• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.161-166
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• 2002

Recently, researches on precision machining of nato-order, especially in the field of optical components and semi-conductors have been under development very actively. A accuracy of machining and positioning in a critical issue in ultra-precision machining. This paper proposes a new positioning system which can give excellent dynamic characteristics and reduce errors in horizontal, vertical, pitching, and yawing motions. In this paper, we suggest a connecting mechanism (the couplings) to reduce motion errors such as chatter and runout while preserving the positioning accuracy. We verified the good performance in the new connecting systems with various coupling types, which we classified into the fixed type, the spring type, the aeroctatic-nozzle type, and the aeroctatic-porous type according to the way of reducing the chatter and error.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2005년도 춘계학술대회
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• pp.55-58
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• 2005

풍력발전기에 있어서 보호 및 제어 시스템은 그 효율, 성능, 안전 및 수명까지도 영향을 미칠 수 있는 중요한 구성요소이다 따라서 제어 시스템은 풍력발전기의 최대 효율 및 가동률을 확보하여야 하며 풍력발전기에 문제가 발생할 경우 즉시 가동을 정지할 수 있도록 안전성을 확보할 수 있도록 설계되어야 한다. 본 연구에서는 "750kw급 Gearless형 풍력발전시스템 개발" 과제의 일환으로 수행되었던 풍력발전기용 제어시스템의 설계 및 제작 과정과 상용제품으로서의 본 제어 시스템을 소개하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.353-356
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• 2002

In vehicle accidents, the rolling, pitching, and yawing which are produced by collisions affect the motions of vehicle. Therefore, vehicle behavior under impact situation should be analyzed in three-dimension. In this study, three-dimensional vehicle dynamic equations based on impulse-momentum conservation principles under vehicle impact are introduced for simulation. This analysis has been performed by the real vehicle impact data from JARI and RICSAC. This study suggested each system modeling such as suspension, steering, brake and tire as well as the appropriate vehicle behavior simulation model with respect to pre and post impact.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.672-676
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• 2004

In this paper, measuring system of 5 DOF motion errors are proposed using two capacitive type sensor, a straight edge and a laser interfoerometer. Yawing error and pitching error are measured using the laser interferometer, and rolling error is measured by the reversal method using a capacitive type sensor. Linear motion errors of horizontal and vertical direction are measured using the sequential two point method. In this case, influence of angular motion errors is compensated using the previously measured angular motion errors. In the horizontal direction, measuring accuracy is within 0.05 $\mu$m and 0.27 arcsec, and in the vertical direction, it is within 0.15 $\mu$m and 0.5 arcsec. From these results, it is confirmed that the proposed measureing system is very effective to the measurement of 5 DOF motion errors in the ultra precision feed tables.

• 한국정밀공학회지
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• 제18권4호
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• pp.190-196
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• 2001

The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.

• 한국자동차공학회논문집
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• 제4권2호
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• pp.209-220
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• 1996

In this paper, dynamic performance of 4WD/4WS Electric-driven vehicles is investigated. A coupled dynamic model is introduced for longitudinal, lateral and yawing motion of 4WD/4WS vehicles. Based on the coupled model, dynamic performance is analyzed for steady-state steering, acceleration steering and brake steering, respectively. These non steady-state cornering analysis is important for non-paved road maneuvering, trajectory projection for armored vehicle and future AVCS(Advanced Vehicle Control System) technology. Simulation results are obtained based on a simulink module for the introduced model.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2142-2148
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• 2015

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2002년도 제18회 학술발표대회 논문초록집
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• pp.41-42
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• 2002

The powered missiles with very high thrust level can make highly underexpanded jet plume downstream of tile exhaust nozzle exit so that strong interactions between the exhaust plume and a free stream occur around the body at transonic or supersonic speeds. The interactions result in extremely complicated flow phenomena, which consist of plume-induced boundary layer separation, strong shear layers, various shock waves, and interactions among these. The flow characteristics are inherent nonlinear and severe unstable during the flight at its normal speed as well as taking-off and landing. Eventually, the induced boundary layer separation and pitching and yawing moments by the interactions cause undesirable effects ell the static stability and control of a missile.

• Wind and Structures
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• 제18권5호
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• pp.529-548
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• 2014

This article presents the unsteady aerodynamic performance of crosswind stability obtained numerically for the ATM train. Results of numerical investigations of airflow past a train under different yawing conditions are summarized. Variations of occurrence flow angle from parallel to normal with respect to the direction of forward train motion resulted in the development of different flow patterns. The numerical simulation addresses the ability to resolve the flow field around the train subjected to relatively large yaw angles with three-dimensional Reynolds-averaged Navier-Stokes equations (RANS). ${\kappa}-{\varepsilon}$ turbulence model solved on a multi-block structured grid using a finite volume method. The massively separated flow for the higher yaw angles on the leeward side of the train justifies the use of RANS, where the results show good agreement with verification results. A method of solution is presented that can predict all aerodynamic coefficients and the wind characteristic curve at variety of angles at different speed.

• 로봇학회논문지
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• 제8권4호
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• pp.229-237
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• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.