial simulation tool, and the regular wave is used as the source of the external force for the simulation. Rudder rotational velocity and autopilot coefficients vary to make the different rudder controller. An advanced speed of ships depending on the rudder controller is analyzed after the autopilot simulations.

• Bulletin of the Society of Naval Architects of Korea
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• 제24권3호
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• pp.25-34
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• 1987

Whereas the finite element method is well established today, the boundary element method is a fairly recent development. Both are general-purpose methods for the solution of various structural analysis problem. The B.E.M has several potential advantages relative to the F.E.M. One of them is that the number of unknowns in algebraic system obtained by discretization is proportional to the number of boundary nodes. Anothor advantage is the ease of discretization and input data preparation. However, the B.E.M. always leads to a fully populated and unsymmetric system of equations. Even though the number of degree-of-freedom is reduced as compared with F.E.M, since nodes exist on the boundary only in the B.E.M, to follow that the effort to solve the equations can be greater. It has been shown also that the time spent in setting up the coefficient matrix is a significant and can, in some cases, be greater than the time required to solve the equation. Thus, one can naturally consider the idea that two methods should be coupled, then the advantages of both methods can be taken. And further, by using this coupling method the HATCH CORNER was analyzed to give initial design data.

• Journal of the Korean Society for Precision Engineering
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• 제32권6호
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• pp.543-551
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• 2015

In this study, a novel method for dimension measurement of large-scale moving objects using stereo camera with 2-degree of freedom (2-DOF) mechanism is presented. The proposed method utilizes both the advantages of stereo vision technique and the enlarged visibility range of camera due to 2-DOF rotary mechanism in measuring large-scale moving objects. The measurement system employs a stereo camera combined with a 2-DOF rotary mechanism that allows capturing separate corners of the measured object. The measuring algorithm consists of two main stages. First, three-dimensional (3-D) positions of the corners of the measured object are determined based on stereo vision algorithms. Then, using the rotary angles of the 2-DOF mechanism the dimensions of the measured object are calculated via coordinate transformation. The proposed system can measure the dimensions of moving objects with relatively slow and steady speed. We showed that the proposed system guarantees high measuring accuracy with some experiments.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 한국전산구조공학회 2002년도 가을 학술발표회 논문집
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• pp.3-10
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• 2002

Recently, arches are used structurally because of their high in-plane stiffness and strength, which result from their ability to transmit most of the applied loading by axial forces actions, so that the bending actions are reduced. On the other hand, the resistances of arches to (out-of-plane,) flexural-torsional behavior depend on the rigidities EI/sub y/, for lateral bending, GJ for Uniform torsion, and EI/sub w/ for warping torsion which are related to axial stress for flexural-torsional behavior. The resistance of an arch to out-of-plane behavior may be reduced by its in-plane curvature, and so it may require significant lateral bracing. Thus. it is supposed that In-plane preloading which cause an axial stress, have an effect on out-of-plane free vibration behavior of arches. Because axial stresses caused increase or decrease out-of-plane stiffness. But study about this substance is insufficient. In this thesis, We will study an effect of preloading on lateral free vibration of arches, using finite element method based on Kang and Yoo's curved beam theory (about curved beam element have 7 degree of freedom including warping) with FORTRAN programming.

• Journal of the Korean Society of Systems Engineering
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• 제16권2호
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• pp.110-117
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• 2020

In this paper, we estimated the straight line stability by performing a 3 degree of freedom spiral test simulation of a intact/damaged surface combatant using the hydrodynamic coefficient obtained through the PMM(Planar motion mechanism) test based on system engineering process. A model ship was ONR Tumblehome and damaged compartment was set on the starboard bow. As a result of conducting a spiral test simulation based on the experimental results of J.Ha (2018), the asymmetric straight line stability due to the damaged compartment was confirmed. In the case of a ship in which the starboard bow was damaged, it was confirmed that it had the characteristic to deflect to the left when going straight. Also, when estimating the straight line stability of a both port and starboard asymmetric surface combatant, a separated equation of motion model that sees the port and starboard as different ships seems suitable.