• 한국CDE학회논문집
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• 제21권1호
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• pp.90-98
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• 2016

When ships and offshore plants are flooded or the floating crane is equipped with a heavy object, these floating structures are excessively inclined. In this case, immersion, heel, and trim affecting the hydrostatic restoration performance are very large and are coupled each other. In this paper, in order to calculate a static equilibrium position of floating structures with excessive inclination, the nonlinear governing equations were constructed by sequential linearization. In the governing equation, the immersion, heel, and trim are fully coupled, and the equations are represented using a plane area, a primary moment, and a moment of inertia of the water plane area. Therefore, it is possible to calculate the additional factor related the water plane area for estimating stability. Position and orientation of the floating structure are obtained by iterative calculation. The calculated results are compared with the previous studies in the aspect to the performance and the accuracy.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.573-578
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• 2004

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure force is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The $6{\times}6$ Cartesian stiffness matrix is obtained, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, a 3-UPU parallel manipulator is used as an example to demonstrate the methodology.

• 대한기계학회논문집A
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• 제29권5호
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• pp.680-688
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• 2005

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure farce is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an it_DOF parallel nipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The 6x f Cartesian stiffness matrix is derived, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, the 3-UPU, 3-PRRR, and Tricept parallel manipulators are used as examples to demonstrate the methodology.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.409-414
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• 2007

Nowadays, with the advancement of computational mechanics, and vehicle dynamics simulation linked up with virtual testing laboratory(VTL) and virtual proving ground(VPG) technologies has become a useful method for analyzing numerous driving performances and diverse noise/vibration characteristics. In this paper, the analytical vehicle model based on multi-body dynamics theory was developed to investigate the vibration characteristics according to various road conditions. For the purpose, the whole vehicle parameters, each vehicle's part parameter, and part connecting elements such as spring, damper, and bush were measured by an experiment. Also, the vehicle dynamics model, which includes the front suspension, rear suspension, steering, front wheel, rear wheel, and body subsystems has been constructed for computer simulation. With the developed vehicle dynamics model, three forces and three moments measured at each wheel center were applied to evaluate and analyze dynamics and vibration characteristics for miscellaneous road conditions.

• 한국정보전자통신기술학회논문지
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• 제4권1호
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• pp.3-8
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• 2011

본 논문은 실험영상이 학습영상에 대해 조명의 차이가 있는 경우에도 데이터베이스 안에서 누구인지를 식별하는 얼굴인식 방법을 제안하였으며, 또한 HMM과 KLT를 이용한 얼굴인식 알고리즘의 수행결과를 비교, 분석하였다. 얼굴인식 방법으로 측정벡터는 직교변환(Karhuman Loevs Trans-form : KLT)의 상관관계를 이용하여 얻은 HMM의 정역학특성을 사용하여 HMM 기존의 얼굴인식 방법에서 인식률을 개선하였으며, 실험결과로써 조명의 조건에 따른 여러 가지 복잡한 주변 상황변화에서도 제안된 방식의 효율성을 입증할 수 있었다.

• 로봇학회논문지
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• 제15권4호
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

• Composites Research
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• 제13권6호
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• pp.55-62
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• 2000

실제 구동 시 가장 취약한 부분인 탄소/탄소 브레이크 로터 디스크에 대해 강도실험을 수행하였다. 이 실험을 위해 탄소/탄소 브레이크 디스크 정적 강도 실험을 할 수 있는 시험 치구를 상용 유한요소 프로그램인 NISA를 이용하여 설계 제작하였다. 실제 동역학적인 구동 상태를 정역학적으로 묘사하기 위해 브레이크 디스크의 마찰면을 고정시킨 후 실제의 하중방향과 동일한 방향으로 하중을 로터 슬롯에 가하여 브레이크 디스크의 강도를 측정하였다. 또한 파손시 나타나는 파손 메카니즘은 키와 로터슬롯의 접촉부위에서부터 시작되는 모재 파손에 이은 층간 분리가 나타났고, 하중이 더욱 증가하자 로터슬롯의 노치 부분에서 최종파손으로 이어졌다.

• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.200-208
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• 1999

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

• 한국진공학회지
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• 제17권5호
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• pp.381-386
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• 2008

W(110) 표면에 성장한 Co 박막에서 원자 정역학을 주사터널링 현미경으로 연구했다. 원자섬의 개수 밀도를 측정하여 원자 확산 계수의 비를 알 수 있었다. W(110) 표면, Co가 1 원자층 성장된 표면, Co가 2 원자층 성장된 표면의 원자 확산 계수의 비는 상온에서 1:124:33000인 것으로 측정되었다. Co가 2 원자층 성장된 표면의 확산 계수가 Co 가 1 원자층 성장된 표면의 확산 계수보다 큰 것은 이종성장의 스트레인 효과로 인한 것으로 해석되었다.

• 한국전산구조공학회논문집
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• 제22권4호
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• pp.331-334
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• 2009

본 논문에서는 원자적 계산(atomistic calculation)을 위한 해석적 모델로 surface relaxation model을 제시한다. 기존의 분자정역학(molecular statics)이 모든 원자의 위치를 자유도로 선정하여 사용하는데 반하여, 이 모델은 면내방향에 해당하는 두 개의 자유도로 나노박막의 원자 위치를 기술하는 매우 간단한 방법이다. 본 연구에서는 surface relaxation model을 이용하여 표면응력(surface stress)과 표면강성계수(surface stiffness tensor)와 같은 표면인자(surface parameter)의 계산을 수행하고, surface stress model을 이용하여 평형상태에서의 원자의 위치정보를 계산한다. 그리고 surface relaxation model을 검증하기 위하여 분자동역학 전산모사(molecular dynamics simulation)의 수치 결과가 제시되며, 본 연구에서 계산한 equilibrium strain과 비교 검증한다.