• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.312-319
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• 2005

For real time dynamic simulation, two different subsystem synthesis methods with independent generalized coordinates have been developed and compared. In each formulation, the subsystem equations of motion are generated in terms of independent generalized coordinates. The first formulation is based on the relative Cartesian coordinates with respect to moving subsystem base body. The second formulation is based on the relative joint coordinates using recursive formulation. Computational efficiency of the formulations has been compared theoretically by the arithmetic operational counts. In order to verify real-time capability of the formulations, bump run simulations of a quarter car model with SLA suspension subsystem have been carried out to measure the actual CPU time.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1724-1729
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• 2003

Two different subsystem synthesis methods with independent generalized coordinates have been developed and compared. In each formulation, the subsystem equations of motion are generated in terms of independent generalized coordinates. The first formulation is based on the relative Cartesian coordinates with respect to moving subsystem base (virtual) body. The second formulation is based on the relative joint coordinates using recursive formulation. Computational efficiency of the formulations has been compared theoretically by the operational counting method.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.4
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.62-65
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• 2006

In this paper, nonlinear nonplanar vibration of a flexible rectangular cantilever beam is analyzed when one-to-one resonance occurs to the beam. The planar and nonplanar motions of the beam are analyzed in time and frequency domains. In frequency domain, FFT analyzer is used to perform autospectrum and cepstrum analyses for nonlinear response of the beam. In time domain, an oscilloscope is used to investigate the phase difference between the planar and nonplanar motions and to perform Torus analysis in the phase space. Through those analyzing process, the main frequencies of superharmonic, subharmonic, and super-subharmonic motions are investigated in the nonplanar motion due to one-to-one resonance. Analyzing the phase difference between the planar and nonplanar motions, it is observed that the phase difference varies in time.

• Journal of KSNVE
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• v.3 no.4
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• pp.373-382
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• 1993

Active micro-vibration control of a structure, which simulates a stepper device, is performed using a pair of piezolectric actuators. The control aims at reducing the translational and rotational vibrations of the upper plate when the base is subject to seismic disturbance and the upper plate undergoes impulsive transient motion. Using the experimentally determined model, derivative control scheme is adopted so that the damping of the closed-loop system is effectively increased. It is found that the predicted control performance is in good agreement with the experimental results. Finally, the limit cycle phenomenon due to the controller voltage saturation is compared with the simulation.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.137-145
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• 2008

We present the initial results of on-going research for building a novel Mobile Haptic Interface (MHI) that can provide an unlimited haptic workspace in large immersive virtual environments. When a user explores a large virtual environment, the MHI can sense the position and orientation of the user, place itself to an appropriate configuration, and deliver force feedback, thereby enabling a virtually limitless workspace. Our MHI (PoMHI v0.5) features with omnidirectional mobility, a collision-free motion planning algorithm, and force feedback for general environment models. We also provide experimental results that show the fidelity of our mobile haptic interface.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.197-199
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• 2010

A gravity survey is a base of research earth gravity field determined, perception of the vertical motion, change of Geoid, sea-level changes, climate change etc. Recently, FG-5 was adopted in NGII. NGII has completed 4 points of absolute gravity survey and 1,400 points of relative gravity survey in 2009 to aim to observe 20 points of absolute gravity survey and 6,000 points of gravity control point by 2013. Using results of gravity survey, NGII will provide citizen with data for research about renewal of geoid model and geophysics. This study aims to go over examples of utilization of absolute gravimeter & method of utilization in korea.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.17-23
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• 1999

This paper presents the characteristics of the gas flow in the engine cylinder under various intake flow conditins. The particle tracking velovimetry(PTV) was used to anlayze the gas flow pattern and flow field in the cylinder. Effects of tumble intensifying valve(TIV), swirl intensifying valve(SIV) and one-valve deactivated condition on in-cylinder flow patterns were compared with the baseline engine udner 600rpm motoring condition. In addtion, tumbel ration was estimated rwith results of in -cylinder flow fields. Base on experimental results, the tumble ration of in-cylinder flow field has the maximum value at the bottom dead center for the different four inlet conditions. In TIV condition, the tumble ration is 1.35 times larger than that of baseline engine and 1 intake valve deactivated condition is effective to improve in-cylinder swirl motion.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.11a
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• pp.103-109
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• 2002

본 연구에서는 가상현실사용자들이 모션베이스를 사용함에 따라 가상현실에 대한 평가가 어떻게 달라지는지를 조사하였다. 33명의 피험자를 대상으로 모션베이스 평가설문과 자기보고를 통해 가상현실에서의 현실감, 재미, 멀미감을 조사하고 가상주행 전, 중, 후에 내장근전위, 피부전도도, 말초체온, 말초혈류량, 심박률, 눈 깜박임의 생리신호를 측정, 분석함으로써 모션베이스 유무에 따른 심리·생리적인 변수들에서의 차이를 알아보았다. 모든 피험자는 2주 간격으로 모션베이스 사용조건과 모션베이스를 사용하지 않는 조건에서 두 번 가상현실을 경험하였다. 가상현실에 대한 현실감, 재미항목에서 모두 모션베이스를 사용한 조건이 높은 점수를 나타냈다. 또한 모션베이스를 사용한 조건에서 멀미보고수가 감소하는 경향이 나타났다. Tachyarrythmia의 상대파워 변화량과 PPG 최대진폭의 평균변화량 비교는 모션베이스를 사용한 가상현실 조건이 생리적인 요동을 적게 일으키는 것으로 나타났다. 이러한 결과들은 시각제시기와 동기화된 모션베이스를 도입함으로써, 가상현실에 대한 현실감은 높이면서 멀미감은 줄일 수 있다는 가능성을 보여준다.

• Smart Structures and Systems
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• v.18 no.1
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• pp.117-138
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• 2016

In this paper a different formulation for the response of structural systems controlled by Tuned Liquid Column Damper (TLCD) devices is developed, based on the mathematical tool of fractional calculus. Although the increasing use of these devices for structural vibration control, it has been demonstrated that existing model may lead to inaccurate prediction of liquid motion, thus reflecting in a possible imprecise description of the structural response. For this reason the recently proposed fractional formulation introduced to model liquid displacements in TLCD devices, is here extended to deal with TLCD controlled structures under base excitations. As demonstrated through an extensive experimental analysis, the proposed model can accurately capture structural responses both in time and in frequency domain. Further, the proposed fractional formulation is linear, hence making identification of the involved parameters extremely easier.