• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2719-2724
• /
• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• Journal of Ocean Engineering and Technology
• /
• v.28 no.4
• /
• pp.274-279
• /
• 2014

This paper investigates the line dynamic forces connecting tugs and a floater, where the planar motion of the floater is due to the weather criteria during the position keeping of the offshore structure by tugs. The analysis situation consists of the position keeping states for the seabed mooring line connection work of the offshore structure at the offshore site. Specifically, the decision about the tug power capacity for the position keeping is essential and depends on the weather criteria, line characteristics, length of line, etc. The planar motion of the structure is constrained by the interference of the installation vessel's operational range, behavior of the underwater fairlead, and other surrounding structures. In this paper, the tug line forces and planar motion of an offshore structure are summarized dependent on the tug line length and line material characteristics in the states fora given floater draft and weather criteria. The tug line dynamic forces and planar motion evaluated here will be used to determine the proper tug power and clearance of an offshore structure.

• 유체기계공업학회:학술대회논문집
• /
• 2006.08a
• /
• pp.375-376
• /
• 2006

Turbulent structure of a boundary-layer over a flat plate coated with micro riblet film(MRF) has been investigated experimentally. The turbulent structure was visualized using a dynamic particle image velocimetry (Dynamic PIV) system. We identified the vortex structures from 2-D velocity field data by applying the complex eigenvalue definition. The velocity field images acquired by using the complex eigenvalue definition showed the whole 2-D vortex structures clearly. In addition, the spatial distributions of small-scale vortices as well as large-scale vortices were obtained with high accuracy. The difference of vortex structures between the MRF coated flat plate and the smooth flat plate was analysed in detail. With varying upstream flow speed, the characteristics of vortex structure over the MRF coated flate plate was compared with those over the smooth flat plate.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.13 no.10
• /
• pp.760-766
• /
• 2003

This paper is concerned with the eddy current damper which can be used to enhance the damping of the host structure. The operating principle of the eddy current damper is first explained in detail. The dynamic interaction between the magnets and the copper plate produces eddy current thus resulting in the damping force. By attaching the eddy current damper to the host structure, the damping of the total structure can be increased so that vibrations can be suppressed. The advantage of the eddy current damper is that it doesn't require any electronic devices and power supply The effect of the eddy current damper on the global dynamic characteristics of the structure is investigated by considering the cantilever with the eddy current damper. Experimental results show that the eddy current damper is an effective device for vibration suppression.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2012.04a
• /
• pp.354-359
• /
• 2012

Improvement of structure-borne noises in the vehicle compartments has been one of the primary concerns in the development of vehicles. The booming is an annoying low frequency interior noise and vibration in vehicle. But it is difficult to reduce the structure-born booming noise in traditional method - trial and error within the shorten development schedule. So in present, the structure dynamic modification (SDM) method helpful to predict the effect of the local mass, stiffness, and damping is introduced. So in order to reduce the interior booming noise, the SDM was performed, and verified with modal test result. It was shown that the interior booming noise was reduced as predicted.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1997.04a
• /
• pp.229-234
• /
• 1997

The dynamic behavior of underground structures is complex due to the effects of vibrational characteristics of the structure and the rock. In this study, dynamic displacement responses at the structure surface by the elastic stress waves are considered as the vibrational characteristics, and evaluated by the form of the frequency spectrum. The variation of the vibrational characteristic is simulated by numerical analysis at the case of the structure has internal defections. The results reveals the possibility of the experimental detection of void existence and size. Furthermore, the verification of the dynamic response can be used for rating the stability of a tunnel.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.12 s.105
• /
• pp.1355-1360
• /
• 2005

Periodic structures can be applied as a MEMS(micro-electro-mechanical system) sensor or actuator due to low energy loss and wideband frequency response. The dynamic behavior of a mistuned periodic structure Is dramatically changed from that of a perfectly tuned periodic structure. The effects of mistuning, coupling stiffness, and driving point on the forced vibration responses of a simple periodic structure ate investigate4 through numerical simulations. On the basis of that, one can design effective and reliable MEMS components using periodic structures.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1999.10a
• /
• pp.241-248
• /
• 1999

Structural damage during an earthquake is caused by the response of the structure to the ground motion input at its base. The dynamic force produced in the structure are due to the inertia of its vibrating elements. The response of the structure exceeds the ground motion and this dynamic magnification depends on the duration and frequency content of the ground vibration, the soil properties at the site, distance from the epicenter and the dynamic characteristics of the structure. Earthquake load used in this study as a input data was artificially simulated with the design spectrum diagram in the Korean Earthquake Resistant Design Code. This paper presents the seismic analysis of the continuous preflex composite girder bridges according to variation of pier's height and span's length.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.3
• /
• pp.233-238
• /
• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
• /
• 2004.05a
• /
• pp.195-201
• /
• 2004

In design stage of high precision manufacture/inspect ion FAB building, it is necessary to investigate the vibration allowable limits of high precision equipment and to study a structure dynamic characteristics of C/R and Sub-structure in order to provide a structure vibration environment to satisfy thess allowable limits. The aim of this study is to investigate the dynamic characteristics of PC-Type mock-up structures designed for next TFT LCD FAB through vibration measurement and analysis procedure, therefore, to provide a proper dynamic structure design for high precision manufacture/inspection work process, which satisfy thess allowable limits.