• International Journal of Aeronautical and Space Sciences
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• v.14 no.3
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• pp.229-236
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• 2013

This paper presents the experimental investigation of a biplane micro air vehicle. The effects of geometric parameters, gap, stagger, and decalage angle are investigated at low Reynolds number (~150,000) in a low-speed wind tunnel. A rigid flat plate with an aspect ratio of one and square planform shape is used to evaluate all three geometric parameters. The side dimension of the single flat plate is 0.15 m. The goal is to find an optimal biplane configuration that should exceed monoplane performance by generating high lift and flying as slow as possible, in order to capture high-quality visual recordings. This configuration will directly help to fly at a lower velocity and to make tighter turns that are advantageous in restricted environments. The results show that the aerodynamic performance of the biplane MAV is significantly enhanced through the combination of gap and stagger effects. A performance comparison demonstrates the superiority of the optimal biplane configuration compared to a monoplane in cruise and glide phases. Moreover, no significant compromise is found for the range, endurance, and climb performance.

• Korean Journal of Computational Design and Engineering
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• v.12 no.5
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• pp.344-353
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• 2007

In this paper, we address the problem of robust geometric modeling with emphasis on surface to surface intersections. We consider the topology and the numerical accuracy of an intersection curve to find the best approximation to the exact one. First, we perform the topological configuration of intersection curves, from which we determine the starting and ending points of each monotonic intersection curve segment along with its topological structure. Next, we trace each monotonic intersection curve segment using a validated ODE solver, which provides the error bounds containing the topological structure of the intersection curve and enclosing the exact root without a numerical instance. Then, we choose one approximation curve and adjust it within the bounds by minimizing an objective function measuring the errors from the exact one. Using this process, we can obtain an approximate intersection curve which considers the topology and the numerical accuracy for robust geometric modeling.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.3
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• pp.253-261
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• 2015

A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

• Transactions of the Korean Society of Automotive Engineers
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• v.1 no.1
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• pp.66-79
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• 1993

To construct the design back data for a lean-burn gas engine, we have designed a constant volume combustion chamber with sub-chamber. With constant volume ratio of main-sub combustion chamber and constant equivalence ratio of methane-air mixture, the influence of geometric configurations(diameter, injection angle, number, length) of passagehole upon combustion characteristics were studied. It was found that combustion characteristics in the main combustion chamber were greatly influenced by the injection angle and length of passagehole.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.94-100
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• 2000

This paper proposes a method of geometric error calibration for a parallel using only sensor of length measurement without additional sensors. The concept is generalized which creates measurement residuals by exploring conflicting information provided with external length sensing. Although this calibration method requires many configurations, it has an advantage of using relatively simple length measurements. This method is shown to provide good calibration results, especially when there exist smaller measurement noises and more configurations are measured.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.13-16
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• 1989

The paper, introduce the real time controller Design method of heavy load 6-DOF motion simulator. And also, introduce the Geometric design of 6-DOF Motion generation, real time control A algorithm and the configuration method of real time controller H/W and S/W.

• Architectural research
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• v.21 no.2
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• pp.31-39
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• 2019

Inspired by the success of the High-line project in New York, The Seoul Metropolitan Government launched a project to convert an overpass near Seoul station into a pedestrian park. Seoullo 7017 went through instant success after its opening in May 2017; however, there is a continuous controversy over its long-term impact as shown in the exemplary cases like the High-line project. This study aims for quantitative investigation through the comparative analysis between Seoullo 7017 and the High-Line in the perspectives of spatial configuration. Space Syntax was chosen as the analysis method for this research. Integration (3) in Space Syntax is known to have a high correlation with pedestrian volume; thus, by using this method, spatial structure was analyzed by comparing the statistically verified results of changes in the spatial structure of the Highline with those in Seoul. The results indicated that the influence of Seoullo 7017 was less than that of the High-line in terms of spatial configuration. The reason for this difference is spatial configuration between Manhattan and Seoul. The High-line is located in Manhattan which has an urban grid structure, whereas Seoul has non-geometric urban structure, the neighborhood unit in Korea. Also the center of the overpass isn't connected well with its surroundings.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.834-839
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• 2004

In this paper, we investigate the optimal base position and joint configuration of a planar wheeled mobile manipulator in terms of manipulability measure. Taking into account the level of coordination between a manipulator and a platform, both local and global optimization problems are considered. First, based on the kinematic models of a mobile manipulator, the manipulability measures are expressed along with the analysis of the configurational dependency. Second, the geometric symmetry of a mobile manipulator in view of manipulability measure is analyzed, and for some base positions, the best and worst joint configurations are determined, Third, with reverence to the maximum, minimum, and average manipulability measures, the optimal base positions are determined, and the percent improvements due to the base relocation are discussed considering the relative scales among the platform size, the wheel radius, and the link length.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.4
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• pp.31-38
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• 2012

In this paper, requirements of GNSS receiver station installation are derived for optimizing the performance of network based GNSS precise positioning by concern of international organization(IGS, NGS) recommendation. Also a analysis method of network based GNSS precise positioning is suggested in order to evaluate the availability depending on various network configurations. To evaluate network candidates, a performance evaluation method is proposed for positioning of users according to a geometric configuration and the baseline distance. After the proposed method is used to Ochang region that is a the test area 6 network candidates are derived and the performance of positioning was analyzed. Finally, Ansung, Gongju, Eumsung, Boeun network configuration was selected as the best positioning performance. An optimal Receiving station network was selected using the proposed method.