• Journal of Drive and Control
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• v.13 no.4
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• pp.59-67
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• 2016

This paper proposes a model-prediction-based collision-avoidance algorithm for excavators for which the recursive-least-squares (RLS) estimation of the excavator's rotational inertia is used. To estimate the rotational inertia of the excavator, the RLS estimation with multiple forgetting and two updating rules for the nominal parameter and the forgetting factors was conducted based on the excavator-swing dynamics. The average value of the estimated rotational inertia that is for the minimizing effects of the estimation error was computed using the recursive-average method with forgetting. Based on the swing dynamics, the computed average of the rotational inertia, the damping coefficient for braking, and the excavator's braking angle were predicted, and the predicted braking angle was compared with the detected-object angle for a safety evaluation. The safety level defined in this study consists of the three levels safe, warning, and emergency braking. The analytical rotational-inertia-based performance evaluation of the designed estimation algorithm was conducted using a typical working scenario. The results of the safety evaluation show that the predictive safety-evaluation algorithm of the proposed model can evaluate the safety level of the excavator during its operation.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.1-10
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• 2008

This study analyzed the rear foot angle of the supporting leg and the anatomical rotation angle of the kicking angle in soccer instep kick and drew conclusions as follows. When the supporting leg was landing on the ground, the valgus angle of the ankle joint reached the maximum peak, and plantar flexion was slightly different in the timing of the maximum peak between the two groups. The flexion angle of the rear foot was statistically significantly different between the two groups, and the movement of the crus on the landing of the supporting foot did not show a statistically significant difference between the groups. The crus leaned backward most before the impact, and the side to side gradient of the crus on impact was $22^{\circ}$. The flexion/extension of the hip joint of the kicking leg reached the maximum peak when the supporting foot was landing on the ground, and at the moment, the maximum extension angle of the hip joint was over $30^{\circ}$. The flexion angle of the knee joint of the kicking leg was largest after landing. While the maximum plantar flexion angle and maximum valgus angle of the ankle joint were not significantly different between the two groups, the maximum external rotation angle was significantly different.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.8
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• pp.583-591
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• 2014

The mathematical modeling on the free vibration and stability of a multi-stepped shaft of turbo compressor is performed in this study. The multi-stepped shaft is modeled as a non-uniform Timoshenko beam supported by anisotropic bearings. It is assumed that the shaft is spinning with constant speed about its longitudinal axis and subjected to a conservative axial force induced by front and rear impellers attached to the shaft. The structural model incorporates non-classical features such as transverse shear and rotary inertia. A structural coupling between vertical and lateral motions is induced by Coriolis acceleration terms. The governing equations are derived via Hamilton's variational principle and the equations are transformed to the standard form of an eigenvalue problem. The implications of combined gyroscopic effect, conservative axial force, bearing stiffness and damping are revealed and a number of pertinent conclusions are outlined. In this study analytical results are compared with those from ANSYS finite element analysis and experimental modal testing.

• Journal of the KSME
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• v.33 no.1
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• pp.22-32
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• 1993

본드선도는 물리적 등가가 적용되는 모든 상사 시스템을 대단히 조직이며 일관성 있게 모델링할 수있을 뿐만 아니라 시스템의 동적 방정식을 제어동역학 관점에 유리한 상태방정식으로 직접 유도할 수 있다. 또한 본드선도는 모델링 단계에서 무시된 각 요소들의 동적 특성 즉, 기계시스 템에서 회전축의 탄성처짐이나 운동 물체들 사이의 마찰 효과 전기 . 자기시스템에서 자속유출량, 그리고 유체 . 유압시스템에서 밀봉부분의 유량손실이나 압축성 유체 특성 등을 기곤에 구성된 본드선도의 변경 없이 각 특성들이 나타나는 본드상에 적절한 접합요소와 함께 단순히 첨가하여 고려할 수 있기 때문에 모델링 과정을 다시 반복하지 않고도 무시된 동적 특성들이 전체시스템에 미치는 영향을 파악할 수 있다. 특히 본드선도가 에너지 변환 장치나 에너지 유동 메카니즘이 복잡한 다에너지역 시스템 등에 거동이 전체시스템에 미치는 효과를 시각적으로 보다 세밀히 파악할 수 있을 뿐만 아니라 구성된 본드선도에 인과관계를 할당하여 본드선도의 접합요소를 통하여 유도된 최종적인 동적 방정식이 현실적으로 실현 가능한 물리시스템인지 파악할 수 있어 본드선도 모델링 단계에서 시스템을 묘사하는 동적 방정식의 옳고 그름을 평가할 수 있다. 이와 같이 본드선도는 기계, 전기 . 자기, 유체 . 유압, 열 시스템 및 이들이 조합된 복잡한 다에너지역 시스템 등을 효과적으로 모데링할 수 있는 매우 유용한 동적 시스템 모델링 방법이다.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.412-417
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• 2014

This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.2
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• pp.330-340
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• 2009

A naval shipboard inevitably movies in a pitch and roll direction under the influence of wave and wind in the sea. As a result, the shipboard gets in a continuous turning motion back/front and right/left. And the shipboard is also constantly exposed to many different kinds of disturbance signals including the vibrations of various frequencies from the internal equipments and their vibrations, strong waves, and impact from explosion. This paper formulates multi-body dynamic models similar to an actual system and simulates the pitch/roll positions of a 2-axes gimbals with PI controller for consecutive behavior of a naval shipboard including disturbance.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.259-264
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• 2011

Authors are carrying out a national project which develops an accuracy simulation technology of mechanical machines to predict the stiffness and accuracy of machine components or entire machine in the design stage. Analysis methods in this technology are generalized to achieve the wide applicability and to be utilized as a web based platform type. In this paper, outline of the project such as concept, aim and configuration is introduced. Contents of the research are also introduced, which are composed of four main research fields; structural dynamics, linear motion analysis, rotary motion analysis and control and vibration analysis. Finally, a future plan is presented which is made up with three stages for the advance toward an ultimate manufacturing tools.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.1 s.106
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• pp.12-18
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• 2006

This research investigates the electromechanical characteristics of a spindle motor in a free-falling mobile hard disk drive before unexpected shock. Electromechanical simulation includes a time-stepping finite element analysis of the magnetic field in a speed controlled brushless DC motor and dynamic analysis of the stationary and rotating part linked by the fluid dynamic bearing under the free-falling condition. Analysis results show that the dynamic characteristics of the rotating spindle system during free-falling state have an effect on the relative motion between the stationary and rotating part of HDD. It results from the variation of reaction force in the bearing area due to the gravity force exerted on the rotating part of HDD, and the free-falling condition can be detected by observing the signal of the spindle motor and disk-head interface without using an accelerometer.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.554-554
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• 2013

대기압 제트 플라즈마를 저주파(수-수십 kHz) 전압에서 구동 시, 일반적으로 '스트리머(streamer)'혹은 '플라즈마 총알(plasma bullet)'로 불리는 현상이 특정 운전조건에서 관찰된다. 본 연구에서는 동일 구조의 Ta, Ti, stainless steel, brass, Cu, Ni 전극을 이용하여 전극물질에 따른 대기압 제트 플라즈마의 특성 변화를 분석하였다. 각각의 물질은 서로 다른 이차전자방출계수, 일함수, 전기전도도 등 고유한 성질이 다르기 때문에 이들 전극을 이용하여 발생시킨 제트 플라즈마 역시 다른 특성을 갖는다. Acton SpectroPro750 분광기를 이용하여 얻은 플라즈마 방출광스펙트럼으로부터 구한 전자 여기온도(Texc=680~720 K)와 OH의 분자 회전온도(Trot=350~380K)는 물질에 따라 큰 변화를 보이지 않았으나, 발생된 스트리머 거동에서 큰 차이를 확인하였다. ICCD 카메라를 이용한 시간 분해된 이미지에서 전극물질에 따른 첫 번째 스트리머의 발생시간 및 스트리머 속력, 두 번째 스트리머의 분리시간이 모두 다른 것을 확인하였다. 제일 차이가 심하게 나타나는 Ti과 Cu의 경우 첫 스트리머의 발생시간 차이는 약 $1{\mu}s$이며, 평균속력 및 순간속력이 약 2 km/s 차이가 났다. 이 결과를 통해 물질의 이차전자방출계수 및 일함수가 대기압 제트 플라즈마에서 스트리머 발생에 영향을 주는 것을 알았고, 다른 전극물질을 사용한 제트 플라즈마의 특성이 다름에 따라 여러 응용에서의 결과에도 영향을 미칠 것이라생각한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.324-329
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• 2005

This research investigates the electromechanical characteristics of a spindle motor in a free-falling mobile hard disk drive before unexpected shock. Electromechanical simulation includes a time-stepping finite element analysis of the magnetic field in a speed controlled brushless DC motor and dynamic analysis of the stationary and rotating part linked by fluid dynamic bearing under the free-failing condition. Analysis results show that the dynamic characteristics of the rotating spindle system during free-falling state have an effect on the relative motion between the stationary and rotating part of HDD. It results from the variation of reaction force in the bearing area due to the gravely force exerted on the rotating part of HDD, and the free-failing condition can be detected by observing the signal of the spindle motor and disk-head interface without using the accelerometer.