• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.120-125
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• 2010

This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.132-138
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• 2004

In a vacuum circuit breaker mechanism, a spring-actuated linkage system is used to satisfy the desired opening and closing characteristics of electric contacts. If the type and structure of the linkage system required to the circuit breaker is predetermined, the stiffness, free length and attachment points of a spring become the important design parameters. In this paper, based on the energy conservation that the total system energy is constant throughout the operating range of the mechanism, a systematic procedure for optimizing the spring design parameters is developed and applied to the simplified mechanism of a circuit breaker. Then, in order to consider the complex dynamics of the circuit breaker mechanism rather well, the developed procedure is converted to the environment of a multi-body dynamics program ADAMS.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.2
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• pp.83.1-83.1
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• 2014

Kepler-47 is the first multi-body circumbinary planetary system detected by the Kepler space telescope. The two planets were detected by the transit method. In the discovery paper the authors report about the presence of an additional transit-like signal in their dataset which cannot be explained by a four-body (binary + 2 planets) system. Therefore it is likely that the unexplained signal could be due to a third planet. In this talk I will present recent results from a dynamical investigation of the five-body system (binary + 3 planets). We have applied the MEGNO technique to detect regions of quasi- or near quasi-periodic orbits of a hypothetical third planet. Quasi-periodic regions exists for a third planet and the long-term stability has been tested. Although the existence of a third planet is most likely to be confirmed from transit photometry we calculate transit-timing variation (TTV) signals due to the third planet which also can be used to infer its presence.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.1
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• pp.81.1-81.1
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• 2014

Kepler-47 is the first multi-body circumbinary planetary system detected by the Kepler space telescope. The two planets were detected by the transit method. In the discovery paper the authors report about the presence of an additional transit-like signal in their dataset which cannot be explained by a four-body (binary + 2 planets) system. Therefore it is likely that the unexplained signal could be due to a third planet. In this talk I will present recent results from a dynamical investigation of the five-body system (binary + 3 planets). We have applied the MEGNO technique to detect regions of quasi- or near quasi-periodic orbits of a hypothetical third planet. Quasi-periodic regions exists for a third planet and the long-term stability has been tested. Although the existence of a third planet is most likely to be confirmed from transit photometry we calculate transit-timing variation (TTV) signals due to the third planet which also can be used to infer its presence.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.270-276
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• 2005

This paper develops the flexible computational model of a heavy truck by interfacing the frame modeled as a flexible body to the heavy truck's computational model composed of rigid bodies. The frame is modeled by the finite element method. Three torsional modes and three bending modes of the frame are considered for the interface of the heavy truck's computational model. The actual vehicle test is conducted off road with a velocity of 20km/h. The vertical accelerations at the cab and front axle are measured in the test. For the verification of the developed computational model, the measured vertical acceleration profiles are compared with the simulation results of the heavy truck's flexible computational model. E grade irregular road profile of ISO is used as an excitation input in the simulation. The verified flexible computational model is used to compare the vibration characteristics of a front suspension system having a multi-leaf spring and that having a tapered leaf spring. The comparison results show that the front suspension having a tapered leaf spring has a higher vertical acceleration at the front axle but a lower vertical acceleration at the cab than the suspension system having a multi-leaf spring.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.141-146
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• 2012

This paper introduces development of multi-rotor system and vision based autonomous landing system. Multi-rotor platform is modeled by rigid body motion with Newton Euler concept. Also Multi-rotor platform is simulated and tuned by LQR control algorithm. Vision based Autonomous Landing system uses a single camera that is mounted Multi-rotor system. Augmented reality algorithm is used as marker detection algorithm and autonomous landing code is test with GCS for the precision landing.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.901-904
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• 2012

In this paper, we proposed the context-aware system which can estimate the information on the objects and transmit video information by utilizing multi-sensors. The proposed system is to reduce the excessive video information from a system capturing videos outdoor. This system uses the human-detect sensor attached on the multi-sensor board and four ultrasonic sensor to measure the object's size and movement speed, to recognize the human body's information, and finally to send videos. In order to assess the performance of the context-aware system based on the multi sensor, a comparison has been made between video system and human-detect sensor. As a result, The body human-detect sensor had more reliable images and transmitted information more effectively than when the images were sent by server without sensors attached.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.48-53
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• 2003

This paper deals with the control of a horizontally placed flexible rotor levitated by electromagnets in a multi-input/multi-output (MIMO) active magnetic bearing(AMB) system. AMB is a kind of novel high performance bearing which can suspend the rotor by magnetic force. Its contact-free manner between the rotor and stator results in it being able to operate under much higher speed than conventional rolling bearings with relatively low power losses, as well as being environmental-friendly technology for AMB system having no wear and no lubrication requirements. In this MIMO AMB system, the rotor is a complex mechanical system, it not only has rigid body characteristics such as translational and slope motion but also bends as a flexible body. Reduced order nominal model is computed by consideration of the first 3 mode shapes of rotor dynamics. Then, the $H_{\infty}$ control strategy is applied to get robust controller. Such robustness of the control system as the ability of disturbance rejection and modeling error is guaranteed by using $H_{\infty}$ control strategy. Simulation results show the validation of the designed control system and the modeling method to the rotor.

• Journal of Astronomy and Space Sciences
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• v.31 no.3
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• pp.187-197
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• 2014

We have investigated the dynamical stability of the proposed companions orbiting the Algol type short-period eclipsing binary SW Lyncis (Kim et al. 2010). The two candidate companions are of stellar to substellar nature, and were inferred from timing measurements of the system's primary and secondary eclipses. We applied well-tested numerical techniques to accurately integrate the orbits of the two companions and to test for chaotic dynamical behavior. We carried out the stability analysis within a systematic parameter survey varying both the geometries and orientation of the orbits of the companions, as well as their masses. In all our numerical integrations we found that the proposed SW Lyn multi-body system is highly unstable on time-scales on the order of 1000 years. Our results cast doubt on the interpretation that the timing variations are caused by two companions. This work demonstrates that a straightforward dynamical analysis can help to test whether a best-fit companion-based model is a physically viable explanation for measured eclipse timing variations. We conclude that dynamical considerations reveal that the proposed SW Lyncis multi-body system most likely does not exist or the companions have significantly different orbital properties from those conjectured in Kim et al. (2010).

• Fashion & Textile Research Journal
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• v.14 no.4
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• pp.597-606
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• 2012

To increase the productivity and product quality of customized baseball jerseys, this study developed a multi-variable system for a production process that efficiently controls diverse production management factors. The working time was measured through the establishment of a standard process where skilled workers and Chinese factory workers manufactured 5 sets of the same basic design jerseys. Based on the measured working time (1,136 seconds/per unit), the multi-variable process control system was developed, where hourly production management is possible according to the involved workers and equipment types. Each process was assigned accoding to the production management factors for a total of 28 standard processes. The processes were developed based on consideration of work characteristics according to the order of needlework of open-type set baseball jerseys with sleeves(the basic design of baseball jerseys)to result in a customized production system structure that could be set up with multi-variables. As a result, a total 12 types of systems were developed in consideration of the personnel involved and the number of equipments. The optimal production management system (with the highest efficiency compared to the number of workers)was A-2, B-1, C-1. D-2, E-2, F-1, and G-1. This system had extremely high efficiency and showed 99% assignment efficiency for the 7-person team. Though not optimal, possible process assignment for each working personnel is proposed as a reserve process in case work modification is inevitable due to malfunctions and the absence of equipments.