• 대한기계학회논문집A
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• 제30권11호
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• pp.1486-1493
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• 2006

This paper presents a dynamic model of a high mobility tracked vehicle composed of rigid bodies. Track is modeled as an extensible cable and the track tension between the sprocket and roller is calculated by the catenary equation. The ground force acting on a road wheel is calculated by the Bekker's pressure-sinkage relationship using the segmented wheel model. System equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method.

• 대한기계학회논문집
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• 제8권6호
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• pp.584-590
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• 1984

본 연구에서는 Luh, Walker와 Paul이 제안한 Newton Euler 방법에 따라 토오 크를 계산하였고, 임으로 로봇을 선택하여 시뮬레이션 크로그램을 적용하였다.

• 대한기계학회논문집A
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• 제33권1호
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• pp.89-97
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• 2009

In this paper, a computer software for dynamic analysis of a high mobility tracked vehicle with pre/post processor is developed. Model of a tracked vehicle is composed of chassis, turret, mount, gun, and road-wheel assembly. Track is modeled as an extensible cable and the track tensions are applied on the wheels as external forces. The system equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method. The pre and post processors are developed using the Visual C++.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.566-569
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• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.

• 한국정밀공학회지
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• 제17권9호
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.696-698
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• 1997

The marine diesel engine have been widely applied with a mechanical hydraulic governor to control the ship speed for long time. But it was recently very difficult for the mechanical hydraulic governor to control the speed of engine under the condition of low speed and low load because of jiggling by rough fluctuation of rotating torque and hunting by dead time of diesel engine. In order to analyze the speed control system the transfer function was converted from z to w transformation. The author proposed velocity control system with feedback loop by PID controller in order to stabilize for unstable area. The influence of dead time was discussed by Nichols chart and unit step response curve. It was confirmed through computer simulation that the performance improvement of a mechanical hydraulic governor can be obtained by PID controller.

• 한국통신학회논문지
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• 제19권5호
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• pp.796-804
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• 1994

본 논문은 Inverse SAR를 이용하여 속도를 모르는 움직이는 물체의 영상 이미지를 얻는 이미징 알고리즘을 제시하였고 실제 데이터를 알고리즘에 적용되었다. 실제 데이터는 stepped-frequency 변조된 레이더 신호를 송신하였고 수신된 데이터는 sampling rate이 충분하지 않으나 reference 신호를 mixing 시켜 unaliased 되게 만든 후 interpolation 에 의해서 해결하였다. 알고리즘을 적용시키는데 요구되는 물체의 속도는 subaperture processing 방법에 의해서 얻어졌으며 얻어진 속도에 의해서 squint-mode SAR geometry 로 변환한 후 최근에 제시된 approximation 이 없는 이미징 알고리즘을 사용하여 최종적으로 이미지를 얻게 되었다. 또한 ISAR가 데이터를 송수신 하는 동안 물체의 속도가 변하는 경우 이것을 보상하는 방법을 제시하였다.

• Ecology and Resilient Infrastructure
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• 제8권2호
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• pp.88-96
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• 2021

표면영상유속계를 이용한 유속 측정 시 하천의 넓은 영역을 경사지게 촬영하기 때문에 필연적으로 영상 왜곡이 발생하게 된다. 이와 같이 경사영상을 정사영상으로 변환하는 방법으로 수표면과 동일한 평면상의 참조점 좌표를 이용하는 2차원 투영 좌표 변환법을 사용할 경우 홍수 시 수위가 변할 경우 대응이 어렵다는 한계가 있다. 이에 본 연구에서는 수위가 변하더라도 참조점을 재설정할 필요가 없는 경사영상 왜곡 보정 방법을 개발하였다. 본 연구에서 개발한 기법은 높은 위치에 설정한 참조점의 좌표와 카메라의 좌표, 그리고 카메라의 수표면 사이의 연직거리 간의 기하학적인 관계를 이용해 수위 변화에도 대응할 수 있는 경사영상 보정 기법이다. 본 연구에서 개발한 영상 왜곡 보정 방법의 검증을 위해 실규모 하천 실험을 수행하였으며, 참조점 변환식에 대한 검증과 표면유속 측정 결과에 대한 검증을 수행하였다. 검증 결과 개발 기술의 경사영상 보정 정확도는 97% 이상을 나타냈고, 유속 검증 결과 개발 기술을 적용하여 산정한 유속을 비교한 결과 약 4% 이내의 차이를 보이는 것으로 나타나 높은 정확도 확보가 가능한 것으로 나타났다. 따라서 개발 기술을 영상 기반의 고정형 자동유량계측 시스템에 적용한다면 수위가 급변하는 홍수 시 유량측정의 정확도를 개선할 수 있을 것으로 기대한다.

• 대한기계학회논문집B
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• 제32권11호
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• pp.863-869
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• 2008

This paper investigated the new calibration algorithm of a straight-type five-hole pressure probe for measuring three-dimensional flow velocity components. This new calibration algorithm was used for velocity data reduction from the calibration map and based on the combination of a look-up, a binary search algorithm and a geometry transformation including the translation and reflection of nodes in a calibration map. The calibration map was expanded up to the application angle, ${\pm}55^{\circ}$ of a probe. This velocity data reduction method showed a perfect performance without any kind of interpolating errors in calculating yaw and pitch angles from the calibration map. Moreover, when it was applied to an actual flow field including a swirling flow, a good result came out on the whole.