• Proceedings of the KSME Conference
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• 2001.06b
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.1
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• pp.8-14
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• 2011

RIB(Rigid Inflatable Boat) is widely used for coastal transportation in the commercial use and for ISR(Intelligence, Surveillance, Reconnaissance) in the military use. Since RIB is around 10 meters in length and over 30 knots in speed, its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ship's case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIB's motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitsky's formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.337-351
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• 2019

We Proposed a new technology to develop vertical type multi-joint robot system enable to adapt in high temperature environment. The main contents is a new approach to design a vertical type articulated robot with prismatic joint and analysis of thermal for process automation of casting and forging. The proposed robot is suitable to use handling working parts of casting and forging. for the manufacturing process of forging and casting. The reliability is illustrated that the proposed technique is more stable and robust than the conventional system. This study is concerned with an analytical methodology of kinematic computation for 7 DOF manipulators for optimization of forging manufacturing process.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.

• Journal of the Earthquake Engineering Society of Korea
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• v.28 no.4
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• pp.165-170
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• 2024

This study investigated the impact of soil-structure interaction on multi-degree-of-freedom structures using the shallow-foundation Winkler model, known as the BNWF model. The model's period was determined through eigenvalue analysis and compared to results obtained from FEMA's formula. Results indicated that considering the soil, the structure's period increased by up to 8.7% compared to the fixed-base model, aligning with FEMA's calculations. Furthermore, with adequate ground acceleration, roof displacement increased by 3.4% to 3.8%, while base shear decreased by 4% to 10%. However, roof displacement and base shear increased in some earthquake scenarios due to spectral shape effects in regions with extended structural periods. Foundation damping effects, determined through the foundation's moment-rotation history, grew with higher ground acceleration. This suggests that accounting for period elongation and foundation damping can enhance the seismic design of multi-degree-of-freedom structures.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.17 no.1
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• pp.21-30
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• 2004

This study deals with free vibrations of laminated composite structures with a channel section using finite element method. In this paper, the mixed finite element method using Lagrangian and Hermite interpolation functions is adopted and a high-order plate theory is used to analyze laminated composite non-prismatic folded plates with a channel section more accurately for free vibration. The theory accounts for parabolic distribution of the transverse shear stress and requires no shear correction factors supposed in the first-order plate theory. An 32×32 matrix is assembled to transform the system element matrices from the local to global coordinates using a coordinate transformation matrix, in which an eighth drilling degree of freedom (DOF) per node is appended to the existing 7-DOF system. The results in this study are compared with those of available literatures for the conventional and first-order plate theory. Sample studies are carried out for various layup configurations and length-thickness ratio, and geometric shapes of plates. The significance of the high-order plate theory in analyzing complex composite structures with a channel section is enunciated in this paper.

• 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.

• 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.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.105-112
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• 2022

In this paper, unmanned underwater glider was designed for high-depth operation and adopted a bladder-type buoyancy controller for improving battery efficiency, and the motion controller controls the pitch angle by moving the internal mass battery. To improve the energy efficiency of the unmanned underwater glider, a layered PID controller that performs control by section was designed. Simulation program including 6-DOF motion equations and hydrodynamics coefficients of an unmanned underwater glider is constructed using Matlab/Simulink program. Control methods such as PID controller, sliding mode controller and layered PID controller were applied to the simulator to compare the dynamics performance and energy efficiency. As a result, the layered PID controller showed improved control performance compared to other controllers and improved energy efficiency of approximately 7.2% compared to PID controller.

• Journal of Plant Biotechnology
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• v.46 no.3
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• pp.189-204
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• 2019

In this study, we analyzed the changes in glucosinolate content and gene expression in TO1000DH3 and Early big seedling upon methyl jasmonate (MeJA) treatment. Analysis of glucosinolate contents after MeJA treatment at $200{\mu}M$ concentration showed that the total glucosinolate content increased by 1.3-1.5 fold in TO1000DH3 and 1.3-3.8 fold in Early big compared to those before treatment. Aliphatic glucosinolates, progoitrin and gluconapin, were detected only in TO1000DH3, and the changes in the content of neoglucobrassicin were the greatest at 48 hours after MeJA treatment in TO1000DH3 and Early big. The transcriptomic analysis showed that transcripts involved in stress or defense reactions, or those related to growth were specifically expressed in TO1000DH3, while transcripts related to nucleosides or ATP biosynthesis were specifically expressed in Early big. GO analysis on transcripts with more than two-fold change in expression upon MeJA treatment, corresponding to 12,020 transcripts in TO1000DH3 and 13,510 transcripts in Early big, showed that the expression of transcripts that react to stimulus and chemical increased in TO1000DH3 and Early big, while those related to single-organism and ribosome synthesis decreased. In particular, the expression increased for all transcripts related to indole glucosinolate biosynthesis, which is associated with increase in glucobrassicin and neoglucobrassicin contents. Upon MeJA treatment, the expression of AOP3 (Bo9g006220, Bo9g006240), TGG1 (Bo14804s010) increased only in TO1000DH3, while the expression of Dof1.1 (Bo5g008360), UGT74C1 (Bo4g177540), and GSL-OH (Bo4g173560, Bo4g173550, Bo4g173530) increased specifically in Early big.