• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.5
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• pp.437-446
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• 2017

An integrated flight simulation program for multicopter drones is presented. The program includes rigid body dynamics, propeller thrust, battery energy, control, and air. Using this program, users can monitor and analyze the states of drones along flight trajectories. As a programming language, Modelica has been chosen, that specializes in simulation program development. Modelica enables users to develop simulation programs efficiently due to acausal and object oriented properties. For missions including horizontal and vertical maneuvers, many dynamical states of drones have been analyzed with simulation results.

• Journal of Electrical Engineering and information Science
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• v.1 no.2
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• pp.77-86
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• 1996

In this paper we deal with the problem of recovering 3-D motion and structure from a time-varying 2-D velocity vector field. A great deal has been done on this topic, most of which has concentrated on finding necessary and sufficient conditions for there to be a unique 3-D solution corresponding to a given 2-D motion. While previous work provides useful theoretical insight, in most situations the known algorithms have turned out to be too sensitive to be of much practical use. It appears that any robust algorithm must improve the 3-D solutions over time. As a step toward such algorithm, we present a method for recovering 3-D motion and structure from a given time-varying 2-D velocity vector field. The surface of the object in the scene is assumed to be locally planar. It is also assumed that 3-D velocity vectors are piecewise constant over three consecutive frames (or two snapshots of flow field). Our formulation relates 3-D motion and object geometry with the optical flow vector as well as its spatial and temporal derivatives. The linearization parameters, or equivalently, the first-order flow approximation (in space and time) is sufficient to recover rigid body motion and local surface structure from the local instantaneous flow field. We also demonstrate, through a sensitivity analysis carried out for synthetic and natural motions in space, that 3-D motion can be recovered reliably.

• Journal of Biomedical Engineering Research
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• v.29 no.6
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• pp.436-442
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• 2008

Magnetic resonance electrical impedance tomography(MREIT) has been suggested to produce cross-sectional conductivity images of an electrically conducting object such as the human body. In most previous studies, recessed electrodes have been used to inject imaging currents into the object. An MRI scanner was used to capture induced magnetic flux density data inside the object and a conductivity image reconstruction algorithm was applied to the data. This paper reports the performance of a thin and flexible carbon-hydrogel electrode that replaces the bulky and rigid recessed electrode in previous studies. The new carbon-hydrogel electrode produces a negligible amount of artifacts in MR and conductivity images and significantly simplifies the experimental procedure. We can fabricate the electrode in different shapes and sizes. Adding a layer of conductive adhesive, we can easily attach the electrode on an irregular surface with an excellent contact. Using a pair of carbon-hydrogel electrodes with a large contact area, we may inject an imaging current with increased amplitude primarily due to a reduced average current density underneath the electrodes. Before we apply the new electrode to a human subject, we evaluated its performance by conducting MREIT imaging experiments of five swine legs. Reconstructed conductivity images of the swine legs show a good contrast among different muscles and bones. We suggest a future study of human experiments using the carbon-hydrogel electrode following the guideline proposed in this paper.

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.247-256
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• 2005

One of the classic research problems in computer vision is that of stereo, i.e., the reconstruction of three dimensional shape from two or more images. This paper deals with the problem of extracting depth information of non-rigid dynamic 3D scenes from general 2D video sequences taken by monocular camera, such as movies, documentaries, and dramas. Depth of the blocks are extracted from the resultant block motions throughout following two steps: (i) calculation of global parameters concerned with camera translations and focal length using the locations of blocks and their motions, (ii) calculation of each block depth relative to average image depth using the global parameters and the location of the block and its motion, Both singular and non-singular cases are experimented with various video sequences. The resultant relative depths and ego-motion object shapes are virtually identical to human vision.

• 한국기계연구소 소보
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• s.14
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• pp.17-31
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• 1985

The Primary object of this study is to predict rigid carbody's vertical and pitch acceleration and/or displacement frequency response to vertical sinusoidal rail surface irregularities for any specified point of the carbody, and to verify the predictions by means of experiments. The developed computer program also calculates vertical and pith transmissibilities and acceleration spectra. This model can be used for first order analysis of ride behabior. it's main advantage is its simplicity and ease of use. This model can be used for first order analysis of ride quality behabior. It's main advantage is its simplicity and ease of use. The model was designed with 6 degreed of freedom. Equations of motion were derived by Lagrangian method. This calculation was applied to the vertical dynamic analysis in order to pursue a possible improvement of the dynamic performance of co-co locomotive, and results were very useful.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.125-130
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• 2015

Using flexible multibody system dynamic method, the rigid-flexible coupling multibody dynamic analysis model of the drum brake system was developed, and the kinematic and dynamic simulation of the system was processed as its object of study. Simulations show that the friction will increase with the dynamic friction coefficient, but high dynamic friction coefficient will cause the abnormal vibration and worsen the stability of the brake system, even the stability of the whole automobile. The modeling of flexible multi-body can effectively analyze and solve complex three-dimensional dynamic subjects of brake system and evaluate brake capability. Further research and study on this basis will result in a convenient and effective solution that can be much helpful to study, design and development of the brake system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• Journal of KSNVE
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• v.6 no.3
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• pp.305-315
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• 1996

Present paper aims at the correlation of modal characteristics of folding fin between test and analysis using an optimization theory. Folding fin is composed of a movable fin, a base fin, and many functional components related to the folding mechanism. Joint parts of folding fin in FEM are initially modeled as rigid elements resulting some difference between test and analysis in modal characteristics. Therefore, some equivalent springs representing joint parts are introduced to improve the FEM model. The springs were set as design variables, while the frequency difference between test and analysis was set as the object function. Bayesian procedure was ujsed for the minimization.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1203-1210
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• 2007

Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.