• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.358-363
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• 2006

This paper demonstrates a new non-contact electronic joystick using single hall sensor which detects a horizontal vector of the magnetic field. Furthermore, in this paper, it is mathematically modeled that nonlinear characteristics between the output of hall sensor and the movement of joystick bar. The dynamic horizontal vector of magnetic flux is detected by the hall sensor while a permanent magnet is rotated with the joystick bar, which has two dimension detecting area. Using the nonlinear adjustment equations, the output signals of hall sensor have been linearized to give higher accuracy in the two dimension movement. Finally, through the real experiments, it is showed that the single hall sensor structure mechanism is superior to the dual sensor structure in sensing the two-dimensional motion without offset.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.6
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• pp.906-915
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• 2004

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1082-1087
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• 2003

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive levitation object called a platen This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using lagrangian method and used coenergy to express an electromagnetic force. We proposed control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation result is provided to verify the effectiveness of the proposed control scheme.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.2
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• pp.153-168
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• 2016

Sloshing phenomenon is a complicated free surface flow problem that increases the dynamic pressure on the sidewalls and the bottom of the storage tanks. When the storage tanks are partially filled, it is essential to be able to evaluate the fluid dynamic loads on the tank's perimeter. In this paper, a numerical code was developed to determine the pressure distribution on the rectangular and trapezoidal storage tanks' perimeters due to liquid sloshing phenomenon. Assuming the fluid to be inviscid, the Laplace equation and the nonlinear free surface boundary conditions were solved using coupled boundary element - finite element method. The code performance for sloshing modeling was validated using Nakayama and Washizu's results. Finally, this code was used for partially filled rectangular and trapezoidal storage tanks and free surface displacement, pressure distribution and horizontal and vertical forces exerted on the tanks' perimeters due to liquid sloshing phenomenon were estimated and discussed.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.10a
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• pp.83-90
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• 1999

This paper presents a method of seismic analysis for a cylindrical liquid storage structure on horizontally layered half-space considering the effects of the interior fluid and exterior soil medium in the frequency domain. the horizontal and rocking motions of the structures are included in this study. The fluid motion is expressed in terms of analytical velocity potential function which can be obtained by solving the boundary value problem including the sloshing behavior of the fluid as well as deformed configuration of the structure. The effect of the fluid is included in the equation of motion as the impulsive added mass and a frequency-dependent convective added mass along the nodes on the wetted boundary with structure. The soil medium is presented using the 3-D axisymmetric finite elements and dynamic infinite elements. The present method can be applied to the structures embedded in ground as well as on ground since it models the soil medium directly as well as the structure. For the purpose of vertification dynamci characteristics of a tank on homogeneous half-space is analyzed. Comparison of the present results with those by others shows good agreement.

• Journal of Mechanical Science and Technology
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• v.16 no.9
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• pp.1040-1053
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• 2002

This research deals with the influence of nonlinearities associated with impact and sliding upon the rocking behavior of a rigid block, which is subjected to two-dimensional horizontal and vertical excitation. Nonlinearities in the vibration were found to depend strongly on the effect of the impact between the block and the base, which involves an abrupt reduction in the system's kinetic energy. In particular, when sliding occurs, the rocking behavior is substantially changed. Response analysis using a non-dimensional rocking equation was carried out for a variety of excitation levels and excitation frequencies. The chaos responses were observed over a wide response region, particularly, in the cases of high vertical displacement and violent sliding motion, and the chaos characteristics appear in the time histories, Poincare maps, power spectra and Lyapunov exponents of the rocking responses. The complex behavior of chaotic response, in phase space, is illustrated by the Poincare map. The distribution of the rocking response is described by bifurcation diagrams and the effects of sliding motion are examined through the several rocking response examples.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.197-207
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• 2007

It has been reported that Back-Tension played a significant role in archery (Lee & Bondit, 2005; Kim, 2007) but there are a few researches related Back-Tension in Korea recently. Therefore, the purpose of this study was to investigate archery back tension technique for the second ranked archer in the World and to find ways to improve performance. A subject(height: 185cm, mass: 82kg, years: 21yrs, careers: 12yrs) who is a number of national team and the second ranked archer in the World authorized by FITA (Federation Internationale de Trial Arc) was perticipated in this experiment. When shooting 60 shots($12{\times}5$), shooting motions were recorded with 7 infrared cameras and 2 ultrahigh-speed cameras. A QTM and an Auto Track were used to acquire raw data. The sampling rates of both cameras were 200 Hz. and 1000 Hz. respectively and data were filtered using a fourth order Butterworth low pass filtering with a cutoff-frequency of 30Hz. The parameters were calculated with Matlab6.5 and analyzed with SPSS11.0. After Pearson's correlations between 8 parameters were analyzed, 5 parameters from 13parameters that affected records were analyzed with multiple regression analysis (Enter order: x1, x2, x3, x4, x5). The results were as follows: 1. Comparing between parameters according to scores, the patterns of horizontal and vertical angular velocity(av.) of scapular relative angle was different between 8 score and 9 or 10 scores. 2. The correlations of parameters that affected records were a horizontal av.(x1, p=.032<.05) and a vertical av.(x3, p=.033<.05) of scapular from release to delivery in KB back-tension (anchoring-delivery). 3. The decision coefficients(R2) of above two parameters and three parameters selected by experts that may affect record, that is, an absolute trunk angle(x4) from in KKC back-tension (anchoring-release) and a horizontal relative scapular angle(x2) and an absolute trunk angle(x5) from release to delivery in KB back-tension were 7.7%(x1), 0.1%(x2), 8.5%(x3), 0.7%(x4) and 0.9%(x5) in sequence. 4. The multiple regression equation was a y= -1.16E-2 x1 + 0.109 x2 + 3.437E-2 x3 + 6.139E-2 x4 + 0.117 x5 + 3.420 In conclusion, a total contribution was low, that is, R2(17.9%) suggested that on the one hand, Lim's motion may not depend on a certain factor because his postural factors affected shooting motion are some stable on the other hand, unknown factors may exist(e.g. psychological, physiological factors etc.). Further study of EMG patterns of muscles and anatomic consideration related to shoulder girdle and scapular bones may help to identify mechanism of Back-Tension.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.4
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• pp.433-439
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• 2001

A large floating structure is attracting great attention in recent years from the view of ocean space utilization. Its huge scale in the horizontal directions compared with the wavelength and relatively shallow depth make this type of floating structure flexible and its wave-induced motion be characterized by the elastic deformation. In this paper, a boundary integral equation method is proposed to predict the wave-induced dynamic response mat-like floating offshore structure. The structure is modeled as an clastic plate and its elastic deformation is expressed as a superposition of free-vibration modes in air. This makes it straightforward to expand the well-established boundary integral technique for rigid floating bodies to include the hydroelastic effects. In order to validate the theoretical analysis, we compare with the experimental result of previous model test. Satisfactory agreement is found between theory and experiment.