• 한국지반공학회지:지반
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• 제10권4호
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• pp.29-38
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• 1994

공내하향 탄성파시험(downhole seismic tests) 결과를 해석하는 새로운 방법을 소개하였다. 이 방법은 역산이론(inverse thery)에 근거 하며, 직접산출법(direct measurements)과 간접산 출법(indirect measurements)과 같은 기존 방법으로는 불가능한 정도의 자세한 탄성파 속도 프로파일(profile)을 얻을 수 있다. 더욱이, 이 방법은 속도 프로파일의 신뢰도를 평가 할 수 있는 장점이 있다. 지반구조가 서로 다른 5개소의 현장에서 이 방법의 적용성을 검증하였다.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• 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.

• Wind and Structures
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• 제24권3호
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• pp.249-265
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• 2017

An efficient and accurate algorithm is proposed to estimate flutter safety factor of suspension bridges satisfying prescribed reliability levels. Uncertainties which arise from the basic wind speed at the bridge deck location, critical flutter velocity, the wind conversion factor from a scaled model to the prototype structure and the gust speed factor are incorporated. The proposed algorithm integrates the concepts of the inverse reliability method and the calculation method of the critical flutter velocity of suspension bridges. The unique feature of the proposed method is that it offers a tool for flutter safety assessment of suspension bridges, when the reliability level is specified as a target to be satisfied by the designer. Accuracy and efficiency of this method with reference to three example suspension bridges is studied and numerical results validate its superiority over conventional deterministic method. Finally, the effects of various parameters on the flutter safety factor of suspension bridges are also investigated.

• 상하수도학회지
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• 제36권4호
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• pp.219-228
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• 2022

In this study, we propose a flow velocity evaluation scheme based on pressure measurement in pressurized pipeline systems. Conservation of mass and momentum equations can be decomposed into mean and perturbation of pressure head and flowrate, which provide the pressure head and flowrate relationship between upstream and donwstream point in pressurized pipeline system. The inverse impedance formulations were derived to address measured pressure at downstream to evaluation of flow velocity or pressure at any point of system. The convolution of response function to pressure head in downstream valve provides the flow velocity response in any point of the simple pipeline system. Simulation comparison between traditional method of characteristics and the proposed method provide good agreements between two distinct approaches.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.836-840
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• 1999

Linear motion and angular motion in task space are handled separately in joint velocity planning for redundant robot manipulators. In solving inverse kinematic equations with given joint velocity limits, we consider the order of priority for linear motion and angular motion. The proposed method will be useful in such applications where only linear motions are important than angular motions or vice versa.

• Ocean and Polar Research
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• 제21권2호
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• pp.87-97
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• 1999

To estimate absolute transports by advection in the southwestern East Sea (Japan Sea), an inverse method was applied to CTD data obtained in July 1993. The relative velocities are calculated using the thermal wind equation. The inverse model was formulated to obtain a reference velocity based on the mass conservation in each of four vertical layers within a region enclosed by hydrographic sections and the coastal boundary. The flow patterns in the surface layer are clockwise and anti-clockwise in the regions south and northwest of Ulleung Island, respectively, and a strong northward flow appears in between them. In the second layer, the flow fields are generally weak. The inverse calculation yields the southward flow along the coast, and this suggests that the subsurface low salinity water in the Ulleung Basin is supplied by the southward transport along the east coast of Korea.

• 지구물리와물리탐사
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• 제2권3호
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• pp.137-141
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• 1999

다방위 역수직 탄성파 기록을 사용하여 매질의 속도 이방성을 분석하고자 한 개의 시추공 내의 120개 진원으로부터 발생한 탄성파를 지표상의 5개의 측점에서 동시에 기록하였다. 본 실험에서 방위가 다른 측점에서 기록의 초동을 비교하여 속도 이방성을 산출하고자 하였다. 그러한 목적을 달성하기 위해서는 초동을 피킹하기 전에 수진점 정보정이 필요한데, 수진점의 수가 제한적인 역수직 탄성파인 경우는 신뢰할만한 정보정 값을 얻기가 어렵다. 따라서 본 실험에서는 초동을 측정하는 대신에 각 기록의 무브아웃 속도를 산출하고자 하였다. 본 실험에서 각 방위에서, 측정할만한 속도 차이를 발견했으며, 이 속도 이방성은 본 지역에서 과거에 실시된 이방성 연구 결과와 일치함을 확인하였다.

• 한국산업융합학회 논문집
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• 제19권4호
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.