• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.387-396
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• 2005

The Rotational/Translational Actuator (RTAC) benchmark problem considers a fourth-order dynamical system involving the nonlinear interaction of a translational oscillator and an eccentric rotational proof mass. This problem has been posed to investigate the utility of a rotational actuator for stabilizing translational motion. In order to experimentally implement any of the model-based controllers proposed in the literature, the values of model parameters are required which are generally difficult to determine rigorously. In this paper, an approach to the least-squares estimation of the parameters of a system is formulated and practically applied to the RTAC system. On the other hand, this paper shows how to model a nonlinear system as a linear uncertain system via nonparametric system identification, in order to provide the information required for linear robust $H_\infty$ control design. This method is also applied to the RTAC system, which demonstrates severe nonlinearities, due to the coupling from the rotational motion to the translational motion. Experimental results confirm that this approach can effectively condense the whole nonlinearities, uncertainties, and disturbances within the system into a favorable perturbation block.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.423-429
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• 2015

Linear motion (LM) ball guides have good accuracy and high efficiency. They are widely applied for precision machinery such as machine tools, semiconductor fabrication machines and robots. However, friction force incurs heat between the balls and grooves. Thermal expansion due to the heat deteriorates stiffness and accuracy of the LM ball guides. For accurate estimation of stiffness and accuracy during the linear motion, friction models of LM ball guides are required. To formulate accurate frictional models of LM ball guides according to load and preload conditions, rolling and viscous frictional analyses have been performed in this paper. Contact loads between balls and grooves are derived from Hertzian contact analysis. Contact angle variation is incorporated for the precision modeling. Viscous friction model is formulated from the shear stress of lubricant and the contact area between balls and grooves. Experiments confirm validity of the developed friction model for various external load and feedrate conditions.

• International Journal of Naval Architecture and Ocean Engineering
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• v.3 no.1
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• pp.95-104
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• 2011

As sea state harsher in the ocean space, more large motion and wave loads occurs on ships hull by non-linear phenomena. To consider nonlinear effect on ships hull in the structural design verification, the direct calculation method with numerical approach is used rather than rule values for the reliable accuracy. In this paper, the non-linear wave loads analysis in time domain is performed by using a Rankine Panel Method together with numerical schemes. Linear calculations have been carried out based on DNV CSA-2 notation to generate the motion responses and wave loads of large ships. By short and long term analysis, the design wave amplitudes are selected for the nonlinear analysis. The maximum wave induced bending moment in hogging and sagging conditions are calculated in the nonlinear analysis. Also, the green water effect on the wave induced vertical bending moment was investigated. The results show the vertical bending moments are more influenced by green water in sagging condition than in hogging condition due to green water loading.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.54-61
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• 2008

This paper presents a method for reducing modelling error in the linear motion system with voicecoil actuator (VCA). A model of linear motion system composed of a mechanism and control was prepared to verify the proposed method. In modeling of the system, the damping coefficient obtained experimentally is applied to the model in order to consider the effect of the viscous friction for the moving part in VCA. The response velocity of VCA for duty ratio of PWM signal was analyzed in the time domain. Consequently, the relation between velocity and duty ratio was obtained. The result from the experiment showed an error of 9% when compared with that of simulation. In order to reduce the modeling error, impedance variation according to input frequency was analyzed, and equivalent impedance with multi-frequency was applied to the control part. As a result, the modeling error decreased to 5%.

• Transactions of Materials Processing
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• v.24 no.3
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• pp.155-160
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• 2015

One of the most important aspects in multi-stage shape drawing is the proper design of the intermediate dies especially to provide adequate metal distribution. In the current study, a method for designing the intermediate dies has been developed to manufacture hollow linear motion guide rails by multi-stage shape drawing. The design method is based on the modified virtual die method. The effectiveness of the proposed design method was verified by FE-simulations and experiments using Mn55Cr carbon steel. From the results of the FE-simulations and the experiments, the proposed design method led to a drawn product with a sound shape. The dimensional tolerances of the product were within the allowable specified tolerances.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1629-1632
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• 2003

A technique is presented for generating a compound human motion from its primitive motions obtained by a motion capture system. Some human fundamental motions are modeled in a 3-D way and registered as primitive motions. Because the factorization method is used for the motion capture, calibration of video cameras and connection of the motion in the direction of time is both unnecessary. Employing these motions, various compound human motions are generated by connecting the motions after having applied rotation and parallel transformation to them. Linear interpolation is done at the discontinuous boundary between primitive motions and smooth connection is achieved. Experimental results show satisfactory performance of the proposed technique. The technique may contribute to producing various complicated human motions without much effort using a strict motion capture system.

• Journal of Computing Science and Engineering
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• v.7 no.2
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.11
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• pp.2776-2788
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• 1996

A new feature-based motion parameter estimation for arbitrary-shaped regions is proposed. Existing motion parameter estimation algorithms such as gradient-based algorithm require iterations that are very sensitive to initial values and which often converge to a local minimum. In this paper, the motion parameters of an object are obtained by solving a set of linear equations derived by the motion of salient feature points of the object. In order to estimate the displacement of the feature points, a new process called the "bi-directional correspondence scheme" is proposed to ensure the robjstness of correspondence. The proposed correspondence scheme iteratively selects the feature points and their corresponding points until unique one-to-one correspondence is established. Furthermore, initially obtained motion paramerters are refined using an iterative method to give a better performance. The proposed algorithm can be used for motion estimationin object-based image coder, and the experimental resuls show that the proposed method outperforms existing schemes schemes in estimating motion parameters of objects in image sequences.sequences.

• Korean Journal of Computational Design and Engineering
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• v.19 no.1
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• pp.68-79
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• 2014

Human model simulation has been widely used in various industrial areas such as ergonomic design, product evaluation and characteristic analysis of work-related musculoskeletal disorders. However, the process of building digital human models and capturing their behaviors requires many costly and time-consuming fabrication iterations. To overcome the limitations of this expensive and time-consuming process, many studies have recently presented a markerless motion capture approach that reconstructs the time-varying skeletal motions from optical devices. However, the drawback of the markerless motion capture approach is that the phenomenon of occlusion of motion data occurs in real-time human simulation. In this study, we propose a systematic method of discriminating missing or inaccurate motion data due to motion occlusion and interpolating a sequence of motion frames captured by a markerless depth camera.

• Physical Therapy Korea
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• v.25 no.3
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• pp.12-18
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• 2018

Background: Passive straight leg raising (PSLR) is the common clinical test to measure of hamstring muscle length. Hip flexion angle contributes to change the lumbopelvic rotation during PSLR. Pressure biofeedback unit (PBU) is commonly used to detect lumbopelvic movement during lower limb movements. Thus, there may be the relationship between pressure of PBU and lumbopelvic motion during PSLR. Objects: The objective of this study was to determine the relationship between pressure of PBU and lumbopelvic motion during PSLR. Methods: Thirty two subjects participated in this study. A three-dimensional motion analysis system were used to measure the lumbopelvic angle during PSLR, while recording the pressure of PBU according to angle of PSLR by 10 degree increments. Pearson product moment correlations and linear regression analysis were used to describe the relationship between variables. Results: The results showed that there was a significant relationship between the lumbopelvic and angle of PSLR (Pearson's r=.83, p<.05), between the pressure of PBU and angle of PSLR (Pearson's r=.75, p<.05), and between lumbopelvic motion and pressure of PUB (Pearson's r=.83, p<.05). Linear regression equation using lumbopevic angle as an independent factor was as follows: Pressure of PBU = 47.35 + (2.55 ${\times}$ angle of lumbopelvic motion) ($R^2=.69$, p<.05). Conclusion: Results of the present study indicate that pressure of PBU can be used to indirectly detect the amounts of lumbobevic motion during muscle length test or stretching of hamstring.