• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• International Journal of Automotive Technology
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• v.2 no.3
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• Structural Engineering and Mechanics
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• v.70 no.4
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• pp.445-455
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• 2019

Since the days of yore, plate's flexural analysis and formulation were dependent on the assumed coordinate system. In uncovering the coordinates-independent flexural interpretation, in this study, the plate bending analysis has been interpreted in terms of the tensor's components of curvatures and bending moments, in accordance with the continuum mechanics. The paper herein presents the theoretical formulations and conceptual perspectives of the Hydrostatic Method of Analysis (HM) that combines the continuum mechanics with the elasticity theory; the graphical statics and analysis; the theory of thin isotropic and orthotropic plates.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.1177-1182
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• 2006

This paper is concerned with the vibration analysis of a simply-supported rectangular plate with a circular cutout. Even though there have be en many methods developed for the free vibration of the rectangular plate with a rectangular cutout., very few research has been carried out for the rectangular plate with a circular cutout. In this paper, a new methodology called independent coordinate coupling method, which was developed to save the computational effort for the free vibration analysis of rectangular plate with a rectangular cutout, is applied to the case of circular cutout. The independent coordinate coupling method employs the global coordinate system for the plate and the local coordinate system for the cutout. In the case of the rectangular plate with a circular cutout, the global coordinate system is the Cartesian co ordinate system and the local coordinate system is the polar coordinate system. By imposing the compatibility condition, the relationship between the global coordinates and the local coordinates is derived. This equation is then used for the calculation of the mass and stiffness matrices resulting in eigenvalue problem. The numerical results show the efficacy of the proposed method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.643-650
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• 2006

This paper is concerned with the vibration analysis of a simply-supported rectangular plate with a circular cutout. Even though there have been many methods developed for the free vibration of the rectangular plate with a rectangular cutout, very few research has been carried out for the rectangular plate with a circular cutout. In this paper, a new methodology called independent coordinate coupling method, which was developed to save the computational effort for the free vibration analysis of rectangular plate with a rectangular cutout, is applied to the case of circular cutout. The independent coordinate coupling method employs the global coordinate system for the plate and the local coordinate system for the cutout. In the case of the rectangular plate with a circular cutout, the global coordinate system is the Cartesian coordinate system and the local coordinate system is the polar coordinate system. By imposing the compatibility condition, the relationship between the global coordinates and the local coordinates is derived. This equation is then used for the calculation of the mass and stiffness matrices resulting in eigenvalue problem. The numerical results show the efficacy of the proposed method.

• Spatial Information Research
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• v.13 no.2 s.33
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• pp.129-138
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• 2005

In this paper, a 3D position tracking algorithm for a moving objects using a stereo CCD cameras was proposed. This paper purposed the method to extract the coordinates of the moving objects. That is improve the operating and data processing efficiency. We were applied the relative orientation far the stereo CCD cameras and image coordinates extraction in the left and right images after the moving object segmentation. Also, it is decided on 3D position far moving objects using an acquired image coordinates in the left and right images. We were used independent relative orientation to decide the relative location and attitude of the stereo CCD cameras and RGB pixel values to segment the moving objects. To calculate the coordinates of the moving objects by space intersection. And, We conducted the experiment the system and compared the accuracy of the results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1311-1321
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• 1997

In multibody dynamics, differential and algebraic equations which can satisfy both equation of motion and kinematic constraint equation should be solved. To solve these equations, coordinate partitioning method and constraint stabilization method are commonly used. In the coordinate partitioning method, the coordinates are divided into independent and dependent and coordinates. The most typical coordinate partitioning method are LU decomposition, QR decomposition, and SVD (singular value decomposition). The objective of this research is to find an efficient coordinate partitioning method in the dynamic analysis of flexible multibody systems. Comparing two coordinate partitioning methods, i.e. LU and QR decomposition in the flexible multibody systems, a new hybrid coordinate partitioning method is suggested for the flexible multibody analysis.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1086-1092
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• 2007

This paper is concerned with the vibration analysis of a rectangular plate with multiple circular holes. On the contrary to the case of rectangular plate with multiple rectangular holes, it is very difficult to perform qualitative analysis on natural vibration characteristics because of geometrical inconsistency. In this paper, we applied the Independent Coordinate Coupling Method(ICCM) to the addressed problem, which was developed to compute natural vibration characteristics of the rectangular plate with a circular hole and proven to be computationally effective. The ICCM is based on Rayleigh-Ritz method but utilizes independent coordinates for each hole domain. By matching the deflection conditions for each hole imposed on the expressions, we can easily derive the reduced mass and stiffness matrices. The resulting equation is then used for the calculation of the eigenvalue problem. The numerical results show the efficacy of the Independent Coordinate Coupling Method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.9
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• pp.881-887
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• 2007

This paper is concerned with the vibration analysis of a rectangular plate with multiple rectangular holes. Even though there have been many methods developed for the addressed problem, they suffer from computational time. In this paper, we applied the Independent Coordinate Coupling Method(ICCM) to the addressed problem, which was developed to compute natural vibration characteristics of the rectangular plate with a rectangular hole and proven to be computationally effective. The ICCM is based on Rayleigh-Ritz method but utilizes independent coordinates for each hole domain. By matching the deflection conditions for each hole imposed on the expressions, we can easily derive the reduced mass and stiffness matrices. The resulting equation is then used for the calculation of the eigenvalue problem. The numerical results show the efficacy of the Independent Coordinate Coupling Method.

• Transactions on Electrical and Electronic Materials
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• v.3 no.4
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• pp.21-26
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• 2002

Color correction methods of chromaticity coordinates using Color Matching Function (CMF) were studied to develop a device-independent portable-type urine analyzer. The reflection spectra were measured for the degrees of 10 test items of the urine reagent strip (urine strip) to develop a portable-type urine analyzer. A computer simulation was performed to quantitatively distinguish the color reactions of the urine system, by using the spectral power distribution of Light Emitting Diode(LED), the reflection of a urine strip, and spectral sensitivity of a photodiode. To develop a device-independent system, chromaticity coordinates were modified to reduce the color deviations in the urine strip, by using the temperature compensation of LED and the color transformation by CMF. The experimental values obtained by developed urine system exhibited the accuracy above 95% for all color samples.