• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.154-161
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• 1997

This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.6
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• pp.529-534
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• 2014

Pyrotechnic devices are widely used for space appendages. However, a cube satellite requirements do not permit the use of explosive pyrotechnic device. A nichrome burn wire release has typically been used for holding and release of deployable appendages of the cube satellite due to its simplicity and low cost. However, relatively low mechanical constraint force and system complexity for application of multi-deployable systems are disadvantages of the conventional mechanism. To overcome these drawbacks, we developed a hinge driving segmented nut type holding and release mechanism based on the nichrome burn wire release. The functional performance of the mechanism has been verified through release function test, static load test and shock level measurement test.

• Proceedings of the Korean Vacuum Society Conference
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• 2000.02a
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• pp.200-200
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• 2000

AC-PDP의 구동은 인가되는 Pulse의 파형에 의하여 결정된다. 이번 실험은 AC-PDP의 Subfield 파형중 Sustain 부분 첫 번째 Pulse의 폭(Width)에 변화를 주어 다음 Suatain Pulse 기간동안의 전기 광학적 특성을 구속 카메라와 전류의 변화를 통하여 측정하였으며 Sustain Pulse의 Rising Time을 변화 시켜 방전특성을 측정하였다. 이를 통하여 적합한 Sustain 구간의 초기조건을 예측하였으며, 적합한 Sustain Pulse를 찾아가는 실험 방법을 찾고자 하였다.

• Geotechnical Engineering
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• v.3 no.3
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• pp.21-30
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• 1987

Some methods are presented to estimate the ultimate lateral resistance of single active piles subjected to lateral loads above the ground surface, considering the lateral soil reaction, the pile length and the fixity condition of a pile head. The lateral soil reaction acting on a single active pile embedded in soil due to pile movement can be estimated by use of a theoretical equation which is derived by considering especially the plastic state of ground surrounding the pile and the pile- section shape. The piles are named short or long depending upon the relative magnitude of the induced bending moment to the yielding moment. As for the fixity condition of a pile head, the free head and the unrotated head are considered. Comparison with other experimental results gives that the calculated ultimate lateral resistance obtained by the author's theory is closer to experimental results than the one obtained by Brom's theory.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.731-738
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• 2013

This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

• Journal of the Korean Institute of Telematics and Electronics
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• v.12 no.4
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• pp.15-20
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• 1975

The power overshoot is rises in the output during the transient period when the output of nuclear reactor is increased from the initial state to the desired target state and certain amount of constraint on power level is of primary importance for safety control of nuclear reactor. Therefore, the maximum principle is applied to this process control in transfering its power from the initial state(no, co) to the final target state(2no, 2co or 1.5no, 1.5co), adjusting the reactivity so that its overshoot is limited within the allowable constraint required. In this case, the switching points, switching times, optimal lima and optimal control reactivity are calculated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.178-182
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• 2012

PEAT(Procedure/airspace Efficiency Assessment Tool) evaluates the efficiency of the flight procedures designed by Procedure and Airspace Design Program, such as fuel consumption fight time, flyability, noise footprint and etc. For noise footprint analysis among the efficiency metrics, the input generation module for INM(Integrated Noise Model) was designed in this research. The INM input files shall contain the information about aircraft types, noise model, airport and runway configuration, number of flights, flight routes, and also should be satisfied with the exact file formats for input data, since INM is not originally executable with file inputs. Therefore, it has been designed to convert the input data given in XML file to DBF. In this paper, the design result of the module which has functionalities to generate appropriate input file for INM, and to convert and save the analysis results from INM, is presented.

• Journal of Aerospace System Engineering
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• v.16 no.3
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• pp.63-72
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• 2022

The purpose of this paper was to understand the dynamics of deployment of large mesh antennas, and to provide a numerical method for determining the dynamic stiffness and the driving forces for the design. The deployment structure was numerically modeled using the frame elements. The eigenvalue analysis was demonstrated, with respect to the folded and unfolded configurations of the antenna. A multibody dynamic model was formulated with Kane's equation, and simulated using the pseudo upper triangular decomposition (PUTD) method for resolving the constrained problem. Based on the multibody model, the kinetics of the deployment, the motor driving forces, and the feasibility of the designed deployment structure were investigated.