• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1094-1102
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• 2008

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.

• 대한조선학회논문집
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• 제39권4호
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• pp.11-16
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• 2002

고점성 유체내에서의 추진력을 얻기 위하여 Peristatic 운동에 의한 추진을 실험적, 수치적 방법으로 연구하였다. 운동을 수치적으로 해석하기 위하여 비 정규격자를 사용한 셀 중심 법을 이용하여 해석하였다. 실험을 위하여 작은 수조를 만들었으며 모형을 끌 수 있는 전차와 고점성 액체인 그리세린을 사용하여 Peristaltic 운동을 구현하였다. 여러 조건 하에서 실험을 수행하였으며, 여러 실험 결과 중에서 가장 비교가 용이한 정지 상태에서 실험한 결과에 대하여 개발된 프로그램을 이용한 해석 결과와 비교하였다. 해석 결과는 실험 결과와 좋은 일치를 보였다. Peristaltic 운동은 압력 차를 이용하여 추진력이 얻어짐을 계산을 통하여 보였으며 더 많은 계산을 통하여 최적 운동조건이나 Peristatic 운동이 효과적인 영역(레이놀즈 수) 등을 찾아낼 수 있으리라 생각된다.

• 전기학회논문지
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• 제59권12호
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• pp.2278-2283
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• 2010

This paper deals with the pendubot control using disturbance observer. Experimental results for the motion of pendubot with balancing control show that the limit cycle can be attributed to the disturbance. Therefore, we propose the disturbance compensation method using by disturbance observer to compensate for the disturbance. Through the experimental results, the effectiveness of the proposed method is verified.

• Structural Engineering and Mechanics
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• 제45권4호
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• pp.569-594
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• 2013

The free vibration of axially functionally graded tapered arches including shear deformation and rotatory inertia are studied through solving the governing differential equation of motion. Numerical results are presented for circular, parabolic, catenary, elliptic and sinusoidal arches with hinged-hinged, hinged-clamped and clamped-clamped end restraints. In this study Differential Quadrature element of lowest order (DQEL) or Lagrangian Interpolation technique is applied to solve the problems. Three general taper types for rectangular section are considered. The lowest four natural frequencies are calculated and compared with the published results.

• 한국멀티미디어학회논문지
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• 제6권3호
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• pp.444-454
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• 2003

심장 운동의 분석은 인체에 혈액을 공급하는 역할에 대한 평가이다. 심근의 움직임을 평가하기 위해서 본 논문에서는 좌심실 심근 모델을 수학적으로 구축하였으며, 심장의 움직임에 대한 파라미터를 이용하여 운동성을 상세화 하였다. 구축한 모델을 심장의 생화학적 반응을 보이는 게이트 심근 SPECT 영상에 적용시켜서, 모델과 게이트 심근 SPECT 영상 사이의 운동성을 분석하였다. 심근 모델은 sinusoidal 함수를 이용한 3차원 super-ellipsoidal 모델을 기반으로 생성하였으며 움직임과 형태의 변화를 주기 위한 파라미터 함수를 이용하여 좌심실 심근의 형태와 움직임에 대한 유사성을 모델화 하였다. 이 모델과 심근 게이트 SPECT 영상 데이터와 LSF 알고리즘을 이용하여 fitting 시킨 후 생성된 모델을 토대로 하여 심근 게이트 SPECT 영상의 영역별 운동성 방향과 크기를 산출하여 분석하였으며, 지역적 운동성의 표현을 위해 심장기능 평가에 사용되는 Bull's Eye형식의 map을 만들었다. SPECT를 이용한 심장의 기능평가로 움직임과 수축능, 혈류 등을 이용해서 하고 있으나 운동량에 대한 평가는 없다. 본 논문에서 제안한 모델을 이용한 심근 SPECT의 운동성 분석은 심장 기능 평가에 유용한 지표가 될 것으로 기대한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2072-2077
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• 2003

Animal-like robots are serving an important role as a linkage between biology and engineering. So, in this paper, we aim to develop a biomimetic microrobot that mimics the locomotion mechanism of a gastropod. This microrobot has 3 DOF (x, y translation and rotation), and has small size, unlimited traveling range, high resolution and low cost. Its movement can be made using propagation wave that is generated by the controllable sinusoidal voltage source and piezoelectric effects. This soft motion that can be generated by propagation wave and piezoelectric mechanism would be useful for the motion on the slippery surface. So we modeled the propagation wave mechanism including piezoelectric effect and friction on the contact surface, and could know the velocity of the microrobot is dependent on the driving frequency, input voltage peak, propagation wavelength and surface friction coefficient. With these results we design the microrobot, and accomplish its fabrication and experimentation. The development of this microrobot shall be aimed to design an autonomous moving actuator like animal. Also it can be used from micromanipulation system technology to biology and medicine.

• 대한기계학회논문집B
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• 제27권8호
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• pp.1142-1149
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• 2003

The present study describes a numerical analysis for simulation of the sloshing of flows with free-surface which contained in a rectangular tank moving in harmonic or pitching motion. The VOF function, representing the volume fraction of a cell occupied by the fluid, is calculated for each cells, which gives the location of the free-surface filling any some fraction of cells with fluid. The time-dependent changes of free-surface height are used for visualization subject to several conditions such as fluid height, horizontal acceleration, sinusoidal motion, and viscosity. The free-surface heights were used for comparing wall-force, which is caused by sloshing of flows. Damping effects by baffles were extensively investigated for various conditions in terms of baffle shape and position.

• 한국정밀공학회지
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• 제22권12호
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• pp.190-197
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• 2005

For precise micro-grooving and surface machining, a mechanism for creating elliptical vibration cutting (EVC) motion is proposed which uses two parallel piezoelectric actuators. And based on its kinematical analysis, variations of EVC path are investigated as a function of dimensional changes in the mechanism, phase difference and amplitude of excitation sinusoidal voltages. Using the proposed PZT mechanism, various types of two dimensional EVC paths including one dimensional vibration cutting path along the cutting direction and thrust direction can be easily obtained by changing the phase lag, the amplitude of the piezoelectric actuators, and the dimension of the mechanism.

• The Korean Journal of Physiology
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• 제24권1호
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• pp.103-113
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• 1990

The role of cervical proprioceptors in the control of body posture was studied in bilaterally labyrinth-ectomized, decerebrate cats. The animals were suspended on hip pins with the neck extended horizontally. With this placement the EMG activities of extensor and flexor muscles of the upper extremities were observed by means of sinusoidal head rotator. The rotator can induce two kinds of neck movement: The one is 'pitch' which describes a rotatory neck motion to transverse axis of the body and mainly occurs at skull-C1 (atlantooccipital) joint and the other is 'roll', side-to-side relation of the neck to longitudinal axis, whose center is C1-C2 (atlanto-axial) joint. The following results were obtained. 1) Responses of EMG activity were closely dependent on the rotatory range of the neck. And the EMG activity was not changed during sustained neck torsion, eliciting a typical tonic neck reflex. 2) On pitching movement, the head-up rotation produced the excitation of bilateral triceps muscles, whereas the head-down rotation produced the inhibition. And the response of bilateral biceps muscles was the opposite to that of triceps. 3) On rolling movement, the side-up rotation of the head produced the excitation of ipsilateral triceps muscles and the inhibition of contralateral ones. And the response of biceps muscles was the opposite to that of triceps. 4) The minimum requirement of motion to evoke EMG activities in the upper extremities was $3.2^{\circ}{\sim}12.5^{\circ}$. These results have shown that the cervical proprioceptors produce tonic discharge on the upper brachial muscles, regulate the EMG activities of those muscles, and are very sensitive to neck rotation. And it can be stated that the cervical proprioceptors may play an important role in the control of body posture and movement.

• 한국항공우주학회지
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• 제40권5호
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• pp.395-404
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• 2012

본 논문에서는 전산유체역학을 이용하여 3차원 비행체 형상에 대한 동안정 미계수를 예측하였다. 피치에 대한 미계수는 피치방향의 조화진동운동을 통하여 계산하였고 롤 감쇠계수는 비관성 좌표계에 대한 정상해석을 통하여 계산하였다. 계산은 Basic Finner와 SDM 형상에 대해 수행했으며 다른 연구자의 실험적/수치적 결과와 비교하였다. 유동 계산을 위해 비관성 좌표계와 관성 좌표계에서 모두 사용할 수 있는 3차원 Euler 해석자를 개발하였다. 시간 정확성을 유지한 비정상 해석을 위해 이중시간적분법을 적용하였다. 동안정 미계수계산 결과는 다른 수치 및 실험적 연구 결과들과 잘 일치하는 것을 알 수 있었다.