• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.88-95
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• 2009

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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• pp.275-282
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• 2008

This paper presents numerical investigation of multi-phase flow in solid rocket motor nozzle and effect of multi-phases on the performance prediction of the Solid Rocket Motor. Aluminized propellants are frequently used in solid rocket motors to increase specific impulse. An Eulerian-Lagrangian description has been used to analyze the motion of the micrometer sized and discrete phase that consist of the larger particulates present in the Solid Rocket Motor. Uniform particles diameters and Rosin-Rammler diameter distribution method has been used for the simulation of different burning of aluminum droplets generating aluminum oxide smokes. Roe-FDS scheme has been used to simulate the effects of the multi-phase flow. The results obtained show the sensitivity of this distribution to the nozzle flow dynamics, primarily at the nozzle inlet and exit. The analysis also provides effect of two phases on performance prediction of Solid Rocket Motor.

• Journal of Aerospace System Engineering
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• v.3 no.4
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• pp.7-10
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• 2009

The driver's speed control to the satellite's mission is required. Therefore, optimal control over the value of benefits is required. Driver to control the characteristics of the driver and the driver was analyzed. Experimental results based on the estimated parameters using the equations of motion and was passed to save the function. Using optimization techniques applied to estimate the proportional term gain was the result of the analysis.

• Annual Conference of KIPS
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• 2012.11a
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• pp.54-56
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• 2012

최근 CPU의 코어 클럭을 높이는 대신 동일한 클럭의 코어 수를 늘림으로써 성능을 향상시키고 전력 소모도 줄이는 멀티코어가 등장하고 있다. 이러한 멀티코어 플랫폼의 등장으로 인해 해당 코어들의 자원을 효율적으로 사용하여 동시에 처리하는 병렬처리 기법에 관한 연구가 활발히 진행되고 있다. 본 논문에서는 병렬처리 기법의 종류 중 하나인 Advanced SIMD기반의 NEON을 적용한 고속화 ME 방법론을 연구 및 제안하였다. 최소화 SAD를 구하고 정확한 모션벡터를 선정하기 위해 다양한 ME 방법 중 전역탐색기법을 NEON에 적용하여 동시에 128비트씩 연산을 수행하였다. 그 결과 영상의 크기에 따라 계산 성능이 최대 60% 이상 향상되는 효과를 검증하였다.

• International journal of advanced smart convergence
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• v.7 no.4
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• pp.114-120
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• 2018

The purpose of this paper is to develop simulations that can be used for virtual education in dentistry. This development goal is to allow dental students to learn the necessary surgical techniques at the point of their choice, not going into the operating room, away from time, space, and physical limits. In this paper configuration, the optimization method is applied convergent, and when the operation of the VR contents is performed, the content data is extracted from the interaction analysis formed in the VR engine, and the data is processed by the content algorithm. It also computes events and dental operations generated within the 3D engine programming and generates corresponding events through data processing according to the input signal. The visualization information is output to the HMD using the rendering information. In addition, the operating room environment was constructed by studying lighting and material for actual operating room environment. We applied the ratio of actual space to virtual space and the ratio between character and actual person to create a spatial composition at a similar rate to actual space.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.910-917
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• 2020

In fire suppression, continuous delivery of water or foam to the fire source is essential. The present study concerns fire suppression in a ship under sea condition, by introducing reinforcement learning technique to aiming of fire extinguishing nozzle, which works in a ship compartment with six degrees of freedom movement by irregular waves. The physical modeling of the water jet and compartment motion was provided using Unity 3D engine. In the reinforcement learning, the change of the nozzle angle during the scenario was set as the action, while the reward is proportional to the ratio of the water particle delivered to the fire source area. The optimal control of nozzle aiming for continuous delivery of water jet could be derived. Various algorithms of reinforcement learning were tested to select the optimal one, the proximal policy optimization.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.786-793
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• 2021

In this study, a parametric investigation is performed using CFD for towing stability and loads according to the forward and aft slope angles of a barge-shaped FPSO. The forward slope angle is considered in a range of 30-60° and the aft slope is examined in a range of 20-50°. As a result of a comparative study based on CFD towing simulations, it is found that the yaw motion is damped out and stabilized when the aft slope is more than 40° regardless of the forward slope angle. The vortex contours in the y-axis plane near the aft slope are analyzed and it is observed that the vortex developed at the bottom knuckle is bent upward along the aft slope when the aft slope is less than 40°, and completely fallen from the bottom knuckle when the aft slope is more than 40°. Based on the results, a guide to forward and aft slope angles of a barge-shaped FPSO is presented from a practical point of view considering towing stability as well as towing load.

• Proceedings of the ESK Conference
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• 1993.04a
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• pp.18-26
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• 1993

When designing workplaces, controls should be placed within the reach of operator's arm or foot to guarantee effective performance. The aviation industry is perhaps the chief user of anthropometric data for its need to weight minimization and space optimization. In designing a workplace which must cater to a wide range of operator size, it might be sufficient to plan only for the 'average person'. Static arm reach measurements which are taken in conventional, standardized positions provide the necessary information, but they cannot be directly applied to dynamic situations. In this research, an approximate algorithm to generate the workspace of the human body including foot reach and trunk motion is proposed and tested. The robot kinematics was employed to represent the human body as a multi-link system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.144-145
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• 2022

Since the marking robot draws lines by point-to-point operation, the robot's shifting path greatly affects the working time and productivity. Therefore, it is required to analyze the movement method based on the robot's motion and plan to minimize the movement time. Therefore, this study proposes a method that can optimize the robot's shifting path to minimize the working time of the marking robot. Through the results of this study, it is expected that the non-working time of the marking robot will be reduced and the efficient operation will be possible.