• Journal of Ocean Engineering and Technology
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• v.17 no.5 s.54
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• pp.57-65
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• 2003

This paper proposes an optimum design method of structural and control systems, using a 2-D truss structure as an example. The structure is subjected to initial static loads and disturbances. For the structure, a FEM model is formed. Using modal transformation, the equation of motion is transformed into modal coordinates, in order to decrease D.O.F. of the FEM model. To suppress the effect of the disturbances, the structure is controlled by an output feedback $H_{\infty}$ controller. The design variables of the combined optimal design of the control-structure systems are the cross sectional areas of truss members. The structural objective function is the structural weight. The control objective function is the $H_{\infty}$ norm, the performance index of control. The second structural objective function is the energy of the response related to the initial state, which is derived from the time integration of the quadratic form of the state in the closed-loop system. In a numerical example, simulations have been perform. Through the consideration of structural weight and $H_{\infty}$ norm, an advantage of the combined optimum design of structural and control systems is shown. Moreover, since the performance index of control is almost nearly optimiz, we can acquire better design of structural strength.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.3
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• pp.282-292
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• 2007

The present paper describes the results of high speed photography, acoustic emission (AE) detection and plasma light emission (LE) measurement during $CO_2$ laser welding of 304 stainless steel in different processing conditions. Video images with high spatial and temporal resolution allowed to observe the melt dynamics and keyhole evolution. The existence of keyhole was confirmed by the slag motion on the weld pool. The characteristic frequencies of flow instability and keyhole fluctuations at different welding speed were measured and compared with the results of Fourier analyses of temporal AE and LE spectra. The experimental results were compared with the newly developed numerical model of keyhole dynamics. The model is based on the assumption that the propagation of front part of keyhole into material is due to the melt ejection driven by laser induced surface evaporation. The calculations predict that a high speed melt flow is induced at the front part of keyhole when the sample travel speed exceeds several 10 mm/s. The numerical analysis also shows the hump formation on the front keyhole wall surface. Experimentally observed melt behavior and transformation of the AE and LE spectra with variation of welding speed are qualitatively in good agreement with the model predictions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.362-369
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• 2000

Via screw theory, a vibration mode can be geometrically interpreted as a pure rotation about the vibration center in a plane and as a twisting motion on a screw in a three dimensional space. In thi s paper, applying the conditions that can be used to diagonalize the stiffness matrix by a parallel axis congruence transformation, the vibration modes and frequency response of an elastically suspended optical disc drive have been analyzed. It is first shown that the system has one plane of symmetry, which enables one to decouple the complicated vibration modes into two sets of modes independent of each other. Having obtained the analytical solutions for the axes of vibrations, the frequency response for a given applied input force has been demonstrated. Most importantly, it has been explained that this research result could be used in the synthesis process of a linear vibration system in order to improve the frequency response.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.170-176
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• 1987

This study is concerned with dynamic characteristics of a circular ring with a concentrated mass attached. The equations of motion are set up and are solved by using Laplace transformation. The ratio of a concentrated mass to the mass of circular ring is used as a parameter. Experiment was performed by employing impulse test and the results show good agreement with those of analysis. The results of this study can be utilized in vibrational analysis of axisymmetric shells with slight asymmetries.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.221-226
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• 2005

In this paper, a dynamic model for the rotor shaft-coupling-blade system is developed. The blades are attached to a disk and driven by an electric motor shaft which is flexible in torsion. We assumed that the shaft torsional flexibility is lumped in the flexible coupling which is usually adopted in rotor systems. The Lagrangian approach with the small deformation theory for both blade-bending and shaft-torsional deformations is employed for developing the equation of the motion. The assumed modes method is used for estimating the blade transverse deflection. The numerical results highlight the effects of both structural damping of the system and the torsional stiffness of the flexible coupling to the dynamic response of the blade. The results showed strong coupling between the blade bending and shaft torsional vibrations in the form of inertial nonlinearif, stiffness hardening and softening.

• Journal of the Korean Society of Costume
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• v.55 no.8 s.99
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• pp.112-126
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• 2005

The purpose of this study is to analyze the aesthetic characteristics of 'movement' expression in modern fashion(1910-2004) based on a study of modern fine arts which adopted 'movement' element in their work. In this study the meaning of movement was defined as motion, changing position and transformation. Literature survey through books and research papers and demonstrative study with fashion collection photos were undertaken. The results wert as follows ; 1) Kinetic art, optical an, light kinetic art and technology art such as video and computer art have adopted 'movement' element in their work. 2) The plasticities of 'movement' fine arts were identified as mutual penetration, increase of visibility, use of non-traditional materials and dynamism. The internal meanings were identified as expansion of aesthetic experience and the concept of fine art, optimistic attitude on technology, spectator participation and integration of art and life. 3) The 'movement' expression in modern fashion was distinctively found in 1910s-20s(avant-garde fashion), 1960s (kinetic and optical art fashion) and mid 1990s to 2004 (techno-cyber fashion). 4) The plasticities of the 'movement' expression in modern fashion were identified as non-definition, use of non-traditional materials, dynamism. The internal meanings were identified as expansion of aesthetic experience and the concept of dress, optimistic attitude on technology, playfulness through participation. In conclusion, the expression of 'movement' in modern fashion has optimistic viewpoint on the development of modern society and is one of the interesting design points which will be pursued in the fellowing years.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.48-54
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• 2004

Generally, structural optimization is carried out based on external static loads. All forces have dynamic characteristics in the real world. Mathematical optimization with dynamic loads is extremely difficult in a large-scale problem due to the behaviors in the time domain. In practical applications, it is customary to transform the dynamic loads into static loads by dynamic factors, design codes, and etc. But the optimization results with the unreasonably transformed loads cannot give us good solutions. Recently, a systematic transformation has been proposed as an engineering algorithm. Equivalent static loads are made to generate the same displacement field as the one from dynamic loads at each time step of dynamic analysis. Thus, many load cases are used as the multiple loading conditions which are not costly to include in modem structural optimization. In this research, the proposed algorithm is applied to the optimization of flexible multibody dynamic systems. The equivalent static load is derived from the equations of motion of a flexible multibody dynamic system. A few examples that have been solved before are solved to be compared with the results from the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.643-648
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• 2005

Generally, ships have marks of various shapes on outside of the hull. Among them, so called "Draft Mark" indicates the distance from the bottom of the keel to the waterline. Draft marks are used to determine the displacement and other properties of the ship for stability and control purposes. These marks are made up of welding bead or sticking the steel plate on outside of the hull. To improve the confidence level of the ship owner, quality and accuracy of the draft mark is very important. So the automatic mark welding robot is used to enable a high quality and accurate manufacturing line. To improve the system portability, the system is divided into two distinct parts, namely mechanical part and control part. Mechanical part is robust, a lightweight, and easy to dismantle. The control part consists of an in-house developed controller, which is based on embedded Linux. Also, the control part consists of power line communication module to ensure the applicability of the controller in manufacturing line. In this paper, the methodologies of control and configuration of the robot are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.371-376
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• 2007

This paper presents an emotion recognition and its expression system of an intelligent robot like a home robot or a service robot. Emotion recognition method in the robot is used by a facial image. We use a motion and a position of many facial features. apply a tracking algorithm to recognize a moving user in the mobile robot and eliminate a skin color of a hand and a background without a facial region by using the facial region detecting algorithm in objecting user image. After normalizer operations are the image enlarge or reduction by distance of the detecting facial region and the image revolution transformation by an angel of a face, the mobile robot can object the facial image of a fixing size. And materialize a multi feature selection algorithm to enable robot to recognize an emotion of user. In this paper, used a multi layer perceptron of Artificial Neural Network(ANN) as a pattern recognition art, and a Back Propagation(BP) algorithm as a learning algorithm. Emotion of user that robot recognized is expressed as a graphic LCD. At this time, change two coordinates as the number of times of emotion expressed in ANN, and change a parameter of facial elements(eyes, eyebrows, mouth) as the change of two coordinates. By materializing the system, expressed the complex emotion of human as the avatar of LCD.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.