• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 Asia Navigation Conference
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• pp.226-234
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• 2004

In this study experiments are conducted with a mid-layer type structure. This structure can operate not only at water surface but also in water. Six degrees of freedom oscillations of the structure and mooring force were measured by model experiments. From these experiments, it was shown that the lattice model has two peaks in the surge response curve and the oscillation amplitude and mooring forces increase according to the distance of separation between water level and upper deck.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.286-291
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• 2002

We present the analysis and design of a new six degree-of-freedom parallel mechanism, Eclipse-II, which can be used as a basis for general motion simulators. This mechanism allows x, y and z-axis translations and a, b and c-axis rotations. Most significantly, it presents the advantage of enabling continuous 360 degrees spinning of the platform. We first describe the computational procedures for the forward and in inverse kinematics of the Eclipse-II. Next, the complete singularity analysis is presented for the two cases of end-effector and actuator singularities. Two additional actuators are added to the original mechanism to eliminate both types of singularities with in the workspace. Some practical aspects of the prototype development are introduced.

• 전기학회논문지
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• 제63권1호
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• pp.162-172
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• 2014

A three-dimensional dynamic model for simulating various motions of full vehicle is presented. The model has 16 independent degrees of freedom (DOF) consisting of three kinds of components; a vehicle body of 6 DOF, 4 independent suspensions equipped at every corner of the body, and 4 tire models linked with each suspension. The dynamic equations are represented in six coordinate frames such as world fixed coordinate, vehicle fixed coordinate, and four wheel fixed coordinate frames. Then these lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tire, aerodynamic resistance, etc. are considered. It is shown through simulations that the proposed 3D model can be useful for precise design and performance analysis of any full vehicle control systems.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.285-293
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• 2019

In the present paper, model tests of suppressing sloshing fitted with two perforated floating plates are carried out. The study involves identification of system performance such as the suppression and the solidity ratio. Three different solidity ratios of perforated plates have been tried out as potential positive slosh damping devices. A series of painstaking experiments have been conducted in a rigid rectangular tank on six degrees of freedom motion platform under roll harmonic excitation. Comparison of the clean tank shows that the three types of perforated plates are all effective on damping the run-up and impact pressure along the bulkhead. The parametric study indicates that the perforated plate with the median solidity ratio is the most optimal one in suppressing sloshing among three configurations.

• 한국안전학회지
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• 제19권4호
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• pp.101-108
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• 2004

In this study, open conical shells with ring and stringers are analyzed A versatile 4-node shell element which is useful for the analysis of conical shell structures is used and 3-D beam element is used for stiffeners. An improved flat shell element is established by the combined use of the addition of non-conforming displacement modes and the substitute shear strain fields. The proposed element has six degrees of freedom per node and permits an easy connection to other types(beam element) of finite elements. Optimum location and optimum section properties of ring and stinger are obtained. It is shown thai the thickness of conical shell can be reduced about $20\~50\%$ by appropriate location of stiffeners.

• Journal of Mechanical Science and Technology
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• 제20권7호
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• pp.917-928
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• 2006

In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control, where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of PUMA 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation PUMA 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.

• International Journal of Aerospace System Engineering
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• 제3권2호
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• pp.1-8
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• 2016

The improvements in high performance and agility of modern fighter aircraft have led to improvements in survivability as well. Related to these performance increases are rapid response and adequate deflection of the control surfaces. Most control surface failures result from the failure of the actuator. Therefore, the failure and behavior of the actuators are essential to both combat aircraft survivability and maneuverability. In this study, we investigate the effects of flaperon actuator failure on flight maneuvers of a supersonic aircraft. The flight maneuvers were analyzed using six degrees of freedom (6DOF) simulations. This research will contribute to improvements in the reconfiguration of control surfaces and control allocation in flight control algorithms. This paper compares the results of these 6DOF simulations with the horizontal tail actuator failures analyzed previously.

• 한국안전학회지
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• 제19권1호
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• pp.94-101
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• 2004

In this study, composite laminated conical shells with ring stiffeners are analyzed. A versatile 4-node shell element which is useful for the analysis of conical shell structures is used. An improved flat shell element is established by the combined use of the addition of non-conforming displacement modes and the substitute shear strain fields. The proposed element has six degrees of freedom per node and permits an easy connection to other types(beam element) of Optimum location and optimum section properties of ring stiffeners are obtained. It is shown that the thickness of conical shell is reduced about 20% by optimum ring stiffeners.

• Structural Engineering and Mechanics
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• 제66권5호
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• pp.665-676
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• 2018

In this study, a four-node quadrilateral partial mixed plate element with low degrees of freedom (dofs) is developed for static and free vibration analysis of functionally graded material (FGM) plates rested on Winkler-Pasternak elastic foundations. The formulation of the presented finite element model is based on a parametrized mixed variational principle which is developed recently by the first author. The presented finite element model considers the effects of shear deformations and normal flexibility of the FGM plates without using any shear correction factor. It also fulfills the boundary conditions of the transverse shear and normal stresses on the top and bottom surfaces of the plate. Beside these capabilities, the number of unknown field variables of the plate is only six. The presented partial mixed finite element model has been validated through comparison with the results of the three-dimensional (3D) theory of elasticity and the results obtained from the classical and high-order plate theories available in the open literature.

• 전기학회논문지P
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• 제56권4호
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• pp.161-167
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• 2007

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.