• 한국소음진동공학회논문집
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• 제20권7호
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• pp.637-643
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• 2010

The paper is about the development of 6-DOF active vibration isolation systems using VCM. Firstly, formulate the vertical 3-DOF mathematical model under eccentric load, and compare the model with the case in which the center of mass is located at the centroid. And then, complete the 6-DOF mathematical model by formulating the horizontal 3-DOF mathematical model. Find main parameters by comparing the result of the frequency response test with simulation result on the model. Finally, achieve the performance of vibration isolation by applying loop shaping approach & feedforward controller.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1035-1043
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• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.958-964
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• 2015

This paper implements a model of a double excited three-degree-of-freedom motor (3-DOF) coupled with a PI current controller for position control. The rotational trends of the rotor according to the applied steps are identified using a motion equation. The simulation model is a complete electrical and mechanical model of a 3-DOF motor, which mainly consists of mechanical torque equations, a nonlinear equivalent magnetic circuit, and a PI current controller. This machine is tested using the manufactured control board using the same conditions as in the simulation, where the experimental results also verify the accuracy of the simulation results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.105-106
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• 2007

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.92-92
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• 2000

Helicopter offer the signigicant advantage over traditional air vehicles, in that the provide extended maneuverability, such as vertical climb, hovering, longitudinal and lateral flight, hovering turns and bank turns. But helicopter have the strong cross couplings and nonlinearities for each lateral, longitudinal and rotational motion mutually. However, it is possible to ignore this couplings for the hovering condition, so using this properties we can control the attitude of helicopter. That is, by implementing the dynamic of each rotational axis(roll, pitch, yaw) of independent mutually, 3-DOF(degree of Freedom) attitude control for the helicopter is possible. In this paper, we identify decoupled input-coutput relations of each three rotational axis about the helicopter mounted on the 3-DOF gimbal by experiment, and on these basis implement 3-DOF attitude controller using the PID control method.

• 전자공학회논문지
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• 제51권7호
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• pp.169-179
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• 2014

본 논문에서는 서로 다른 광학적 특성을 가지는 3차원 카메라의 내부 변수 값을 자동으로 결정하여 스테레오 영상의 심도를 일치시키는 기술을 제안한다. 3차원 카메라에서 획득한 스테레오 영상에서 물체의 크기가 다르거나 심도의 차이가 큰 경우에 사람의 눈은 시각적 피로감을 느끼게 된다. 획득된 좌, 우 영상에서 물체의 크기가 동일하도록 카메라의 줌(zoom)을 LUT(Look Up Table)을 이용하여 일치시키고 피사체까지의 거리에 따라 전방심도와 후방심도의 범위를 결정한다. 이들을 이용하여 렌즈의 F-값을 결정하고 카메라의 광학 특성값을 자동으로 조절함으로써 스테레오 영상의 심도를 일치시킨다. 주-부 방식의 3차원 카메라와 GUI 소프트웨어를 통한 실험을 통하여 제안한 방법으로 스테레오 영상의 심도를 자동으로 일치시킬 수 있음을 보였다.

• Structural Engineering and Mechanics
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• 제40권5호
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• pp.637-654
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• 2011

The present paper studies the variation of the natural frequencies and mode shapes of rectangular plates carrying a three degree-of-freedom spring-mass system (subsystem), when the subsystem changes (stiffness, mass, moment of inertia, location). An analytical approach based on Lagrange multipliers as well as a finite element formulation are employed and compared. Numerically reliable results are presented for the first time, illustrating the convenience of using the present analytical method which requires only the solution of a linear eigenvalue problem. Results obtained through the variation of the mass, stiffness and moment of inertia of the 3-DOF system can be understood under the effective mass concept or Rayleigh's statement. The analysis of frequency values of the whole system, when the 3-DOF system approaches or moves away from the center, shows that the variations depend on each particular mode of vibration. When the 3-DOF system is placed in the center of the plate, "new" modes are found to be a combination of the subsystem's modes (two rotations, traslation) and the bare plate's modes that possess the same symmetry. This situation no longer exists as the 3-DOF system moves away from the center of the plate, since different bare plate's modes enable distinct motions of the 3-DOF system contributing differently to the "new' modes as its location is modified. Also the natural frequencies of the compound system are nearly uncoupled have been calculated by means of a first order eigenvalue perturbation analysis.

• 산업기술연구
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• 제21권A호
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• pp.81-88
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• 2001

In this work, we have developed a 2 degrees of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two AC servo meters that drive the roll and pitch motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.37.6-37
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• 2002

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a 2-dimensional plane. In this research, a new class of an omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve...

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.447-449
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• 2004

We proposed the method of the production of the humanoid biped robot and apply the A* path finding algorithm, for that robot mainly used in game and mobile robot, to avoid obstacles at real time. Actually we made the robot which has 20 DOF, 12 DOF in the two legs, 6 DOF in the two arms and each 1 DOF in the neck and waist, to realize human motions with minimal DOF, And we use the CATIA V5 for 3D modeling design and simulate.