• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.5 s.236
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• pp.777-785
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• 2005

The swing motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. And, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called 'Structure/control Simultaneous Method' is used. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. And the experimental result shows that the proposed control strategy is useful to the case of that the controlled system is exposed to the uncertainties and, robust to the unexpected disturbance inputs.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.957-964
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• 2011

The image stabilization is the procedure of stabilizing the blurred image with image processing method. Due to easy detection of global motion, PA(Projection algorithm) based on digital image stabilization has been studied by many researchers. PA has the advantage of easy implementation and low complexity, but in the case of serious rotational motion the accuracy of the algorithm will be cut down because of its fixed exploring range, and, on the other hand, if extending the exploring range, the block for detecting motion will become small, then we cannot detect correct global motion. In this paper, to overcome the drawback of conventional PA, an Iterative Projection Algorithm (IPA) is proposed, which improved the correctness of global motion by detecting global motion with detecting block which is appropriate to different extent of motion. With IPA, in the case of processing 1000 continual frames shot in automobile, compared with conventional algorithm and other detecting range, the results of PSNR is improved 6.8% at least, and 28.9% at the most.

• Korean Journal of Applied Biomechanics
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• v.30 no.1
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• pp.7-16
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• 2020

Objective: It is to find factors related to stability through analysis of plantar pressure factors according to the level of instability when performing Snatch. Method: Foot pressure analysis was performed while 10 weightlifters performed 80% of the highest level of Snatch, and motion was classified and analyzed in 3 grades according to the level of instability. Results: First, in Bad Motion, the movement distance of the pressure center in the direction of ML and AP was larger significantly in Phase 2. Second, in Phase 2, the number of zero-crossing in the AP direction was larger statistically significantly in Good Motion. Third, in the bad motion in Phase 3, the number of zero-crossing in the ML direction showed a significantly larger value. Fourth, in Phase 4, it was found that the more stable the lock out motion, the greater the activity of foot controlling in the left and right directions. Fifth, Phase 3, the greater the Maximum/Mean foot pressure value, the more stable the pulling action. Sixth, in Phase 2, the foot pressure was concentrated with a wide distribution in the midfoot and rearfoot. Seventh, the triggering number of the forefoot region was small in the last pull phase. Eighth, the number of triggers in the toe area was significantly higher during Good Motion in Phase 4. Conclusion: Summarizing the factors of instability in Snatch, there was no significant difference in Phase 1 for each condition. In order to enhance the stability in Phase 2, the sensory control ability in the AP direction is required, and focusing the foot pressing motion with a wide distribution in the middle and rear parts increases the instability. In Phase 3, it was found that the more unstable, the more sensory control activity was performed in the ML direction, the stronger the forefoot pressing action should be performed for a stable Snatch. In Phase 4, It is important that the feet sensory control activity in ML directions and the control ability of the toes in order to have stable Lock out motion.

• International Journal of Automotive Technology
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• v.6 no.2
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• pp.183-190
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• 2005

During normal operating conditions, a motor vehicle is constantly subjected to a variety of forces, which can adversely affect its straight-ahead motion performance. These forces can originate both from external sources such as wind and road and from on-board sources such as tires, suspension, and chassis configuration. One of the effects of these disturbances is the phenomenon of vehicle lateral-drift during straight-ahead motion. This paper examines the effects of road crown, tires, and suspension on vehicle straight-ahead motion. The results of experimental studies into the effects of these on-board and external disturbances are extremely sensitive to small changes in test conditions and are therefore difficult to guarantee repeatability. This study was therefore conducted by means of computer simulation using a full vehicle model. The purpose of this paper is to gain further understanding of the straight-ahead maneuver from simulation results, some aspects of which may not be obtainable from experimental study. This paper also aims to clarify some of the disputable arguments on the theories of vehicle straight-ahead motion found in the literature. Tire residual aligning torque, road crown angle, scrub radius and caster angle in suspension geometry, were selected as the study variables. The effects of these variables on straight-ahead motion were evaluated from the straight-ahead motion simulation results during a 100m run in free control mode. Examination of vehicle behavior during straight-ahead motion under a fixed control mode was also carried out in order to evaluate the validity of several disputable arguments on vehicle pull theory, found in the literature. Finally, qualitative comparisons between the simulation results and the test results were made to support the validity of the simulation results.

• Journal of the Korean Mathematical Society
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• v.38 no.3
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• pp.577-594
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• 2001

In this paper we establish limit theorems on the large and small increments of a two-parameter Gaussian random process on rectangles in the Euclidean plane via estimating upper bounds of large deviation probabilities on suprema of the two-parameter Gaussian random process.

• Journal of the Korean Mathematical Society
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• v.46 no.2
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• pp.347-361
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• 2009

In this paper, by estimating small ball probabilities of $l^{\infty}$-valued Gaussian processes, we investigate Chung-type law of the iterated logarithm of $l^{\infty}$-valued Gaussian processes. As an application, the Chung-type law of the iterated logarithm of $l^{\infty}$-valued fractional Brownian motion is established.

• Tribology and Lubricants
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• v.4 no.1
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• pp.74-80
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• 1988

For an analytic investigation on the dynamic behaviour of the eccentric piston and roller in the cylinder of small rotary vane compressors the hydrodynamic lubrication theory is opplied, analogous to the dynamic analysis of a engine bearing. An adequate modification of the equation of journal motion permits stable convergencies of the numeric calculation of the journal orbits. The increase of the outer diameter of the roller and the eccentricity of the piston gives a relative large decrease of the minimum gap between the roller and cylinder.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.315-323
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• 2023

Marine accidents due to loss of stability of small ships have continued to increase over the past decade. In particular, since sudden winds have been pointed out as main causes of most small ship accidents, safety measures have been established to prevent them. In this regard, to prevent accidents caused by sudden winds, a systematic analysis technique is required. The aim of the present study was to develop a probabilistic approach to estimate extreme value and evaluate effects of wind on motion characteristics of ships. The present study included studies of motion analysis, extraction of extreme values, and motion characteristics. A series analysis was conducted for three conditions: wave only, wave with uniform wind speed, and wave with the NPD wind model. Hysteresis filtering and Peak-Valley filtering techniques were applied to time-domain motion analysis results for extreme value extraction. Using extracted extreme values, the goodness of fit test was performed on four distribution functions to select the optimal distribution-function that best expressed extreme values. Motion characteristics of a fishing boat were evaluated for three periodic motion conditions (Heave, Roll, and Pitch) and results were compared. Numerical analysis was performed using a commercial solver, ANSYS-AQWA.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.338-344
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• 2008

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.03a
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• pp.177-184
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• 2002

Large amplitude sloshing can occur in contained fluid region due to the seismic ground motion. Also, The pressure by large amplitude sloshing damages the connections between the wall and roof of a fluid container and causes outflow of contained fluid. Therefore, to predict the dynamic behavior accurately, three dimensional analysis with the nonlinear boundary condition must be performed. In this study, the numerical solution procedure is developed using the boundary element method with the Lagrangian particle approach. In order to demonstrate the accuracy and validity of the developed method, the fluid motion for a free oscillation with small amplitude and a forced vibration are analyzed. And the numerical results are compared with the linear theory results and the previous studies with the nonlinear boundary condition.