• Information and Communications Magazine
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• v.32 no.2
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• pp.24-33
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• 2015

본고에서는 스포츠(Sports)와 엔터테인먼트(Entertainment)를 융합하여 스포츠를 통해 "재미와 감동"을 서비스하기 위한 융합산업을 제시한다. 기존의 스포츠 경기가 가지고 있는 고전적 요소에 엔터테인먼트의 재미 및 흥행코드를 가미해 운동효과와 사실적 체험을 통한 재미의 극대화로 소비 라이프를 증진시키는 스키 시뮬레이터 동향을 살펴본다. 또한, 겨울철에 대중적인 참여가 많은 스키의 기본적인 자세를 알아보고 움직임을 분석하여 스키 스포테인먼트 실감체험플랫폼 6DOF(Six Degrees of Freedom) 적용시킨 기구 설계와 함께 사용자가 실제 스키를 타고 가는 느낌을 주기 위한 6DOF의 기구 움직임을 시뮬레이션하기 위한 가상 스키 시뮬레이션 동작 및 데이터 형식 정의에 대해 언급한다. 마지막으로 실감 재현을 위한 환경 데이터 획득 등 스키 스포테인먼트 실감체험플랫폼 개발 현황을 살펴본다.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.245-256
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• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.5
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• pp.505-511
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• 2023

In the present study, a deep learning model was established to predict the motion response of small fishing vessels. Hydrodynamic performances were evaluated for two small fishing vessels for the dataset of deep learning model. The deep learning model of the Long Short-Term Memory (LSTM) which is one of the recurrent neural network was utilized. The input data of LSTM model consisted of time series of six(6) degrees of freedom motions and wave height and the output label was selected as the time series data of six(6) degrees of freedom motions. The hyperparameter and input window length studies were performed to optimize LSTM model. The time series motion response according to different wave direction was predicted by establised LSTM. The predicted time series motion response showed good overall agreement with the analysis results. As the length of the time series increased, differences between the predicted values and analysis results were increased, which is due to the reduced influence of long-term data in the training process. The overall error of the predicted data indicated that more than 85% of the data showed an error within 10%. The established LSTM model is expected to be utilized in monitoring and alarm systems for small fishing vessels.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Advances in aircraft and spacecraft science
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• v.5 no.1
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• pp.51-71
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• 2018

This work proposes a theoretical and numerical study on the behavior of a tapered shaft rotor made of composite materials by the classical version h and the version p of the finite element method. Hierarchical form functions are used to define the model. The purpose of this paper is to determine the expressions of the kinetic and potential energies of the tree necessary for the results of the equations of motion. A comparison between the version h and the p version of the finite element method of the functions of polynomial and trigonometric hierarchical forms with six degrees of freedom per node, of a composite tapered and cylindrical shaft which rotates at a constant speed about its axis. It is found that when the number of functions of form (the version p) is increased, the solution converges. It is also observed that the conicity of the shaft increases the rigidity with respect to a uniform shaft having the same mechanical properties. The numerical simulation allowed us to determine the natural frequencies and the critical speeds of the composite shaft systems are compared with those available in the literature and the effectiveness of the methods used are discussed.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.219-221
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• 2014

The objective of this paper is to simulate the dynamic behavior of a floating structure model, using image processing and close-range photogrammetry, instead of the contact sensors. Previously, the movement of structure was presented through the exterior orientation estimation of a single camera by space resection. The inverse resection yields the 6 orientation parameters of the floating structure, with respect to the camera coordinate system. The single camera solution is of interest in applications characterized by restriction in term of costs, unfavorable observation conditions, or synchronization demands when using multiple cameras. This article discusses the theoretical determinations of camera exterior orientation based on Direct Linear Transformation and photogrammetric resection using least squares adjustment. The proposed method was used to monitor the motion of a floating model. The results of six degrees of freedom (6-DOF) by inverse resection show that the appropriate initial values by DLT can be effectually applied in least squares adjustment, to obtain the precision of exterior orientation parameters. Additionally, a comparison between the close-range photogrammetry and total station results was feasibly verified. Therefore, the proposed method can be considered as an efficient solution to simulating the movement of floating structure.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.1
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• pp.114-125
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• 2017

This paper addresses a study of inner-tank sloshing effect on motion responses of a Floating Liquefied Natural Gas (FLNG) system, through experimental analysis and numerical modeling. To investigate hydrodynamic characteristics of FLNG under the conditions of with and without LNG-tank sloshing, a series of numerical simulations were carried out using potential flow solver SESAM. To validate the numerical simulations, model tests on the FLNG system was conducted in both liquid and solid ballast conditions with 75% tank filling level in height. Good correlations were observed between the measured and predicted results, proving the feasibility of the numerical modeling technique. On the verified numerical model, Response Amplitude Operators (RAOs) of the FLNG with 25% and 50% tank filling levels were calculated in six degrees of freedom. The influence of tank sloshing with varying tank filling levels on the RAOs has been presented and analyzed. The results showed that LNG-tank sloshing has a noticeable impact on the roll motion response of the FLNG and a moderate tank filling level is less helpful in reducing the roll motion response.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.764-775
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• 2002

A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

• Journal of Navigation and Port Research
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• v.44 no.5
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• pp.363-374
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• 2020

In the past, various research on the effects of waves generated by ships has been investigated. The most noticeable effect of the waves generated by a passing ship is the increase of the hydrodynamic forces and the unwanted large motion of the moored ship and high mooring forces that occur. Thus, it is crucial to investigate the effect of the waves generated by the passing ship near port on the motion of the moored ship and the tension of the mooring lines. A model test was performed with virtual ship-generated waves in a square tank at CWNU (Changwon National University). The IMU (Inertial Measurement Unit) and Optical-based system were used to measure the 6DOF (Six Degrees of Freedom) motion of the moored floater. Additionally the tension of mooring lines were measured by the tension gauges. The effects of the wave direction and wave height generated by the virtual ship-generated waves on the motion of the moored floater were analyzed.