• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.258-263
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• 1991

Optimal configurations for redundant TDOF (Two Degree Of Freedom) sensor systems are proposed. The determinant of error covariance matrix is used as the performance index, and optimal configurations for 2 TDOF sensor system and 3 TDOF sensor system are evaluated by minimizing the index.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• Smart Structures and Systems
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• 제5권3호
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• pp.279-290
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• 2009

Two degrees of freedom resonant systems are employed to improve the resonant property of resonant sensor, as compared to a single degree of freedom resonant system. This paper presents design, development and testing of two degrees of freedom resonant sensor. To measure absolute mass, cantilever shaped two different masses (smaller/absorber mass and bigger/drive mass) with identical resonant frequency are mechanically linked to form 2 - Degree-of-Freedom (DOF) resonator which exhibits higher amplitude of displacement at the smaller mass. The same concept is extended for measuring differential quantity, by having two bigger mass and one smaller mass. The main features of this work are the 3 - DOF resonator for differential detection and the microcontroller based closed loop electronics for resonant sensor with piezoelectric sensing and excitation. The advantage of using microcontroller is that the method can be easily extended for any range of measurand.

• Earthquakes and Structures
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• 제13권3호
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• pp.231-239
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• 2017

Fundamental period is one of the most critical parameters affecting the seismic design of buildings. In this paper, a very simple approach is presented for estimating the fundamental period of multiple-degree-of-freedom (MDOF) structures. The basic idea behind this approach is to replace the complicated MDOF system with an equivalent single-degree-of-freedom (SDOF) system. To realize this equivalence, a procedure for replacing a two-degree-of-freedom (2-DOF) system with an SDOF system, known as a two-to-single (TTS) procedure, is developed first; then, using the TTS procedure successively, an MDOF system is replaced with an equivalent SDOF system. The proposed approach is expressed in terms of mass, stiffness, and number of stories, without mode shape or any other parameters; thus, it is a very simple method. The accuracy of the proposed method is investigated by estimating the fundamental periods of many MDOF models; it is found that the results obtained by the proposed method agree very well with those obtained by eigenvalue analysis.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.324-337
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• 1999

In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.

• 동력기계공학회지
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• 제10권1호
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• pp.12-18
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• 2006

A three-degree of freedom model of intake system was contrived and investigated in various ways for the purpose of the amelioration of the volumetric efficiency in a low and transient engine speed for a multi cylinder diesel engine. The basic concept beyond this model started from the theory that each degree of freedom model has volumetric efficiency peak as many as its number of the degree of freedom. The volumetric efficiency affects significantly to the engine performance; torque characteristics, fuel economy and emission level. For commercial vehicles and stationary engines, the engine is designed so as to produce their best performance near the normal engine speeds, thus the low engine speed area has a tendency of poor volumetric efficiency. The aim of this study was highlighted on the amelioration of volumetric efficiency of low engine speed area in a multi cylinder diesel engine matched with an additional Helmholtz resonator. By the use of VIS(variable induction system) volumetric efficiency at low engine speed range was significantly improved. The availability of control by combination of VIS and CIS(conventional induction system) will be proposed as a variable induction system that would be an appropriate model for amelioration of the volumetric efficiency at low engine speed.

• Ocean Systems Engineering
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• 제9권3호
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• pp.219-240
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• 2019

This paper presents the comparison between SFT response with linear and nonlinear cables. The dynamic response analysis of submerged floating tunnel (SFT) is presented computationally with linear and nonlinear tension legs cables. The analysis is performed computationally for two wave directions one at 90 degrees (perpendicular) to tunnel and other at 45 degrees to the tunnel. The tension legs or cables are assumed as linear and non- linear and the analysis is also performed by assuming one tension leg or cable is failed. The Response Amplitude Operators (RAO's) are computed for first order waves, second order waves for both failure and non-failure case of cables. For first order waves- the SFT response is higher for sway and heave degree of freedom with nonlinear cables as compared with linear cables. For second order waves the SFT response in sway degree of freedom is bit higher response with linear cables as compared with nonlinear cables and the SFT in heave degree of freedom has higher response at low time periods with nonlinear cables as compared with linear cables. For irregular waves the power spectral densities (PSD's) has been computed for sway and heave degrees of freedom, at $45^0$ wave direction PSD's are higher with linear cables as compared with nonlinear cables and at $90^0$ wave direction the PSD's are higher with non-linear cables. The mooring force responses are also computed in y and z directions for linear and nonlinear cables.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1996년도 가을 학술발표회 논문집
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• pp.78-85
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• 1996

The effect of vertical vibration of a beam is significantly influenced by higher modes of vibration. Therefore, a beam can be modeled using several elements must De used to represent a vibrating beam. As a result, analysis of a space framed structure for vertical vibration requires increase number of elements leading to more complicated model with many degree of freedom which requires large amount of computing resources for dynamic analysis. An efficient analysis method for vertical vibration of space framed structures are proposed in this paper which is presented in three method. The first method is to determine minimum nodes that shall be used to obtain dynamic response with the vertical vibration. Secondly, matrix condensation methods are introduced to reduce the computation efforts used to perform dynamic analysis and the selection of primary degree-of-freedom is proposed. The third method is of using the mass participation factor for the selection of primary degree-of-freedom.

• Journal of Electrical Engineering and Technology
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• 제8권1호
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• pp.130-136
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• 2013

This paper presents the magnetic equivalent circuit analysis of a double-excited, two-degree-of-freedom (DOF) motor. The double-excited, 2-DOF motor is a laminated structure, making it easy to manufacture and giving it simple operating principles. We explain the structure of the 2-DOF motor and analyze the static characteristics using a magnetic equivalent circuit (MEC) to reduce analysis time. The feasibility of MEC analysis was confirmed by experimental results of the tilting, panning motion. We also confirmed the occurrence of holding torque in every motion.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.1-8
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• 1997

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers robust stability of this 2DOF servosystem incorporating an observer to the structured and unstructured uncertainties of the controlled plant. A robust stability condition is obtained using Riccati inequality, which is written in a linear matrix inequality (LMI) and independent of the gain of the integral compensator. This result impies that if the plant uncertainty is in the allowable set defined by the LMI condition, a high-gain integral compensation can be carried preserving robust stability to accelerate the tracking response.