• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• 한국소음진동공학회논문집
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• 제13권4호
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• pp.247-257
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• 2003

This paper presents an analytical method to Investigate the stability of a hydrodynamic journal bearing with rotating herringbone grooves. The dynamic coefficients of the hydrodynamic Journal bearing are calculated using the FEM and the perturbation method. The linear equations of motion can be represented as a parametrically excited system because the dynamic coefficients have time-varying components due to the rotating grooves, even in the steady state. Their solution can be assumed as a Fourier series expansion so that the equations of motion can be rewritten as simultaneous algebraic equations with respect to the Fourier coefficients. Then, stability can be determined by solving Hill's infinite determinant of these algebraic equations. The validity of this research is proved by the comparison of the stability chart with the time response of the whirl radius obtained from the equations of motion. This research shows that the instability of the hydrodynamic journal bearing with rotating herringbone grooves increases with increasing eccentricity and with decreasing groove number, which play the major roles in increasing the average and variation of stiffness coefficients, respectively. It also shows that a high rotational speed is another source of instability by increasing the stiffness coefficients without changing the damping coefficients.

• 한국정밀공학회지
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• 제26권5호
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• pp.112-119
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• 2009

Cam mechanisms are one of the most popular devices for generating irregular motion and are widely used in many automatic equipments, such as textile machinery, internal combustion engines and other automatic devices. In order to obtain the positive motion of follower by rotating cam, its shape should be correctly designed and manufactured. However, complex engineering tasks are required in a design and manufacturing of cams. And also, the manufacturing of general cam is demanded high costs. For the designing of cam, it must be decided that what kind of motion has to be transmitted to follower before selecting the curve of cam and designing profile of cam. However, even though the exact profile of cam is designed at the progress of design, if it doesn't have precision at the manufacturing progress, it's impossible to get expected result. We will develop cam simulation apparatus for measuring cam curve and get profile data before analyzing an error through comparison with design data of cam.

• 한국운동역학회지
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• 제13권3호
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• pp.67-79
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• 2003

The purpose of this study is to investigate the effective skill motion through the kinematic analysis of the Yurchenko Streched motion in new horse vaulting. The subjects in this study were 3 male gymnasts who were ranked as national athletes. After the 3D motion analysis, kinematic variables were analyzed to comparison with the difference between this study and the previous study(Yang, D. Y and Lee, C. S, 1999). As a result, the following conclusions was drawn; 1. In the board contact phase, this study showed a shorten contact time to maintain in condition highly extension of hip and hee angle than the previous study. 2. In the pre-flight phase, this study appeared more shortly flight duration time and horizontal flight displacement than the previous study. 3. In the horse contact phase, the contact duration time and horizontal displacement of COG shortened than the previous study, but appeared to the fast horizontal and vertical velocity and highly extension of shoulder an. 4. In the post-flight phase, a stable horse contact appeared to the increase of the flight duration time and the apex height during the post-flight. And it showed that these results have a stable and good landing.

• 소음진동
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• 제7권4호
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• pp.669-679
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• 1997

This paper deals with a study of striker type impact hammer drill for improving the drilling performance. The study was performed through a numerical simulation of the impact hammer mechanism and an experimental comparison of the numerical simulation results was followed. Optimization of the impact mechanism was also performed. The numerical model of the impact hammer drill takes into account the striker motion and the effects of the pressure in the cylinder as well as the friction acting on the striker. The equation of motion is solved with the pressure equation in the cylinder including the friction force. The friction is considered as a combination of Coulomb friction and viscous damping friction. At the moment of impact, an ideal impact model that uses restitution coefficient is used to calculate the sudden change of the striker motion. The numerically simulated impact force shows a good agreement with the experimental result and thus, the validity of the numerical model is proven. Based upon the proposed model, an optimization was performed to improve the impact force of the hammer drill. The objective function is to maximize the impact force and the used design variables are striker mass, frequency of piston, bit guide mass, cylindrical diameter and dimensions of the mechanism components. Each design variable and some other conditions that are essential to manitain normal operation of the hammer drill are considered as constraints. The optimized result show a remarkable improvement in impact force and an experimental proof was investigated.

• Structural Engineering and Mechanics
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• 제24권5호
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• pp.543-560
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• 2006

In this paper, first, the equations of motion for a rectangular isotropic plate have been derived. This derivation is based on the Von Karmann theory and the effects of shear deformation have been considered. Introducing an Airy stress function, the equations of motion have been transformed to a nonlinear coupled equation. Using Galerkin method, this equation has been separated into position and time functions. By means of the dimensional analysis, it is shown that the orders of magnitude for nonlinear terms are small with respect to linear terms. The Multiple Scales Method has been applied to the equation of motion in the forced vibration and free vibration cases and closed-form relations for the nonlinear natural frequencies, displacement and frequency response of the plate have been derived. The obtained results in comparison with numerical methods are in good agreements. Using the obtained relation, the effects of initial displacement, thickness and dimensions of the plate on the nonlinear natural frequencies and displacements have been investigated. These results are valid for a special range of the ratio of thickness to dimensions of the plate, which is a characteristic of the Multiple Scales Method. In the forced vibration case, the frequency response equation for the primary resonance condition is calculated and the effects of various parameters on the frequency response of system have been studied.

• Structural Engineering and Mechanics
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• 제26권2호
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• pp.111-126
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• 2007

Dynamic responses of the bridge for a straddle-type monorail subjected to the ground motion of high probability to occur are investigated by means of a three-dimensional traffic-induced vibration analysis to clarify the effect of a train's dynamic system on seismic responses of a monorail bridge. A 15DOFs model is assumed for a car in the monorail train. The validity of developed equations of motion for a monorail train-bridge interaction system is verified by comparison with the field-test data. The inertia effect due to a ground motion is combined with the monorail train-bridge interaction system to investigate the seismic response of the monorail bridge under a moving train. An interesting result is that the dynamic system of the train on monorail bridges can act as a damper during earthquakes. The observation of numerical results also points out that the damper effect due to the dynamic system of the monorail train tends to decrease with increasing speed of the train.

• Structural Engineering and Mechanics
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• 제61권6호
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• pp.785-794
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• 2017

This paper is concerned with the comparative numerical and experimental study on the natural behavior and the motion responses of a 1/75 moored scale model of a 2.5 MW spar-type floating offshore wind turbine subject to 1-D regular wave. Heave, pitch and surge motions and the mooring tensions are investigated and compared by numerical and experimental methods. The upper part of wind turbine which is composed of three rotor blades, hub and nacelle is modeled as a lumped mass and three mooring lines are pre-tensioned by means of linear springs. The numerical simulations are carried out by a coupled FEM-cable dynamics code, while the experiments are performed in a wave tank equipped with the specially-designed vision and data acquisition system. Using the both methods, the natural behavior and the motion responses in RAOs are compared and parametrically investigated to the fairlead position, the spring constant and the location of mass center of platform. It is confirmed, from the comparison, that both methods show a good agreement for all the test cases. And, it is observed that the mooring tension is influenced by all three parameters but the platform motion is dominated by the location of mass center. In addition, from the sensitivity analysis of RAOs, the coupling characteristic of platform motions and the sensitivities to the mooring parameters are investigated.

• 치위생과학회지
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• 제20권2호
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• pp.118-124
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• 2020

The purpose of this comparison of case reports is to introduce the results of the application of new devices for the management of growing Class III malocclusions in children. Two 8-year-old boys had a chief complaint of anterior crossbite. Anterior crossbite correction using a tandem traction bow appliance (TTBA) or a Carriere Motion 3D Class III appliance with a Transforce appliance was planned. By comparing cephalometric radiographs before and after treatment, changes in skeletal growth and incisor inclination to the Frankfort horizontal (FH) plane could be measured. Both devices increased SNA and ANB angles, N-I Pg-A, U1 to SN, and U1 to FH. Both appliances improved facial features and resolution of anterior crossbite. The TTBA and Carriere Motion 3D Class III appliance had similar effects when applied as early treatment for growing mesio-occlusions and anterior crossbite in two boys. However, long-term outcome assessments and well-designed comparative studies are still required.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.805-812
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• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.