• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.166-175
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• 2001

The high speed tracking control of a 6-6 Stewart platform manipulator (SPM) normally requires knowledge of its complex full dynamics and measurement of its base motion when the SPM operates on a motion nit. In this study, an enhanced sliding mode control scheme has been developed, which is based on the reduced dynamics, not necessitating measurement of the base motion. The enhanced sliding mode control implemented with the perturbation compensation and modified reaching phase alleviation functions has been successfully employed for high speed tacking control of the laboratory SPM, when it is subjected to a virtual base motion.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.81-90
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• 2017

The 1MW OTEC (Ocean Thermal Energy Conversion) platform was designed for application in equatorial seas. In this study, the OTEC platform was investigated using numerical and experimental methods. An octagon-shaped OTEC platform was investigated using the Ocean Engineering Basin of KRISO. These experiments included various tests of regular waves, irregular waves and irregular waves with current (wave+current). The responses of the platform in regular waves showed good agreement between the numerical and experimental results, including the motion RAO, wave run up, and mean drift force. The peak period of heave and pitch motions were observed around 0.5 rad/s, and the effect of the total reflection was found under short wave conditions. The standard deviation (STD) of the platform motion was checked in irregular waves of equatorial and Hawaiian seas. The STD of the pitch was less than $4^{\circ}$ different from the operability requirement under equatorial conditions and the surge STD of the wave frequency showed good agreement between the numerical and experimental results. The STD values of the surge and pitch were increased 66.6% and 92.8% by the current effects in irregular waves, but the pitch STD was less than $4^{\circ}$ under equatorial conditions. This study showed that the STD of the surge was affected by spring effects. Thus, the watch circle of the platform and tension of the mooring lines must be evaluated for a specific design in the future.

• 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.

• Journal of Ocean Engineering and Technology
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• v.28 no.6
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• pp.508-516
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• 2014

A numerical method to investigate the non-linear motion characteristics of a TLP is established. A time domain simulation that includes the memory effect using the convolution integral is used to consider the transient effect of TLP motion. The hydrodynamic coefficients and wave force are calculated using a potential flow model based on the HOBEM(higher order boundary element method). The viscous drag force acting on the platform and tendons is also considered by using Morison’s drag. The results of the present numerical method are compared with experimental data. The focus is the nonlinear effect due to the viscous drag force on the TLP motion. The ringing, springing, and drift motion are due to the drag force based on Morison's formula.

• The Journal of the Acoustical Society of Korea
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• v.40 no.4
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• pp.382-390
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• 2021

Synthetic aperture sonars as well as side scan sonars or multibeam echo sounders have been commercialized and are widely used for seafloor imaging. In Korea related research such as the development of a towed synthetic aperture sonar system is underway. In order to obtain high-resolution synthetic aperture sonar images, it is necessary to accurately estimate the platform motion on which it is installed, and a precise underwater navigation system is required. In this paper we are going to provide reference data for determining the required navigation accuracy and precision of navigation sensors by quantitatively analyzing how much distortion of the sonar images occurs according to motion characteristics of the platform equipped with the synthetic aperture sonar. Five types of motions are considered and normalized root mean square error is defined for quantitative analysis. Simulation for error analysis with parameter variation of motion characteristics results in that yaw and sway motion causes the largest image distortion whereas the effect of pitch and heave motion is not significant.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.245-248
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• 2006

The development of offshore structures have been increased spectacularly, especially in oil rig structures. This study concerns with the effects of heave motion of spar platform that attached the helical fin. There are three models, namely, cylinder, cylinder-truss and cylinder-cell with different geometrical dimensions are examined. Finally, the interaction between structure and fluid is closely considered. As the results, it can be seen that the existence of helical fin does not influence on surging but it affects a little on heaving of spar platform.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.1
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• pp.43-52
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• 2014

This paper presents a tracking system using images captured from a camera on a moving platform. A camera on an unmanned flying vehicle generally moves and shakes due to external factors such as wind and the ego-motion of the machine itself. This makes it difficult to track a target properly, and sometimes the target cannot be kept in view of the camera. To deal with this problem, we propose a new system for stable tracking of a target under such conditions. The tracking system includes target tracking and 3-axis camera motion compensation. At the same time, we consider the simulation of the motion of flying vehicles for efficient and safe testing. With 3-axis motion compensation, our experimental results show that robustness and stability are improved.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2631-2633
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom( DOF) motions simmulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie. carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions. a motion platform that is constructed by six electric-driven actuators is designed. and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator. and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition. a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail mad driving situations discussed in this paper.

• Journal of Internet Computing and Services
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• v.23 no.1
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• pp.19-29
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• 2022

Natural user interface (NUI) is used for the natural motion interface without using a specific device or tool like a mouse, keyboards, and pens. Recently, as non-contact sensor-based interaction technologies for recognizing human motion, gestures, voice, and gaze have been actively studied, an environment has been prepared that can provide more diverse contents based on various interaction methods compared to existing methods. However, as the number of sensors device is rapidly increasing, the system using a lot of sensors can suffer from a lack of computational resources. To address this problem, we proposed a real-time multi-device control system for natural interactive platform. In the proposed system, we classified two types of devices as the HC devices such as high-end commercial sensor and the LC devices such astraditional monitoring sensor with low-cost. we adopt each device manager to control efficiently. we demonstrate a proposed system works properly with user behavior such as gestures, motions, gazes, and voices.

• Journal of computational fluids engineering
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• v.21 no.3
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• pp.15-23
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• 2016

In the present study, two phase flows around a projectile vertically launched from an underwater platform have been numerically investigated by using a three dimensional multi-phase RANS flow solver based on pseudo-compressibility and a homogeneous mixture model on unstructured meshes. The relative motion between the platform and projectile was described by six degrees of freedom equations of motion with Euler angles and a chimera technique. The propulsive power of the projectile was modeled as the fluid force acting on the lower surface of the body by the compressed air emitted from the underwater platform. Various flow conditions were considered to analyze the fluid-dynamics motion parameters of the projectile. The water level of platform and the current speed around the projectile were the main parametric variables. The numerical calculations were conducted up to 0.75sec in physical time scale. The dynamics tendency of the projectile was almost identical with respect to the water level variation due to the constant buoyancy term. The moving speed of the projectile along the vertical axis inside the platform decreased when the current speed increased. This is because the inflow from outside of the platform impeded development of the compressed air emitted from the floor surface of the launch platform. As a result, the fluid force acting on the lower surface of the projectile decreased, and injection time of the projectile from the platform was delayed.