• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• 한국해양공학회지
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• 제25권4호
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• pp.7-11
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• 2011

The installation phase for a topside module suggested can be divided into 9 stages, which include start, pre-lifting, lifting, lifted, rotating, positioning, lowering, mating, and end of installation. The transfer of the topside module from a transport barge to a crane vessel takes place in the first three stages, from start to lifting, while the transfer of the module onto a floating spar hull occurs in the last three stages, from lowering to the end. The coupled multi-body motions are calculated in both calm water and in irregular waves with significant wave height (1.52m), with suggested force equilibrium diagrams. The effects of the hydrodynamic interactions between the crane vessel and barge during the lifting stage have been considered. The internal forces caused by the load transfer and ballasting are derived for the lifting phases. The results of these internal forces for the calm water condition are compared with those in the irregular sea condition. Although the effect of pitch motion on the relative vertical motion between the deck of the floating structure and the topside module is significant in the lifting phases, the internal force induced pitch motion is too small to show its influence. However, the effect of the internal force on the wave-induced heave responses in the lifting phases is noticeable in the irregular sea condition because the transfer mass-induced draught changes in the floating structure are observed to have higher amplitudes than the external force induced responses.

• 로봇학회논문지
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• 제15권2호
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• pp.139-146
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• 2020

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway's body to improve the cornering characteristics during turning. To ensure Segway's driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

• Earthquakes and Structures
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• 제11권3호
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• pp.445-459
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• 2016

Quantitative estimation of seismic response of various structural systems at the collapse limit state is one of the most significant objectives in Performance-Based Earthquake Engineering (PBEE). Assessing the effects of uncertainties, due to variability in ground motion characteristics and random nature of earthquakes, on nonlinear structural response is a pivotal issue regarding collapse safety prediction. Incremental Dynamic Analysis (IDA) and fragility curves are utilized to estimate demand parameters and seismic performance levels of structures. Since producing these curves based on a large number of nonlinear dynamic analyses would be time-consuming, selection of appropriate earthquake ground motion records resulting in reliable responses with sufficient accuracy seems to be quite essential. The aim of this research study is to propose a methodology to assess the seismic behavior of reinforced concrete frames at collapse limit state via accurate estimation of seismic fragility curves for different Engineering Demand Parameters (EDPs) by using a limited number of ground motion records. Research results demonstrate that accurate estimating of structural collapse capacity is feasible through applying the proposed method offering an appropriate suite of limited ground motion records.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 춘계학술대회
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• pp.365-368
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• 2011

영상은 현대인의 욕구에 부응 가능한 가장 적합한 매체로 떠오르고 있으며 영상의 방향 중 모션 그래픽은 관객의 시각과 청각을 동시에 자극하는 뉴미디어이며 사운드와 비주얼로 메시지를 전달할 수 있는 감성커뮤니케이션의 주요한 수단으로 주목받고 있다. 본 연구는 무대 배경에 쓰인 모션그래픽이 관객에게 어떤 느낌을 주며 그 효과와 효율은 어떠한지에 대해 알아보고 무대 배경에 모션그래픽을 적용하는 것이 일반화 되어있지 않아 그 조사범위가 한정되어 있었지만 최근 2~3년간 모션그래픽 사용빈도가 증가하고 있음을 알 수 있게 되어 앞으로 더욱 많은 분야에서 모션그래픽이 활용될 수 있을 것이란 사실에 의의를 두고 있다.

• 대한조선학회논문집
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• 제53권1호
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• pp.10-17
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• 2016

When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 한국운동역학회지
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• 제20권2호
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• pp.197-204
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• 2010

Scapular position and motion are essential for normal upper limb mobility; Further, the posture of patients with thoracic kyphosis is related to shoulder girdle function and disorder. The purpose of this study was to examine the effects of thoracic posture on the shoulder range of motion and on three-dimensional scapular kinematics. Thirty healthy subjects performed right-arm abduction along the frontal plane while standing in both erect and in slouched trunk posture. The scapular position and rotation, and shoulder and thoracic angles were recorded using a motion analysis system. The scapular upward rotation and internal rotation were significantly altered according to postural tatiges; however, scapular tilt was not affected. Shoulder angle was significantly decreased in the slouched posture as c rpared to tatt in the erect posture. Thus, a slouched posture(thoracic kyphosis) significantly affects the shoulder range of motion and scapular kinematics during shoulder abduction in the frontal plane.

• Journal of Advanced Marine Engineering and Technology
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• 제32권4호
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• pp.498-505
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• 2008

Many researches have been studied on in-cylinder flow as one of dominant effects for an engine combustion. The combustion phenomena of reciprocating engine is one of the most important processes affecting performance and emissions. One effective way to improve the engine combustion is to control the motion of the charge inside a cylinder by means of optimum induction system design. It is believed that the tumble and swirl motion generated during intake breaks down into small-scale turbulence in the compression stroke of the cycle. However, the exact nature of their relationship is not well known. To know this relationship definitely, this paper describes analytical results of the tumble motion, swirl motion, turbulence intensity, turbulence inside the cylinder of marine engine. 3-D computation has been performed by using STAR-CD solver and es-ice.

• Physical Therapy Rehabilitation Science
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• 제10권2호
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• pp.225-234
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• 2021

Objective: We aimed to identify the effects of proprioceptive neuromuscular facilitation (PNF) stretching on pain, hip range of motion, and functional disability in patients with chronic low back pain. Design: Randomized controlled trial Methods: In total, 45 patients with chronic low back pain were randomly divided into a conventional stretching group (n=22) and a PNF stretching group (n=23). Both interventions were performed three times per week for 6 weeks. Assessments were made using the visual analog scale, Flexion-Abduction-External Rotation test, modified Thomas test, prone hip extension test, and Oswestry disability index before and after the 6-week intervention period. We conducted a paired t-test to compare the within-group findings before and after the intervention. An independent t-test was used to compare the between-group differences. The statistical significance level was set at α=0.05, for all variables. Results: Both groups showed significant improvements in pain, hip range of motion, and functional disability after the intervention (p<0.05). A significant difference was observed in pain, hip range of motion, and functional disability in patients belonging to the PNF stretching group (p<0.05). Conclusions: This study provides evidence that the application of PNF stretching can effectively reduce pain and improve hip range of motion and functional disability in patients with chronic low back pain.