• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.300-305
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• 2007

This study developed a human robot master arm, which has a structure similar to the human arm, with the object of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot master arm in order to test its interlocking, continuous notions and reliability.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.12
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• pp.1333-1342
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• 1992

This paper deals with a robot manipulator having actuator which is described by equation $D(q)\ddot{q}=u-P(q\;\dot{q},\;\ddot{q})$ where u(t) is a control input. We employ two steps of controller design procedures. First, a global linearization is performed to yield a decoupled controllable linear system. Then a controller is designed for this linear system. We provide a rigorous analysis of the effect of uncertainty of the dynamics, which we study using robustness results in time domain based on a Lyapunov equation and the total stability theorem. Using this approach we simulate the performance of controller of a robot manipulator.

• Proceedings of the KAIS Fall Conference
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• 2006.05a
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• pp.200-202
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• 2006

본 논문에서는 포탄의 탄두를 본체와 분리, 움직임이 가능한 형태로 부착하여 탄착점의 정확도를 향상시키는 가능성에 대하여 검토하였다. 포탄의 탄착점은 대포의 형상, 제작공차, 제어시스템 그리고 발사체의 제작공차 등 여러 변수의 함수이다. 탄두를 분리하여 탄두부분이 추가적인 3자유도의 운동을 할 수 있도록 허용함으로써 그러한 불확실성을 해소할 수 있도록 시도하고자 하였다. 시뮬레이션을 통하여 가변탄두를 갖는 발사체가 탄두부분의 피치(pitch)와 요(yaw) 회전운동을 통하여 발사 초기의 불확실성을 흡수할 수 있음을 확인하였다.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.372-373
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• 2013

본 논문에서는 전기자동차의 효율적인 구동을 위해 3상 전압 형인버터를 기존 삼각파비교방식의 PWAM 기법을 탈피하고 공간벡터 비교방식의 새로운 PWAM 기법을 제안한다. 공간벡터 변조방식의 장점인 자유도가 높은 특징을 살려 3상 전압형 인버터의 스위칭절환이 최소로 이루어지도록 벡터인가시간과 스위칭 룩업테이블을 설계하고, 시뮬레이션 및 실험 해석을 통해 유효성을 검증한다.

• Radiation Oncology Journal
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• v.26 no.3
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• pp.181-188
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• 2008

Purpose: In order to enhance the efficiency of respiratory gated 4-dimensional radiation therapy for more regular and stable respiratory period and amplitude, a respiration training system was designed, and its efficacy was evaluated. Materials and Methods: The experiment was designed to measure the difference in respiration regularity following the use of a training system. A total of 11 subjects (9 volunteers and 2 patients) were included in the experiments. Three different breathing signals, including free breathing (free-breathing), guided breathing that followed training software (guided-breathing), and free breathing after the guided-breathing (post guided-breathing), were consecutively recorded in each subject. The peak-to-peak (PTP) period of the breathing signal, standard deviation (SD), peak-amplitude and its SD, area of the one cycle of the breathing wave form, and its root mean square (RMS) were measured and computed. Results: The temporal regularity was significantly improved in guided-breathing since the SD of breathing period reduced (free-breathing 0.568 vs guided-breathing 0.344, p=0.0013). The SD of the breathing period representing the post guided-breathing was also reduced, but the difference was not statistically significant (free-breathing 0.568 vs. guided-breathing 0.512, p=ns). Also the SD of measured amplitude was reduced in guided-breathing (free-breathing 1.317 vs. guided-breathing 1.068, p=0.187), although not significant. This indicated that the tidal volume for each breath was kept more even in guided-breathing compared to free-breathing. There was no change in breathing pattern between free-breathing and guided-breathing. The average area of breathing wave form and its RMS in postguided-breathing, however, was reduced by 7% and 5.9%, respectively. Conclusion: The guided-breathing was more stable and regular than the other forms of breathing data. Therefore, the developed respiratory training system was effective in improving the temporal regularity and maintaining a more even tidal volume.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.185-192
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• 2005

The aim of this paper is to analyze handling qualities of tiltrotor aircraft(TR-S4) in helicopter flight mode including hovering and forward flight. Analysis of handling qualities is composed of aircraft response to control inputs that effect on stability and controllability. In short term response analysis, bandwidth is the critical parameter for small amplitude motions since it relates to the ability of a pilot to crisply start and stop maneuver. The handling qualities of TR-S4 in helicopter mode are analyzed with a SAS and an attitude controller and are satisfied level 1 in almost criteria with simulation of TR-S4 6-DOF nonlinear model.

• Journal of Korean Society of Steel Construction
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• v.9 no.1 s.30
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• pp.23-36
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• 1997

교량(橋梁)의 동적응답(動的應答)을 파악하기 위해서는 노면(路面)조도에 의해 영향을 받는 차량의 거동 파악이 중요하게 된다. 최근, 교량의 상판(床版)등에서 발생되는 피로(疲勞)의 영향에 대한 관심이 고조되어 서서히 교통진동의 3차원 모델링에 대한 중요성이 대두되고 있다. 이에 본 연구에서는 교량에 발생되는 교통진동(交通振動)의 영향을 좀더 정확히 표현하기 위하여 3차원 해석 방법을 제시한다. 해석방법으로 유한 요소법이 이용되었고, 차량 모델링은 하나의 전축(煎軸)과 두 개의 후축(後軸)을 갖는 8자유도계(自由度系) 차량 모델을 이용하여 수치 시뮬레이션을 수행하였다. 동적(動的) 연립미분방정식(聯立微分方程式)의 해법에서는 Newmark-${\beta}$법(法)을 이용하였고, 가상 노면요철(凹凸)모델링에서는 정상불규칙과정(定常不規則過程)으로 가정하여 노면 요철(凹凸)을 생성하여 시뮬레이션에 사용하였다. 또한 실제 차량 및 교량에서의 실측치와 비교하여 모델의 검증을 수행하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.3
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• pp.217-225
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• 2013

Typical quadrotor aircraft use four differential thrust vectors to control the motion. In this study, we design a quadrotor aircraft using collective and cyclic control to improve the shortcomings of existing quadrotor aircraft. The quadrotor aircraft with cyclic control can fly at various attitudes due to the excessive control degrees of freedom. Hence the quadrotor aircraft with cyclic control is suitable as high performance aircraft. In this study, modeling and stability analysis of the quadrotor aircraft have been performed using FLIGHTLAB. LQR control systems were designed using linear models at various flight conditions and verified through nonlinear simulations using MATLAB.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.3
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• pp.173-180
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• 2022

The operation and transportation environment for an unmanned aerial vehicle will be completely different from those for the conventional air and ground transportation. The requirement for a traffic management system for its safe operation has been emerging. Accordingly, investigation is being conducted to analyze the danger that unmanned aerial vehicle may encounter during the flight and to provide the countermeasure by the simulation. When the drones operate in an urban environment, they may be affected by the wind around the building. Thus it is essential to predict the influence of the gust and analyze the resulting risk. In this paper, a method for evaluating the safety for a flight mission under the gust is suggested. By using the precise 6-degree-of-freedom flight simulation that is capable of simulating the gust condition, possible deviation from the pre-planned flight path in terms of the attitude orientation will be predicted. A method of quantifying the probability of the flight mission failure will also be presented.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.1
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• pp.27-32
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• 2003

Under the assumption of potential flow, free-surface flow around a hydrofoil is calculated by the high-order spectra1!boundary-integral method, This method is one of the most efficient numerical methods by which the nonlinear interactions between hydrofoil and free-surface can be simulated in time-domain. In this method. the wave potential which represents the nonlinear evolution of free-surface is solved by the high-order spectral method and the body potential which provides the effects of hydrofoil and shed vortex is solved by the boundary-integral method. The calculated free-surface profiles which are generated by a uniformly translating hydrofoil are compared with other experimental results. And they show relatively good agreements each other. As another example, free-surface flow generated by a heaving and translating hydrofoil is calculated and discussed.