• 한국항공우주학회지
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• 제33권3호
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• pp.57-64
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• 2005

2자유도 관성센서는 두 입력축이 기계적으로 연관되어 있기 때문에 해당하는 관성센서의 두 입력축에 동시에 고장이 발생할 확률이 매우 높다. 따라서 하드웨어 여분만으로 고장검출 및 분리를 수행하기 위해서는 최소한 4개의 관성센서를 사용하여야 한다. 2자유도 관성센서를 3개 중첩해서 사용하는 경우 기존의 하드웨어 여분기법으로는 고장검출은 가능하나 고장분리가 불가능하다. 본 논문에서는 이러한 문제점을 개선하기 위해서 비선형 필터인 Unscented Kalman Filter를 이용하여 얻은 정보를 해석적 여분으로 활용하여, 하드웨어 여분과 해석적 여분을 동시에 고려한 복합 고장검출기법을 제안하였다. 제안한 복합 고장검출기법의 성능을 검증하기 위해서 비선형 항공기 수치 시뮬레이션을 수행하였다.

• 대한지구과학교육학회지
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• 제3권1호
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• pp.65-75
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• 2010

The purpose of this study is to present a Freedom Inquiry Method by Revised Science Curriculum in 2007. This study introduced IIM(Independent Inquiry Method), PBL(Problem Based Learning), Small Inquiry Method, Science Notebooks, Project Learning Method about Freedom Inquiry Method. The results of this study are as follows: First, IIM(Independent Inquiry Method) is studying method in the inquiry process center. The inquiry process is composed of total 9 phases, inquiry subject really it is, detailed aim deciding, information searching, it searches, quest result it arranges, aim evaluation, the report making, it announces, it evaluates, it is become accomplished. Second, It is a studying method which it starts with the problem which is Problem Based Learning, study atmosphere creation phase, problematic presentation phase and sleep static problem solving the phase which it attempts, it is become accomplished with autonomous studying phase, coordinated studying and discussion studying phase, discussion resultant announcement studying phase, arrangement and evaluation. Third, Small Inquiry Method, Call it accomplishes the call grade of the students among ourselves 4~8 people degree where only the quest learning capability is similar within class. Also interaction and coordinated function of the members between it leads and the subject which is given in the group it cooperates and it solves with it is a quest method which arrives to aim of commonness. This method divides on a large scale in three parts, it becomes accomplished in programming phase, quest accomplishment and resultant announcement. Fourth, Science Notebooks learns a scientific contents and a scientific quest function and the possibility of decreasing in order to be, from the fact that the help which it understands. This planing, data searching, it searches, becomes accomplished with resultant arrangement, announcement and evaluation. Fifth, The Project Learning Method the studying person oneself studying contents, it establishes a plan and it collects it accomplishes process of etc. it evaluates it leads and a subject and information and with real life it is a method which it studies naturally from the learning environment inside which is similar. This is preliminary phase, project start, project activity and project arrangement.

• The Journal of Advanced Prosthodontics
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• 제13권6호
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• pp.343-350
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• 2021

PURPOSE. The success of an implant-prosthetic rehabilitation is influenced by good implant health and an excellent implant-prosthetic coupling. The stability of implant-prosthetic connection is influenced by the rotational tolerance between anti-rotational features on the implant and those on the prosthetic component. The aim of this study is to investigate the rotational tolerance of a conical connection implant system and its titanium abutment counterpart, in various conditions. MATERIAL AND METHODS. 10 preparable titanium abutments, having zero-degree angulation (MegaGen, Daegu, Korea) with an internal 5-degree conical connection, and 10 implants (MegaGen, Daegu, Korea) were used. Rotational tolerance between the connection of implant and titanium abutments was measured through the use of a tridimensional optics measuring system (Quick Scope QS250Z, Mitutoyo, Kawasaki, Japan) in the as-received condition (Time 0), after securing with a titanium screw tightening at 35 Ncm (Time 1), after tightening 4 times at 35 Ncm (Time 2), after tightening one more time at 45 Ncm (Time 3), and after tightening another 4 times at 45 Ncm (Time 4). RESULTS. The group "Time 0" had the lowest values of rotational freedom (0.22 ± 0.76 degrees), followed by the group Time 1 (0.46 ± 0.83 degrees), the group Time 2 (1.01 ± 0.20 degrees), the group Time 3 (1.30 ± 0.85 degrees), and the group Time 4 (1.49 ± 0.17 degrees). CONCLUSION. The rotational tolerance of a conical connection is low in the "as received" condition but increases with repetitive tightening and with application of a torque greater than 35 Ncm.

• Smart Structures and Systems
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• 제15권3호
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• pp.897-911
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• 2015

This study presents a novel approach based on advancements in Evolutionary Computation for data-driven modeling of complex multi-dimensional memory-dependent systems. The investigated example is a benchmark coupled three-dimensional system that incorporates 6 Bouc-Wen elements, and is subjected to external excitations at three points. The proposed technique of this research adapts Genetic Programming for discovering the optimum structure of the differential equation of an auxiliary variable associated with every specific degree-of-freedom of this system that integrates the imposed effect of vibrations at all other degrees-of-freedom. After the termination of the first phase of the optimization process, a system of differential equations is formed that represent the multi-dimensional hysteretic system. Then, the parameters of this system of differential equations are optimized in the second phase using Genetic Algorithms to yield accurate response estimates globally, because the separately obtained differential equations are coupled essentially, and their true performance can be assessed only when the entire system of coupled differential equations is solved. The resultant model after the second phase of optimization is a low-order low-complexity surrogate computational model that represents the investigated three-dimensional memory-dependent system. Hence, this research presents a promising data-driven modeling technique for obtaining optimized representative models for multi-dimensional hysteretic systems that yield reasonably accurate results, and can be generalized to many problems, in various fields, ranging from engineering to economics as well as biology.

• 대한조선학회논문집
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• 제48권3호
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• pp.267-274
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• 2011

This paper presents the results of prediction of maneuverability of KCS about 4 degree of freedom(DOF) including roll motion. The prediction is carried out by CPMC captive model test. The CPMC(Computerized Planar Motion Carriage) with captive model test equipment including roll moment gage is installed at Ocean Engineering Tank of MOERI. KCS is the container ship open to the world by MOERI. To predict the 4 DOF maneuverability of a ship some tests with roll angle are conducted. And the prediction results of maneuverability by simulation are compared with the results of free running model test. The simulation results agree well with those of free running model tests.

• 한국정밀공학회지
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• 제27권1호
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• pp.125-133
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• 2010

A versatile micro-robotic platform for micro/nano scale assembly has been demanded in a variety of application areas such as micro-biology and nanotechnology. In the near future, a flexible and compact platform could be effectively used in a scanning electron microscope chamber. We are developing a platform that consists of miniature mobile robots and a compact positioning stage with multi degree-of-freedom. This paper presents the design and the implementation of a low-cost and compact multi degree of freedom position sensor that is capable of measuring absolute translational and rotational displacement. The proposed sensor is implemented by using a CMOS type image sensor and a target with specific hole patterns. Experimental design based on statistics was applied to finding optimal design of the target. Efficient algorithms for image processing and absolute position decoding are discussed. Simple calibration to eliminate the influence of inaccuracy of the fabricated target on the measuring performance also presented. The developed sensor was characterized by using a laser interferometer. It can be concluded that the sensor system has submicron resolution and accuracy of ${\pm}4{\mu}m$ over full travel range. The proposed vision-based sensor is cost-effective and used as a compact feedback device for implementation of a micro robotic platform.

• 한국지반공학회논문집
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• 제29권3호
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• pp.29-40
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• 2013

본 논문에서는 얕은기초를 가지는 단자유도 구조물의 지진시 응답특성을 시간영역 비선형 유한차분해석을 이용하여 살펴보았다. 해석결과는 중력가속도 20g에서 시행된 동일한 제원을 가지는 동적원심모형실험 결과를 통하여 검증되었다. 검증결과 실험과 해석의 통제운동지점 경계조건 차이에서 발생하는 차이는 지반의 비선형 거동특성으로 발생하는 이력감쇠에 지반의 감쇠비를 추가하여 감소시킬 수 있었다. 이로부터 얻어진 구조물과 지반에서 계측된 가속도 시간이력 및 주파수대역 응답곡선 모두 유사한 결과를 나타내어, 시간영역 비선형 유한차분해석을 통한 지반-구조물 상호작용 해석의 신뢰성을 확보할 수 있었으며, 향후 동적원심모형으로 계측이 어려운 구조물의 잔류변위, 작용토압 등을 효과적으로 판단할 수 있을 것으로 사료된다.

• 한국전자통신학회논문지
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• 제17권3호
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• pp.507-514
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• 2022

가정에서 사람을 보조하기 위해 이동과 작업이 모두 가능한 모바일 매니퓰레이터의 필요성이 커지고 있다. 본 논문에서는 크기가 작고 낮은 가격으로 구성할 수 있는 모바일 매니퓰레이터를 개발하기 위해 모바일 로봇에 탑재할 수 있는 소형 매니퓰레이터 시스템을 개발하였다. 개발한 매니퓰레이터는 4자유도를 가지며, 끝단에 그리퍼와 카메라를 부착하여 물체의 인식과 인식한 물체에 대한 작업 수행이 가능하다. 개발한 매니퓰레이터는 수직 방향의 선형 이동이 가능하여 상대적으로 높이 위치한 사람의 손에 물건을 전달하거나 협업을 수행하는 데 유리하다. 개발한 매니퓰레이터의 4자유도 동작을 위한 4개의 액츄에이터를 매니퓰레이터의 베이스에 가깝게 배치하고 매니퓰레이터의 회전 관성을 줄임으로써 매니퓰레이터의 작업 중 안정성을 높이고 모바일 매니퓰레이터의 전복 위험을 낮추었다. 개발한 매니퓰레이터의 끝단에 위치한 카메라에서 RGB 영상을 획득하고 영상처리를 통해 물체를 인식하여 목표한 위치로 옮기는 픽 앤 플레이스 동작을 시험하였으며 로봇의 작업영역(workspace) 내에서 성공적으로 동작함을 확인하였다.

• Advances in aircraft and spacecraft science
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• 제3권2호
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• pp.197-209
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• 2016

The Spacecraft (S/C) numerical sine test-predictions are usually performed through Finite Element Method (FEM) Frequency Response Analysis (FRA), that is the hypothesis of steady-state responses to harmonic excitation to the S/C base is made. In the test practice, the responses are transient and may be significantly different from those predicted through FRA. One of the most significant causes of discrepancy between prediction and test consists in the beating phenomena. After a brief overview of the topic, the typical causes of beating are described in the first part of the paper. Subsequently, focus is made on the sine sweep rate effect, which often leads to have beatings after the resonance of weakly damped modes. In this work, the approach illustrated in the literature for calculating the sine sweep rate effect in the case of Single-Degree-Of-Freedom (SDOF) oscillators is extended to Multi-Degrees-Of-Freedom (MDOF) systems, with the aim of increasing the accuracy of the numerical sine test-predictions. Assumptions and limitations of the proposed methodology are detailed along the paper. Several assessments with test results are discussed and commented.

• Structural Engineering and Mechanics
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• 제90권3호
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• pp.313-323
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• 2024

Most of existing buildings in Mexico City are made of reinforced concrete (RC), however, it has been shown that they are very susceptible to narrow-band long duration ground motions. In recent years, the use of dual systems composed by Buckling Restrained Braces (BRB) has increased due to its high energy dissipation capacity under reversible cyclical loads. Therefore, in this work the behavior of RC buildings with BRB is studied in order to know their performance, specifically, the energy distribution through height and response transformation factors between the RC and simplified systems are estimated. For this propose, seven RC buildings with different heights were designed according to the Mexico City Seismic Design Provisions (MCSDP), in addition, equivalent single degree of freedom (SDOF) systems were obtained. Incremental dynamic analyses on the buildings under 30 narrow-band ground motions in order to compute the relationship between normalized hysteretic energy, maximum inter-story drift and roof displacement demands were performed. The results shown that the entire structural frames participate in energy dissipation and their distribution is independent of the global ductility. The results let propose energy distribution equations through height. Finally, response transformation factors between the SDOF and multi degree of freedom (MDOF) systems were developed aimed to propose a new energy-based approach of BRB reinforced concrete buildings.