• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.105-112
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• 2005

Analyses of dynamic models which were one and two degrees of freedom, and had the nonlinear springs and dampings with certain polynomial functions were performed from SIMULINK in MATLAB. Those consisted of 12 programs and were built on the basis of the preceding programs fur the linear dynamic simulations. However the programs for the nonlinear simulations were quite different from those f3r the linear ones, and showed the results of the analyses in real time with animating. It was found that the programs would help us to solve any kind of nonlinear dynamic simulation with one and two degrees of freedom. Especially, the simulations for 1 DOF system with cubic nonlinear spring farce showed the results for Duffing's equation, of which phenomena were jump-up and jump-down. It will be applied to the dynamic simulation of the car seat vibration with a passenger, of which model has the equivalent nonlinear springs and is two degrees of freedom.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.2
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• pp.167-175
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• 2001

In this study, a general perturbation method is presented to reanalysis dynamic response of base-isolated systems. The perturbation is expanded to general order and which provide the formulation of perturbed solutions. in which eigensolutions of non-modified system are treated as unperturbed solutions. The accuracy of present method is tested using a 2-DOF system with isolator, where the stiffness and damping coefficients of isolator are changed, respectively, The reanalyzed eigensolutions and response using perturbed solutions are successfully approached to exact ones after just first perturbation. Supposing the practical criterion as ${\pm}5%$ error, the modification range of -50%~30% from original system can be allowed for the first order perturbation. Using higher order solutions, the applicable range will be wide.

• Proceedings of the Korea Multimedia Society Conference
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• 2003.05b
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• pp.546-549
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• 2003

본 논문은 사용자가 가상환경 내에서 가상 물체의 무게를 인지하기 위한 힘을 적용시키는 장치(device)에 관해 연구하였다. 이 장치는 3-DOF를 갖는 장치로 원통형 플라스틱 스틱에 4개의 스트레인 게이지를 부착시켜 사용자가 원하는 방향으로 스틱을 밀거나 당기거나 누르면 스틱의 인장 강도에 따른 변화량을 스트레인 게이지를 통하여 측정되도록 설계하였다. 이 장치의 사용성을 평가하기 위해 무게가 다른 5개의 상자를 현실세계와 가상환경에 위치시킨 후에 피실험자로 하여금 정량적, 정성적인 평가를 하였다 그 결과 본 논문을 통하여 제작한 장치를 가상환경에 응용하였을 때, 사용자로 하여금 가상 물체에 대한 힘을 인지하게 함으로써 가상환경에서 현실감과 몰입감을 효과적으로 중대시킴을 확인할 수 있었다.

• Structural Engineering and Mechanics
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• v.73 no.1
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• pp.97-108
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• 2020

This study presents a 4 node, 11 DOF/node plate element based on higher order shear deformation theory for lamina composite plates. The theory accounts for parabolic distribution of the transverse shear strain through the thickness of the plate. Differential field equations of composite plates are obtained from energy methods using virtual work principle. Differential field equations of composite plates are obtained from energy methods using virtual work principle. These equations were transformed into the operator form and then transformed into functions with geometric and dynamic boundary conditions with the help of the Gâteaux differential method, after determining that they provide the potential condition. Boundary conditions were determined by performing variational operations. By using the mixed finite element method, plate element named HOPLT44 was developed. After coding in FORTRAN computer program, finite element matrices were transformed into system matrices and various analyzes were performed. The current results are verified with those results obtained in the previous work and the new results are presented in tables and graphs.

• Journal of Platform Technology
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• v.6 no.4
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• pp.3-10
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• 2018

A projection-based active information display system was proposed. The proposed system is based on Intelligent Space and a steerable projector mounted mobile robot which is called Ubiquitous Display (UD). In order to transfer visual information for a human in the Intelligent Space, the UD projects a certain shape of an image with a fixed size. Due to redundancy of degree of freedom (DOF), there are lots of situations to project a same shape and size of the image on a surface. In this paper, we describe a method to determine a goal posture of the UD. Here, the goal posture is the most efficient position and orientation of the UD so as to project visual information and it is determined by the Intelligent Space. To verify the proposed method, simulation and demonstration are carried out.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.932-938
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• 1987

The dynamic equations of robotic manipulators can be derived from either Newton-Euler equation or Lagrangian equation. Model parameters which appear in the resulting dynamic equation are the nonlinear functions of both the inertial parameters and the geometric parameters of robotic manipulators. The identification of the model parameters is important for advanced robot control. In the previous methods for the identification of the model parameters, the geometric parameters are required to be predetermined, or the robotic manipulators are required to follow some special motions. In this paper, we propose an approach to the identification of the model parameters, in which prior knowledge of the geometric parameters is not necessary. We show that the estimation equation for the model parameters can be formulated in an upper block triangular form. Utilizing the special structures, we obtain a simplified least-square estimation algorithm for the model parameter identification. To illustrate the practical use of our method, a 4DOF SCARA robot is examined.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.52-59
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• 2006

Walking robot is able to move in regular or irregular terrain. It can walk that change adaptive algorithms according to the terrain. Existing papers about adaptive gaits of blind robot are based on intelligent foothold selection. However, this paper proposes a algerian that is based on the variations of stroke and period to adapt the irregular terrain. If thus adaptive algorithms is used, robot can maintain periodic gait walking and constant speed using only force sensor even in the irregular terrain without external sophisticated sensor. In this paper Quadruped robot with 2 DOF in each leg, is walk experiment with the wave gait in regular and irregular terrain. So the adaptive algorithm is proved useful through walk experiment.

• Structural Engineering and Mechanics
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• v.14 no.4
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• pp.417-434
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• 2002

This paper explores the possibility of using a combination of the empirical mode decomposition (EMD) and the Hilbert transform (HT), termed the Hilbert-Huang transform (HHT) method, to identify the modal damping ratios of the structure with closely spaced modal frequencies. The principle of the HHT method and the procedure of using the HHT method for modal damping ratio identification are briefly introduced first. The dynamic response of a two-degrees-of-freedom (2DOF) system under an impact load is then computed for a wide range of dynamic properties from well-separated modal frequencies to very closely spaced modal frequencies. The natural frequencies and modal damping ratios identified by the HHT method are compared with the theoretical values and those identified using the fast Fourier transform (FFT) method. The results show that the HHT method is superior to the FFT method in the identification of modal damping ratios of the structure with closely spaced modes of vibration. Finally, a 36-storey shear building with a 4-storey light appendage, having closely spaced modal frequencies and subjected to an ambient ground motion, is analyzed. The modal damping ratios identified by the HHT method in conjunction with the random decrement technique (RDT) are much better than those obtained by the FFT method. The HHT method performing in the frequency-time domain seems to be a promising tool for system identification of civil engineering structures.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.4
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• pp.276-283
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• 2017

This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.

• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.215-218
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• 2009

본 논문에서는 웨이블릿 변환 된 고주파 서브밴드들의 에지 정보를 이용하여 관심 객체 영역을 고속으로 자동 검출해주는 새로운 알고리즘을 제안하였다. 제안된 방법에서는 에지정보를 이용하여 블록단위의 4-방향 객체 윤곽 탐색 알고리즘(4-DOBS)을 수행하여 관심객체를 검출한다. 전체 이미지는 $64{\times}64$ 또는 $32{\times}32$ 크기의 코드 블록으로 먼저 나누어지고, 각 코드 블록 내에 에지들이 있는지 없는지에 따라 관심 코드블록 또는 배경이 된다. 4-방향은 바깥쪽에서 이미지의 중앙으로 탐색하여 접근하며, 피사계 심도가 낮은 이미지는 중앙으로 갈수록 에지가 발견된다는 특징을 이용한다. 기존 방법들의 문제점 이였던 복잡한 필터링 과정과 영역병합 문제로 인한 높은 계산도를 상당히 개선시킬 수 있었다. 또한 블록 단위의 처리로 인하여 실시간 처리를 요하는 응용에서도 적용 가능 하였다.