• Journal of Institute of Control, Robotics and Systems
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• 제21권8호
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1203-1210
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• 2007

Robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object. In this study, we addresses the development of a 3-fingered humanoid robot hand system. We execute static analysis, vibration analysis and flexible dynamics to reserve stability at the design. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column. In each motion, we compare the displacement of the case to be rigid with the case to be flexible. As a result, manufactured and feasibility of the robot hand is validated through preliminary experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제35권6호
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• pp.548-555
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• 2007

Typical helicopter simulation programs rely on differential equations of a closed form. However, since these equations are derived using various assumptions, their usefulness is limited to small flight regions and specific model types. This paper presents a component based rotorcraft simulation program. The program adopts methods of multi-body dynamics and is written in an object-oriented programming language. The program was validated using an AH-1G helicopter simulation. The trim results are well matched with flight test data. It is also shown that program is capable of running in real-time on a desktop computer.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1617-1620
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• 2005

The current control for interior permanent magnet machines is more complicate than surface permanent magnet machine because of its torque characteristic depending on the reluctance. For high performance torque control, it requires state decoupling between the d-current and q-current dynamics. However the variation of the inductances, which couples the state dynamics of the currents, makes the state decoupling difficult. So some decoupling methods have developed to cope this variations and each current can be regulated independently. This paper presents a novel approach for fully decoupling the states cross-coupling using parameter adaptation. The adaptation method is based on the error between reference currents and the currents with state decoupling which have to follow the references. This method is more object-oriented than the other online parameter estimation methods in IPM machine and other electrical machines

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.675-680
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• 2001

In this study, a fluid/structure coupled analysis system using computational fluid dynamics and computational structural dynamics has been developed. The unsteady flow fields are predicted using unstructured Euler code. Coupled time-integration method (CTIM) was applied to computer simulation of the flow-induced vibration phenomena. To investigate the interaction effect of shock motions, 2-DOF airfoil systems have been studied in the subsonic and transonic flow region. Also, aeroelastic analyses for the airfoil with an arbitrary object are performed to show the analysis capability and interference effects for the complex geometries. The present results show the flutter stabilities and characteristics of aeroelastic responses with moving shock effects.

• Journal of the Korean Society for Precision Engineering
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• 제18권3호
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• pp.195-204
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• 2001

Virtual computer numerical control(VCNC) arises from the concept that one can experience pseudo-real machining with a computer-numerically-controlled(CNC) machine before actually cutting an object. To achieve accurate VCNC, it is important to determine abnormal behavior, such as chatter, before cutting. Detecting chatter requires an understanding of the dynamic cutting force model. In general, the cutting process is a closed loop system that consists of structural and cutting dynamics. Machining instability, namely chatter, results from the interaction between these two dynamics. Several previous reports have predicted stability for a single path, using a simple cutting force model without tool runout and penetration effects. This study considers both tool runout and penetration effects, using experimental modal analysis, to obtain more accurate predictions. The machining stability in the corner cut, which is a typical transient cut, was assessed from an evaluation of the cutting configurations at the corner.

• Journal of Magnetics
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• 제22권1호
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• pp.29-33
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• 2017

We report a micromagnetic numerical study on different quasi-crystal formations of magnetic vortices in a rich variety of dynamic transient states in soft magnetic nano-disks. Only the application of spin-polarized dc currents to a single magnetic vortex leads to the formation of topological-soliton quasi-crystals composed of different configurations of skyrmions with positive and negative half-integer numbers (magnetic vortices and antivortices). Such topological object formations in soft magnets, not only in the absence of Dzyaloshinskii-Moriya interaction but also without magnetocrystalline anisotropy, are discussed in terms of two different topological charges, the winding number and the skyrmion number. This work offers an insight into the dynamic topological-spin-texture quasi-crystal formations in soft magnets.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.219-222
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• 2004

This research is about SDM (Structural Dynamics Modification) technique using embosses. SDM using embosses do not need to add additional mass element ana model of embosses and resulting huge calculation for getting analytical solution of an embossed structure. The object of this research is to suggest a method to guide placing embossment in a structure to raise its natural frequencies. Two methods to optimize model with embossing are suggested, indepuldently. The former is response surface analysis by neural network. And the latter is an indirect method using modal dynamic strain energy.

• Journal of Ocean Engineering and Technology
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• 제23권1호
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• pp.48-53
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• 2009

Autonomous Underwater Vehicles (AUV's) provide an important means for collecting detailed scientific information from the ocean depths. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a design method that uses Computational Fluid Dynamics (CFD) to determine the hull resistance of an AUV under development. The CFD results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) of an AUV with a ducted propeller. This paper also discusses the optimization of the AUV hull profile to reduce the total resistance. This paper demonstrates that shape optimization in a conceptual design is possible by using a commercial CFD package. Optimum design work to minimize the drag force of an AUV was carried out, for a given object function and constraints.

• International Journal of Naval Architecture and Ocean Engineering
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• 제4권1호
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• pp.44-56
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• 2012

Autonomous Underwater Vehicles (AUVs) provide a useful means of collecting detailed oceano-graphic information. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a procedure using Computational Fluid Dynamics (CFD) for determining the hull resistance of an AUV under development, for a given propeller rotation speed and within a given range of AUV velocities. The CFD analysis results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) around the AUV hull and its ducted propeller. The paper then proceeds to present a methodology for optimizing the AUV profile in order to reduce the total resistance. This paper demonstrates that shape optimization of conceptual designs is possible using the commercial CFD package contained in Ansys$^{TM}$. The optimum design to minimize the drag force of the AUV was identified for a given object function and a set of constrained design parameters.