• International Journal of Naval Architecture and Ocean Engineering
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• 제6권4호
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• pp.904-921
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• 2014

The main objective of this paper is to propose a new Finite Element (FE) model updating technique for damped beam structures. The present method consists of a FE model updating, a Degree of Freedom (DOF) reduction method and a damping matrix identification method. In order to accomplish the goal of this study, first, a sensitivity-based FE model updating method using the natural frequencies and the zero frequencies is introduced. Second, an Iterated Improved Reduced System (IIRS) technique is employed to reduce the number of DOF of FE model. Third, a damping matrix is estimated using modal damping ratios identified by a curve-fitting method and modified matrices which are obtained through the model updating and the DOF reduction. The proposed FE model updating method is verified using a real cantilever beam attached damping material on one side. The updated result shows that the proposed method can lead to accurate model updating of damped structures.

• 로봇학회논문지
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• 제6권1호
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• pp.78-85
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• 2011

This article investigates kinematic characteristics of a Sch$\ddot{o}$nflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.827-831
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• 2008

In this paper, kinematic analysis for a planar 3-DOF redundant stage which has four actuators is presented by using SimMechanics software package. SimMechanics is a block sets of the Matlab/Simulink package. The SimMechanics enables a simplified model for a complex kinematic mechanism, since kinematic relationship between joints and linkages for the kinematic chains are expressed as line vectors and block diagrams. Here, positional error and limit values of movement ranges of the stage are evaluated by using the SimMechanics. The validity of the kinematic characteristics model was compared with theoretical kinematic analyses for the 3-DOF stage.

• 센서학회지
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• 제11권4호
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• pp.191-199
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• 2002

This paper presents the design concept, theoretical investigation, and fabrication of a six-degree of freedom (6-DOF) turbulent flow micro sensor utilizing the piezoresistive effect in silicon. Unlike other flow sensors, which typically measure just one component of wall shear stress, the proposed sensor can independently detect six components of force and moment on a test particle in a turbulent flow. By combining conventional and four-terminal piezoresistors in Si (111), and arranging them suitably on the sensing area, the total number of piezoresistors used in this sensing chip is only eighteen, much fewer than the forty eight piezoresistors of the prior art piezoresistive 6-DOF force sensor.

• 한국군사과학기술학회지
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• 제15권4호
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• pp.398-403
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• 2012

This paper describes about the analysis of firing rebounding force exerted on the launching system supporting structure. The measured high pressure data at the launching tube is used as external force. The maximum firing rebounding force was occurred when the snubber of inner structure contacts the surface of wall in launching tube.

• 전기학회논문지
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• 제63권1호
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• pp.162-172
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• 2014

A three-dimensional dynamic model for simulating various motions of full vehicle is presented. The model has 16 independent degrees of freedom (DOF) consisting of three kinds of components; a vehicle body of 6 DOF, 4 independent suspensions equipped at every corner of the body, and 4 tire models linked with each suspension. The dynamic equations are represented in six coordinate frames such as world fixed coordinate, vehicle fixed coordinate, and four wheel fixed coordinate frames. Then these lead to the approximated prediction model of vehicle posture. Both lateral and longitudinal dynamics can be computed simultaneously under the conditions of which various inputs including steering command, driving torque, gravity, rolling resistance of tire, aerodynamic resistance, etc. are considered. It is shown through simulations that the proposed 3D model can be useful for precise design and performance analysis of any full vehicle control systems.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권4호
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• pp.301-311
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• 2016

This paper describes the whole procedures to determine ice-induced global loads on the ship using measured full-scale data in accordance with the method proposed by the Canadian Hydraulics Centre of the National Research Council of Canada. Ship motions of 6 degrees of freedom (dof) are found by processing the commercial sensor signals named Motion Pak II under the assumption of rigid body motion. Linear accelerations as well as angular rates were measured by Motion Pak II data. To eliminate the noise of the measured data and the staircase signals due to the resolution of the sensor, a band pass filter that passes frequencies between 0.001 and 0.6 Hz and cubic spline interpolation resampling had been applied. 6 dof motions were computed by the integrating and/or differentiating the filtered signals. Added mass and damping force of the ship had been computed by the 3-dimensional panel method under the assumption of zero frequency. Once the coefficients of hydrodynamic and hydrostatic data as well as all the 6 dof motion data had been obtained, global ice loads can be computed by solving the fully coupled 6 dof equations of motion. Full-scale data were acquired while the ARAON rammed old ice floes in the high Arctic. Estimated ice impact forces for two representative events showed 7e15 MN when ship operated in heavy ice conditions.

• 한국산학기술학회논문지
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• 제12권11호
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• pp.5219-5226
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• 2011

본 논문에서는 홈서비스 로봇인 맥봇 II(McBot II)의 빌트인(Built-in) 로봇 팔과 핸드를 설계한다. 이 빌트인 타입의 로봇 머니퓰레이터는 각각 3 DOF(Degree-of-Freedoms)의 로봇팔과 3 DOF의 로봇핸드로 구성되어 진다. 제한된 공간에서 인간과 함께 생활하는 홈서비스 로봇에 탑재되는 머니퓰레이터는 최소의 로봇 크기와 최대의 작업 공간이라는 상반된 설계 스펙이 요구되어 진다. 즉, 최소의 질량과 팔 길이에도 불구하고 효율적 작업을 위한 공간 확보가 필요한 것이다. 본 논문에서는 이와 같은 상반된 문제를 해결하기 위하여 수직 방향으로 움직이는 로봇 허리 구조와 수평방향의 전후방으로 이동할 수 있는 어깨 관절을 이용한 태스크 기반의 설계 방법을 제안한다. 또한, 양손 협업시스템인 로봇 핸드도 4절 링크 핑거를 이용한 작업 기반 설계를 시도한다. 끝으로 본 논문에서는 구현된 빌트인 머니퓰레이터의 실제 동작 실험을 통하여 그 성능을 확인한다.

• 한국해양공학회지
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• 제36권2호
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• pp.91-100
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• 2022

In general, the effect of roll motion is not considered in the study on maneuverability in calm water. However, for high-speed twin-screw ships such as the DTMB 5415, the coupling effects of roll and other motions should be considered. Therefore, in this study, the estimation of maneuverability using a 4-degree-of-freedom (DOF; surge, sway, roll, yaw) maneuvering mathematical group (MMG) model was conducted for the DTMB 5415, to improve the estimation accuracy of its maneuverability. Furthermore, a study on the change in turning performance according to the fin angle was conducted. To accurately calculate the lift and drag forces generated by the fins, it is necessary to consider the three-dimensional shape of the wing, submerged depth, and effect of interference with the hull. First, a maneuvering simulation model was developed based on the 4-DOF MMG mathematical model, and the lift force and moment generated by the side fins were considered as external force terms. By employing the CFD model, the lift and drag forces generated from the side fins during ship operation were calculated, and the results were adopted as the external force terms of the 4-DOF MMG mathematical model. A 35° turning simulation was conducted by altering the ship's speed and the angle of the side fins. Accordingly, it was confirmed that the MMG simulation model constructed with the lift force of the fins calculated through CFD can sufficiently estimate maneuverability. It was confirmed that the heel angle changes according to the fin angle during steady turning, and the turning performance changes accordingly. In addition, it was verified that the turning performance could be improved by increasing the heel angle in the outward turning direction using the side fin, and that the sway speed of the ship during turning can affect the turning performance. Hence, it is considered necessary to study the effect of the sway speed on the turning performance of a ship during turning.