• 한국소음진동공학회논문집
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• 제21권1호
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• pp.3-8
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• 2011

This paper introduces a robot eye module, of which two degree-of-freedom motions, i.e. panning and tilting, are driven by a pair of wires. The main feature of the module is that each wire can generate push-pull motion without buckling. It is thanks to a Teflon tube which guides the path of the moving wire. End points of the tube and wire have pivot elements so that a smooth push-pull motion is produced even when the end point of wire is moved by eye rotation. This mechanism helps the eye module to be very compact. In this paper, the structure of the robot eye module is introduced in detail, and the required motor angles for a certain direction of eye line are investigated analytically and experimentally.

• 한국자동차공학회논문집
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• 제12권3호
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• pp.159-169
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• 2004

In this study, integration control of air-cell seat and semi-active suspension is proposed to minimize the road-tyre force which can cause uncomfortable feeling to rider. The proposed integration control with sliding perturbation observer is consisted of air-cell seat control which uses the force generated by air-cell and the sky-hook control. The air-cell seat itself has been modeled as a 1 degree of freedom spring-damper system. The actual characteristics of the air-cell have been analyzed through experiments. In this paper, we introduces a new robust motion control algorithm using partial state feedback for a nonlinear system with modelling uncertainties and external disturbances. The major contribution of this work is the development and design of robust observer for the state and the perturbation. The combination skyhook controller and air-cell controller using the observer improves control performance, because of the robust routine called Sliding Observer Design for Integration Control of Air-Cell Seat and Semi-active Suspension. The simulation results show a high accuracy and a good performance.

• 한국전산구조공학회논문집
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• 제16권3호
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• pp.271-280
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• 2003

본 논문에서는 유연한 철제와 목조 지붕구조체를 가진 1/2 축소 전단벽 건물의 진동대 실험결과를 이용한 성공적인 구조물의 재해석과 선형ㆍ비선형 동적특성을 연구하기 위한 해석모델링 방법에 대해서 연구하였다. 대상 건물은 유연한 지붕구조체와 4개의 보강조적조 전단벽으로 구성되어 있다. 유연한 지붕구조체의 동적특성 때문에 다자유도 모델을 사용하였으며, 다수의 선형 및 비선형 동적해석을 실행하기 위하여 구조물의 자유도를 단순화하였다. 각각의 구조부재의 이력특성과 재료특성 그리고 동적해석을 수행하기 위한 주요 구조변수의 적절한 설정 방법에 대하여 고찰하였다.

• 한국컴퓨터그래픽스학회논문지
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• 제3권1호
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• pp.1-7
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• 1997

사실감있는 인체 모델과 동작제어 기술은 컴퓨터 그래픽스와 가강현실감 등의 다양한 응용 분야에서 이용되고 있다. 인체는 다관절 구조로서 관절체 구조로 인체를 모델링하고 운동학에 기반하여 각 관절을 제어하여 인체의 동작을 생성한다. 사람의 손은 작고 많은 여러개의 관절로 이루어지며 각 관절에서의 다양한 자유도를 가지고 있다. 본 논문에서는 손의 관절체 모델을 구성하고 실제 사람의 손과 유사한 동작을 생성할 수 있도록 관정에 대한 구속조건(constraints)을 부여하였다. 구속조건은 각 관절의 움직임의 범위를 구속하는 정적구속조건과 한 관절의 움직임에 대한 다른 관절의 상대적 움직임을 구속하는 동적구속조건으로 구분된다. 구속조건에 따른 다양한 손의 움직임을 실험해 보았다.

• 한국정밀공학회지
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• 제28권3호
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• pp.275-284
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• 2011

The accuracy simulation technology of linear motion system is introduced in this paper. Motion errors and positioning errors are simulated using informations on the design parameters of elements of linear motion system. 5 Degree-of-freedom motion error analysis algorithm utilizing the transfer function method and positioning error analysis algorithm which are main frame of accuracy simulation are introduced. Simulated motion errors are compared with experimental results for verifying the effectiveness. Then, using the proposed algorithms, simulation is performed to investigate the effects of ballscrew and linear motor on the motion errors. Finally, the influence of feedback sensor position on the positioning error is also discussed.

• 한국항해학회지
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• 제10권1호
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• pp.81-100
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• 1986

Self-contained portable remote-indicating magnetic compass was designed and tested. Its sensing part consists of main scale disk of rotary encoder with photo-etched 180, oopaque slits and three pairs of light sources and detectors seperated by a transparent index scale, so that any angular deflection of main scale disk against the bowl may be detected optically. The outputs from the sensing part are transformed into digital ship's course indication by electronics unit which consists of operational amplifier, phase discriminator, up-down counter and counting starter circuit. The results from testign the above compass with turntable at variable rate of turn are as following : 1) The main scale disk deflection against the bowl can be detected without any disturbing influence to the freedom of its north-seeking function. 2) The digital indication resolution is found to be $\circ \pm$1 degree. 3) Misrepresenting indication can be avoided by ensuring dimension uniformity and arrangement accuracy of slits on main and index scale disks and by centering pivot in the encoder disk. 4) Indication resolution should be improved by modifying the signal processing and by doubling the number of slits on compass card. 5) Further study should be made on developing non-conductive compass liquid, analogue repeater driving system and more compact processing element.

• 대한기계학회논문집A
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• 제26권4호
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• pp.667-676
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• 2002

Many studies on the finite element modeling for bolted joints have proceeded, but the structures with bolted joints are complicated in shape and it is difficult to find out the characteristics according to joint condition. Usually, experimental methods have been used for bolted joint analysis. A reliable and practical finite element modeling technique for structure with bolted joints is very important for engineers in industry. In this study, three kinds of model are presented; a detailed model, a practical model and a simple model. The detailed model is modeled by using 3-D solid element and gap element, and the practical model is modeled by using shell element (a portion of bolt head) and beam element (a portion of bolt body), the simple model is modeled by simplifying practical model without using gap elements. Among these models, the simple model has the least degree of freedom and show the effect of memory reduction of 59%, when compared with the detailed model.

• Ocean Systems Engineering
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• 제9권1호
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• pp.21-42
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• 2019

In this paper, the Finite-Analytic Navier-Stokes (FANS) code is coupled with an in-house finite-element code to study the dynamic interaction between a floating buoy and its mooring system. Hydrodynamic loads on the buoy are predicted with the FANS module, in which Large Eddy Simulation (LES) is used as the turbulence model. The mooring lines are modeled based on a slender body theory. Their dynamic responses are simulated with a nonlinear finite element module, MOORING3D. The two modules are coupled by transferring the forces and displacements of the buoy and its mooring system at their connections through an interface module. A free-decay model test was used to calibrate the coupled method. In addition, to investigate the capability of the present coupled method, numerical simulations of two degree-of-freedom vortex-induced motion of a CALM buoy in uniform currents were performed. With the study it can be verified that accurate predictions of the motion responses and tension responses of the CALM buoy system can be made with the coupling CFD-FEM method.

• Ocean Systems Engineering
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• 제6권4호
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• pp.305-324
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• 2016

Wave load prediction at zero forward speed using finite depth Green function is a well-established method regularly used in the offshore and marine industry. The forward speed approximation in deep water condition, although with limitations, is also found to be quite useful for engineering applications. However, analysis of vessels with forward speed in finite water depth still requires efficient computing methods. In this paper, a method for analysis of wave induced forces and corresponding motion on freely floating three-dimensional bodies with low to moderate forward speed is presented. A finite depth Green function is developed and incorporated in a 3D frequency domain potential flow based tool to allow consideration of finite (or shallow) water depth conditions. First order forces and moments and mean second order forces and moments in six degree of freedom are obtained. The effect of hull flare angle in predicting added resistance is incorporated. This implementation provides the unique capability of predicting added resistance in finite water depth with flare angle effect using a Green function approach. The results are validated using a half immersed sphere and S-175 ship. Finally, the effect of finite depth on a tanker with forward speed is presented.

• Steel and Composite Structures
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• 제4권6호
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• pp.437-452
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• 2004

A simplified seismic design procedure for steel structures with buckling-restrained braces (BRB) was proposed based on the energy balance concept and the equal energy assumption. The input seismic energy was estimated from a design spectrum, and the elastic and hysteretic energy were computed using energy balance concept. The size of braces was determined so that the hysteretic energy demand was equal to the hysteretic energy dissipated by the BRB. The validity of using equivalent single-degree-of-freedom systems to estimate seismic input and hysteretic energy demand in multi story structures with BRB was investigated through time-history analysis. The story-wise distribution pattern of hysteretic energy demands was also obtained and was applied in the design process. According to analysis results, the maximum displacements of the 3-story structure designed in accordance with the proposed procedure generally coincided with the target displacements on the conservative side. The maximum displacements of the 6- and 8-story structures, however, turned out to be somewhat smaller than the target values due to the participation of higher vibration modes.