• Journal of the Korean Society of Propulsion Engineers
• /
• v.16 no.3
• /
• pp.24-33
• /
• 2012

The present work has suggested the design methods of the bolt body for making the anti-releasing bolts and provided the changed properties of the bolt body after explosion. To prove this work, two models of the anti-releasing bolts, M10 and M20, are produced and the expansion properties of each model are experimentally obtained. This study verify that the expansion of the bolt body is reproducible and the expansion rate could be controlled by the combination of the design factors and the anti-releasing characteristics could be quantified. It also could provide the data that would be needed to make the bolts with the anti-releasing effect.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.6
• /
• pp.87-95
• /
• 2004

In this paper, an efficient method for modeling a dual-rotor type wind turbine generator system and simulation results are presented. The wind turbine is treated as a collection of several rigid bodies, each of which represents, respectively, main and auxiliary rotor blades, high/low speed shafts, generator, and gear system. Simulation software WINSIM is developed to implement the proposed modeling method and is used to investigate the transient and steady-state performance of the wind turbine system.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.5
• /
• pp.466-472
• /
• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.5
• /
• pp.63-71
• /
• 2003

In this paper we dicuss the dither-stripping methods by V-F(voltage to frequency) conversion of the output of angular velocity sensor which is for detecting the dither motion of the ring laser cavity. In this case, it is very important to evaluate the pulse-to-pulse scale factor between the ring lase output pulse and V-F output pulse, and also to compensate the zero offset of the V-F output pulse. In the case of the dither-stripping by the V-F conversion of angular velocity sensor output, there is a big angle uncertainty in the process of compensating the zero offset due to the dither noise for compensating the V-F output. By differential, the phase of the V-F output is changed. So, to compensate it, we change 90deg of the phase of angular velocity sensor output and delay half sampling time of the phase of ring laser output in advance. In this case the pulse-to-pulse scale factor can be evaluated by the standard deviation of each pulse. We can get the good result of the dither-stripping output by this angle differential method.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.5
• /
• pp.570-576
• /
• 2012

In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.3
• /
• pp.305-311
• /
• 2012

In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.

• The Magazine of the IEIE
• /
• v.5 no.2
• /
• pp.31-40
• /
• 1978

신경섬유는몸체 안에서 정보의 전달을 액숀 포텐셜(action potential) 형태의 신호(signal)에 의해 수행하고 있다. 우리 몸체에서 두뇌의 지령을 받아 어떠한 동작을 근육에 신경을 통하여 전달하는 것을 생각할 때 두뇌는 정보의 원천(source)으로서, 근육과의 신경접점은 리시버(receiver)로서, 신경섬유는 전화선으로서 간주될 수 있다. 그리고 몸체·안에서의 정보의 전달의 원리는 통신공학이론에 의하여 설명되어 질 수 있다. 저자는 생리학에 깊은 지식이 없어 전자공학분야에 종사 하시는 분들을 위해 이 재미있는 생물학적 현상을 설명할 수 있는 신경조직의 구조(mechanism)와 수학적 모델을 소개하고자 한다. 저자는 독자가 신경조직의 구조의 이해를 위해 액숀 포텐셜(action potential)의 구조를 소개하고 수학적 모델를 위해서는 호지킨-헉슬리 방정식 (Hodgkin-Huxley equation)과 케이불 방정식 (cable equation)을 설명하려고 한다.

• Journal of Biosystems Engineering
• /
• v.9 no.1
• /
• pp.1-4
• /
• 1984

노외차량(路外車輛)의 승차(乘車) 시뮬레이션을 위한 착석(着席) 상태(狀態)의 운전자(運轉者) 모델을 개발(開發)하였다. 운전자(運轉者) 모델은 머리, 몸체, 신부(腎部)로 크게 나누어 자유도(自由度) 3의 진동체로 가정(假定)하고 머리와 몸체, 몸체와 신부(腎部)는 각각 목과 장기(臟器)를 나타내는 탄성체로서 연결하였다. 또한 인체의 해부학적(解部學的) 구조(構造)와 일치(一致)하도록 머리와 신부(腎部)사이에는 척추(脊椎) 부분(部分)을 포함시켰다. 모델의 각 변수(變數)들은 기존(旣存)의 실험(實驗) 결과(結果)를 이용(利用)하여 머리부의 진동(振動)이 실험(實驗) 결과(結果)와 일치(一致)하도록 시뮬레이션 방법(方法)으로 결정(決定)하였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2008.04a
• /
• pp.161-162
• /
• 2008

침수의 경우에, 수중 비행체(UFV : Underwater Flight Vehicle)는 발라스트 탱크들의 내부를 고압 공기로 비워 내어 부상을 수행한다. 그런데, 기존의 blow-off 방법은 가벼운 침수일지라도 부상 후에는 몸체를 수면에 드러나게 한다. 이는 불필요한 임무 실패 또는 몸체 노출의 결과를 가져온다. 따라서, 부상 제어에 의해 침수 및 부상에 의한 오버슈트 심도를 감소시킴과 동시에 몸체를 수면 근처에 유지시키는 것이 필요하다. 이 문제를 해결하기 위해서 전문가 지식 및 FBFE(Fuzzy Basis Function Expansion)를 사용하는 부상 제어 알고리즘이 제안되었다. 제안된 알고리즘의 성능 검증을 위한 시뮬레이션 결과는 제안된 알고리즘이 UFV 부상 제어 시스템에 존재하는 문제점들을 효과적으로 해결하고 있음을 보여준다.

• Journal of the Korea Computer Graphics Society
• /
• v.29 no.5
• /
• pp.1-9
• /
• 2023

The control technology of animatronics is an interesting topic explored in various fields, including engineering, medicine, and art, with ongoing research efforts. The conventional method for controlling the movement of animatronics is to use electric motors installed inside the body. However, this method is difficult to apply when expressing a narrow space inside the body. In this study, a method of using external forces instead of installing mechanical devices inside the body was proposed to control the movement of a thin and long tentacle organism. Specifically, in this study, the joint body of animatronics was made of magnetic metal material so that it could be affected by the force of an externally installed electromagnet. The strength of the electromagnet was controlled by a PID controller to enable real-time control of the position of the animatronics body. In addition, the magnet was made to rotate, and the speed of rotation was changed to create various movements. Through virtual environment simulations, our experiments demonstrate the superiority of the proposed method, showcasing real-time control by users and the creation of animations in various styles.