• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.1
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• pp.1-7
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• 2012

In this paper Vehicle driving simulator have been used in the development and modification of models. A real-time simulation system and washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. An interesting question, "how the 6 DOF Driving Simulator can be controlled optimally for the various tasks?" is not easy to be answered. This paper presents the hardware and software developed for a driving simulator of construction vehicle. A simulator can reduce cost and time a variety of driving simulations in the laboratory. Using its 6 DOF Simulator can move in various modes, and perform dexterous tasks. Driving simulators have begun to proliferate in the automotive industry and the associated research community. This effort involves the real-time dynamic of wheel-type excavator the design and manufacturing of the Stewart platform an integrated control system of the platform and three-dimensional graphic modeling of the driving environments.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.04a
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• pp.317-324
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• 1998

A nonlinear anile element formulation of flat shell elements with drilling d.o.f, is presented for the geometrical nonlinear analysis of thin-walled structures. The shell element to be applied in finite element analysis was developed by combining a membrane element named as CLM with drilling rotation d.o.f, and plate bending element. The combined shell element possesses six degrees of freedom per node. The element showed the excellent performance in the linear analysis of the folded plate structures, in which the normal rotational rigidity of folded plates is considered, therefore, using this element geometrical nonlinear analysis of those structures is fulfilled in this study. An incremental total Larangian approach is adopted through out in which displacements are referred to the original configuration. Comparing the results with those of other researches shows the performance of this element and a folded plate structure is analyzed as an example.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.1
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• pp.112-120
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• 2003

In this paper, dynamic track tension fur high mobility tracked vehicle is investigated by multibody dynamic simulation techniques. This research focuses on a heavy military tracked vehicle which has sophisticated suspension and rubber bushed rack systems. In order to obtain accurate dynamic track tension of track subsystems, each track link is modeled as a body which has six degrees of freedom. A compliant bushing element is used to connect track links. Various virtual proving ground models are developed to observe dynamic changes of the track tension. Numerical studies of the dynamic track tension are validated against the experimental measurements. The effects of pre-tensions, traction forces, fuming resistances, sprocket torques, ground profiles, and vehicle speeds, for dynamic responses of track tensions are explored, respectively.

• Structural Engineering and Mechanics
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• v.13 no.4
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• pp.387-410
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• 2002

Formulation of an 8 nodes assumed strain shell element is presented for the analysis of shells. The stiffness matrix based on the Mindlin-Reissner theory is analytically integrated through the thickness. The element is free of membrane and shear locking behavior by using the assumed strain method such that the element performs very well in modeling of thin shell structures. The material is assumed to be isotropic and laminated composite. The element has six degrees of freedom per node and can model the stiffened plates and shells. A great number of numerical testing carried out for the validation of present 8 node shell element are in good agreement with references.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.168-175
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• 2006

This paper presents surface matching algorithms that can be used to reconstruct the surface topography of an object scanned by an AFM. The essence of the algorithms is to match up neighboring images intentionally overlapped with others. Two performance indexes using the correlation coefficient and the sum of the squared differences are introduced. To compensate for the inaccuracy of the coarse stage implemented to AFM, all the six axes including the rotational degrees of freedom are successively matched so as to maximize the coefficients defined. The results show that the proposed algorithms are useful for measurement range extension of AFM. The results also show that a combined use of the two indexes is beneficial for practical cases.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.109-114
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• 2000

A new method for the determination of camera system rotation and translation from in 3-D space using recursive least square method is presented in this paper. With this method, the calculation of the equation is found by a linear algorithm. Where the equation are either given or be obtained by solving five or more point correspondences. Good results can be obtained in the presence if more than the eight point. A main advantage of this new method is that it decouple rotation and translation, and then reduces computation. With respect to error in the solution point number in the input image data, adding one more feature correspondence to required minimum number improves the solution accuracy drastically. However, further increase in the number of feature correspondence improve the solution accuracy only slowly. The algorithm proposed by this paper is used to make camera system rotation and translation easy to recognize even when camera system attached at end effecter of six degrees of freedom industrial robot manipulator are applied industrial field.

• Proceedings of the ESK Conference
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• 1994.04a
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• pp.136-144
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• 1994

In this study, the human gait trajectories during normal walking were synthesized using the inverse kinematics and optimization techniques. The synthesis based on a lower extremity model consisting of a torso and two legs. Each leg has three segments: thigh, shank, foot, and is assumed to move with six degrees-of-freedom. In order to synthesize trajectiories of this redundant system, the sum of angular displacements of articulating joints was selected as an objective function to be minimized. The proposed algorithm in this study is very useful for the analysis of human gait. For the gait analysis, the trajectories of four points in each leg should be measured. However, by using the algorithm, measuring the trajectories of two points is sufficient, and thus the experimental set-up can be simplified. The predicted joint trajectories showed a good agreement with those obtained from the experiment. The statistical analysis and graphic simula- tions are also presented.

• Structural Engineering and Mechanics
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• v.8 no.3
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• pp.257-272
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• 1999

In this paper a simple finite element is proposed for analyzing out of plane vibration of thin walled curved beams, with both open and closed sections, considering shear flexibility. The present element is obtained from a variational formulation governing the dynamics of a three-dimensional elastic body in which the stress tensor as well as the displacements are variationally independent. The element has two nodes with four degrees of freedom in each. Numerical examples for the first six frequencies are performed in order to assess the accuracy of the finite element formulation and to show the influence of the shear flexibility on the dynamics of the member.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.4
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• pp.409-421
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• 2023

In order to develop navigation systems, simulators that provide navigation sensors data are required. A trajectory generator that simulates vehicle motion is needed to generate navigation sensors data in the simulator. In this paper, a trajectory generator for evaluating navigation system performance is proposed. The proposed trajectory generator consists of two parts. The first part obtains parameters from the motion scenario file whereas the second part generates position, velocity, and attitude from the parameters. In the proposed trajectory generator six degrees of freedom, halt, climb, turn, accel turn, spiral, combined, and waypoint motions are given as basic motions with parameters. These motions can be combined to generate complex trajectories of the vehicle. Maximum acceleration and jerk for linear motion and maximum angular acceleration and velocity for rotational motion are considered to generate trajectories. In order to show the usefulness of the proposed trajectory generator, trajectories were generated from motion scenario files and the results were observed. The results show that the proposed trajectory generator can accurately simulate complex vehicle motions that can be used to evaluate navigation system performance.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.