• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.6
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• pp.521-526
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• 2016

This paper suggests a new design that makes use of rotary inertia that can allow autonomous movement of an autonomous colonoscope robot in the colon of a patient as a locomotive mechanism. As commercial colonoscopy causes a lengthy time of pain and discomfort to the patients when colonoscopy patients are reluctant to receive surgery, there is a tendency to avoid the test in the early diagnosis of colorectal cancer. To solve this problem, research has been conducted on the next generation of robotic colonoscopes that can reduce the discomfort and pain by moving autonomously within the colon of the patients. In the driving mechanism utilizing the rotational inertia, a flywheel is driven by a motor to store energy and produce rotational inertia. By the energy stored and released by the flywheel, the stick phenomenon that occurs when the robot is running in the intestine can be overcome effectively. To do this, a controller that can control the velocity of the flywheel and is robust to high frequency noise was designed and implemented. The driving mechanism using the rotational inertia presented here showed that the structure is also effective and the experiment can be run easily compared to another mechanism.

• Journal of Korean Society of Steel Construction
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• v.9 no.4 s.33
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• pp.673-682
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• 1997

The main purpose of this paper is to investigate the effects of rotatory inertia and shear deformation on the natural frequencies of arches with variable curvature. The differential equations are derived for the in-plane free vibration of linearly elastic arches of uniform stiffness and constant mass per unit length. The governing equations are solved numerically for parabolic, circular and elliptic geometries with hinged-hinged, hinged-clamped and clamped-clamped end constraints. For each cases, the four lowest frequency parameters are presented as functions of the two dimensionless system parameters; the arch rise to span length ratio, and the slenderness ratio.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.2
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• pp.437-444
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• 2024

The rotational inertial navigation system can provide more accurate navigation information by mounting an IMU (Inertial Measurement Unit) on the gimbal and rotating the gimbal regularly to cancel out the errors of the IMU. However, when an attitude change occurs due to waves, the attitude error is not removed to 0 at the end of one cycle of the rotation procedure and causes a large position error. In this paper, considering this problem, we propose a method of stabilizing the external gimbal by rotating it based on the roll information of the vehicle. Based on simulation, the impact of waves is analyzed and the performance of external gimbal stabilization is verified.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2002.06a
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• pp.353-355
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• 2002

지금까지 회전운동을 선형운동으로 만들기 위해 많은 연구가 되어 실제장치의 특허는 1980년대부터 볼 수 있으나 분명한 이론적 근거가 없었다. 회전운동을 선형운동으로 만들기 위한 방법 중 한 가지를 소개한다. 회전중심의 팔에 관성질량이 달려 있으면 회전중심으로 회전 중 각 가속도를 강제로 제어발생시 작용 반작용에 의해서 관성질량에 순간 질량중심이 발생한다. 그 결과 계 전체의 질량중심에 순간회전 변위가 발생한다. 계의 질량중심의 회전변위를 한 방향이 되도록 각가속도를 적절히 제어하면 선형 선형적인 펄스 운동을 얻을 수 있다. 기존 실제 장치들의 운동특성을 참조하여 회전중심 과 순간질량 중심 및 계의 질량중심 관계의 모델을 세우고 수식 및 이론을 정의하여 해석한다.

• Composites Research
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• v.20 no.3
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• pp.43-49
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• 2007

Dynamic instability of rotating disks is the most significant factor to limit its rotating speed. Application of composite materials to rotating disks may enhance the dynamic stability leading to a possible design of rotating disks with lightweight and high speed. Whereas much work has been done on the effect of transverse shear and rotary inertia, called Timoshenko effect, on the dynamic behavior of plates, there is little work on the correlation between the effect and the rotation of disk, especially nothing in case of composite disks. The dynamic equations of a rotating composite disk are formulated with the Timoshenko effect and the vibrational analysis is performed by using a commercial package MSC/NASTRAN. According to the results, the Timoshenko effect goes seesaw in some modes, unlike the well-known fact that the effect decreases as the rotating speed increases. And it can be concluded, based only on the present results, that decrement of the Timoshenko effect by disk rotation grows larger as the thickness ratio decreases, the diameter ratio increases, the modulus ratio increases, and the mode number increases.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.14 no.1
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• pp.35-42
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• 2001

본 연구는 변화곡률 수평 곡선보의 면외 자유진동에 관한 연구이다. 뒴과 회전관성을 고려한 변화곡률 수평 곡선보의 자유진동을 지배하는 상미분방정식이 유도되었고, 이 지배미분방정식을 수치해석하여 곡선보의 고유진동수를 산출하였다. 지배미분방정식을 수치적분하기 위하여 Runge-Kutta method를 이용하였고, 고유진동수를 산출하기 위하여 Regula-Falsi method와 결합한 행렬값 탐사법을 이용하였다. 본 연구의 이론적 타당성을 검증하기 위하여 타문헌의 고유진동수와 비교하였고, 실험실 규모의 모형실험을 실시하여 이론값과 실험값의 고유진동수를 비교하였다. 수치해석의 결과로 무차원 재변수들의 변화에 따른 무차원 고유진동수를 제 3모드까지 산출하였고, 그 결과들을 고찰하였다. 본 연구의 결과는 곡선형 교량 등과 같이 곡선부재로 이루어진 구조물의 설계시에 유용하게 이용될 수 있을 것으로 기대된다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1181-1184
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• 2007

The differential equations governing free, in-plane vibrations of linearly elastic circular arches with rotationally flexible supports, including the effects of rotatory inertia, shear deformation and axial deformation, are solved numerically using the corresponding boundary conditions. The lowest four natural frequencies and the corresponding mode shapes are obtained over a range of non-dimensional system parameters: the subtended angle, the slenderness ratio, and the rotational spring stiffness.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.8
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• pp.649-656
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• 2016

Thick composite disks are utilized in the fast-rotating machines such as turbine disks, flywheels, and so on. The effects of rotating speed on the dynamic characteristics of thick composite disks are deeply studied in this paper. The dynamic governing equations of a rotating composite disk including transverse shear and rotary inertia are derived and then formulated into the finite element equation. Isotropic, circumferentially reinforced disk, and radially reinforced disk are selected for the numerical analysis. The inclusion of the transverse shear and rotary inertia into the governing equation of the rotating disks makes the natural frequency reduced as well as the critical speed. The present results show that the rotation of a thick disk may not reduce the effect of transverse shear and rotary inertia depending on anisotropy, thickness ratio and mode, unlike the results reported in other studies.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.357-358
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• 2008

본 논문은 GPS를 이용한 무인 비행체의 자율비행에 관한 연구를 다루었다. 비행체의 종류는 크게 고정익기와 회전익기로 나뉘는데 본 연구에서는 회전익기의 형태를 가진 Quarter Vehicle을 사용하였다. Quarter Vehicle은 4개의 프로펠러에 의한 양력과 회전 반발력으로 비행을 한다. 이때의 양력은 수평면에 대해 수직으로 추력을 발생시키므로 다른 비행체보다 불안정하며 이를 안정하게 제어하기 위해 관성 센서를 적용하여 균형을 유지한다. 본 연구에서는 UAV의 자세와 균형을 안정적으로 유지하기 위해 관성센서를 적용하였으며 GPS를 활용하여 독립적인 자율비행이 가능하도록 하였다. 정확한 위치정보를 제공하는 GPS는 3개 이상의 위성으로부터 시간 및 위치 정보를 받아 좌표를 계산하고 비행체의 위치, 속도 및 방향을 결정하여 자율 비행이 가능하도록 한다. 또한 초형 지자기센서를 비행체에 적용하여 GPS의 방향 정보를 보완하도록 하였다. 본 논문에서는 무인 비행체의 자율비행의 기초가 되는 위치좌표 계산을 위한 GPS의 적용 방법과 비행경로계획 알고리즘을 제시 한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1580-1588
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• 1997

A modeling method for the flapwise bending vibration of a rotating cantilever beam which has small slenderness ratio is presented in this paper. It is shown that as the slenderness ratio decreases the shear and rotary inertia effects increase. Such effects become critical for the accurate estimation of the natural frequencies and modeshapes, especially higher frequencies and modes, as the angular speed increases. It is also shown that the flapwise bending natural frequencies are higher than the chordwise bending natural frequencies. The discrepancy between first natural frequencies are especially significant when the hub radius ratio is small.