• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.247-250
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• 1996

In this paper, we have examined the impedance characteristics of a tipper link of human being in a positioning motion. Firstly, we have shown the characteristics of the human arm using a bilinear model. From the bilinear model, we have observed that both the driving torque of the forearm and the visco-elasticity of the elbow joint can be controlled by muscles, respectively. Then, we have defined several indexes to show the impedance characteristics. Using the proposed indexes, we have examined the impedance characteristics in the positioning operation. As a result, we can not observe the difference of the impedance characteristics, even if the ease of the positioning motion is varied.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.266-269
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• 2001

This paper describes the effect of hull form on motion characteristics of FPSO. The purpose of the present study is to investigate seakeeping performance of ship type FPSO in comparison with those of barge type FPSO. Model test result shows that the barge type FPSO is better in heave and pitch motion, while the ship type FPSO is superior in roll motion.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.250-253
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• 2001

This paper describes the effect of step bilge on motion characteristics of FPSO. The purpose of the present study is to investigate motion responses of FPSO with two types of step bilge. Model test result shows that the performance of the bottom type step bilge, that is designed to avoid collision, is as good as that of the side type step bilge.

• 한국항공우주학회지
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• 제34권3호
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• pp.6-13
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• 2006

본 연구에서는 저 레이놀즈수 유동에서 flapping운동을 하는 익형이 가질 수 있는 2차원 평면상의 운동궤적에 따른 공력특성을 연구하였다. 익형이 유동흐름방향으로 왕복 운동하는 lead-lag운동과 plunging운동의 조합으로 2차원 평면상에 나타날 수 있는 여러 운동궤적을 합성하여 flapping 주파수 변화에 따른 공력계수들의 변화를 살펴보았다. 상하방향의 순수 plunging운동에 lead-lag운동을 추가함으로써, 평균추력계수와 평균양력계수를 증가시킬 수 있는 운동궤적이 존재함을 확인하였다. 아울러 운동주기 동안 나타나는 추력계수와 양력계수의 변화를 비교하여 upstroke와 downstroke시 나타나는 공력특성을 파악하였다.

• 로봇학회논문지
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• 제6권3호
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• pp.263-273
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• 2011

This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.

• 대한기계학회논문집B
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• 제33권7호
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• pp.495-505
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• 2009

A two-dimensional circular cylinder freely falling in a channel has been simulated by using immersed boundary - lattice Boltzmann method (IB-LBM) in order to analyze the characteristics of motion originated by the interaction between the fluid flow and the cylinder. The wide range of the solid/fluid density ratio has been considered to identify the effect of the solid/fluid density ratio on the motion characteristics such as the falling time, the transverse force and the trajectory in the streamwise and transverse directions. In addition, the effect of the gap between the cylinder and the wall on the motion of a two-dimensional freely falling circular cylinder has been revealed by taking into account a various range of the gap size. As the cylinder is close to the wall at the initial dropping position, vortex shedding in the wake occurs early since the shear flow formed in the spacing between the cylinder and the wall drives flow instabilities from the initial stage of freely falling. In order to consider the characteristics of transverse motion of the cylinder in the initial stage of freely falling, quantitative information about the cylinder motion variables such as the transverse force, trajectory and settling time has been investigate.

• Journal of Biosystems Engineering
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• 제37권5호
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• pp.279-286
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• 2012

Purpose: This study has been conducted to investigate the applicability of motion analysis of tillage blade for estimation of tillage characteristics of crank-type and rotary-type rotavators. Methods: The interrelation between tillage traces from motion analysis and field test results including rotavating depth, pulverizing ratio and inversion ratio at the same work conditions were analyzed for both crank-type and rotary-type rotavators. The work conditions include working speed of prime mover tractor and PTO speed of rotavators. For the motion analysis, joint conditions of main connecting component were specified considering the actual working mechanism of rotavator. Results: There were important correlations for the trend between motion analysis and field test results. Conclusions: Although further study is needed for applying motion analysis to estimate the accurate tillage related parameters such as rotavating depth, the soil pulverizing ratio and inversion ratio, it could be used to compare the tillage characteristics of various rotavators quickly and simply.

• 한국해양공학회지
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• 제37권1호
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• pp.1-7
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• 2023

The motion of small fishing vessels is significantly affected by small waves, leading to accidents, such as capsizing or sinking. This paper presents the results of two types of basin tests. The first test analyzed the characteristics of roll and pitch motions among regular waves with the same wave steepness using the drifting state of three (3G/T, 7G/T, 10G/T) small fishing vessels. The second test analyzed the motion characteristics of the 7G/T fishing vessel under different wave steepness. The first test showed that heave and roll motions are significant in the beam sea, while pitch motion is significant in the bow and stern seas. The second test shows that wave steepness has a linear relationship with roll and pitch motions in the bow and stern seas.

• 한국철도학회논문집
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• 제9권1호
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• pp.18-22
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• 2006

The dynamic characteristics of the current collection system are investigated by conducting a test run in which signals from accelerometers and load cells attached to the various parts of the pantograph are analyzed in both the time and frequency domains. The dynamic characteristics of the current collection system are found to be strongly influenced by the train speed; the fluctuation in the pantograph motion increases in direct proportion to the train speed. There exist two major fequency components in the pantograph motion related to the current collection, a speed-dependent component arising from the train traversing a span of the catenary, and a speed-independent component related to the pantograph resonant frequency. The train acceleration is also found to exert strong influence on the current collection system characteristics. The effect of the train motion is found to be stronger on the speed-dependent frequency component than on the speed-independent one.

• 수산해양기술연구
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• 제48권2호
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• pp.147-154
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• 2012

In head sea, a ship has mainly the longitudinal motion such as vertical acceleration and pitch. In that case, the motion characteristics of a ship will have changed as the location different from each of place vertically and horizontally on board. The author carried out an experiment about the ship's vertical acceleration and pitch according to the location for the head sea, and analyzed the data with the aid of the statistical and spectral analyzing method to get the motion characteristics of the vessels. The response of vertical acceleration and pitch not deeply depend on the decks vertically, but displayed the relative big different value horizontally even if same deck. The biggest response of vertical acceleration and pitch among the accommodations was shown at scientist room, but the value of it not reached to the minimum requirement of ISO 2631-1 for working on board.