• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.1
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• pp.42-54
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• 2009

Contrast to the 6-DOF nonlinear dynamic modeling of nonlinear tracking problem, 3-DOF point-mass modeling of flight mechanics is efficient and adequate for applying the trajectory optimization problem. There exist limitations to apply an optimal trajectory from point-mass modeling as a reference trajectory directly to conduct the nonlinear tracking control, In this paper, new matching trajectory optimization scheme is proposed to compensate those differences of mismatching. To verify performance of proposed method, full ascent three-dimensional flight trajectories are obtained by reflecting the real constraints of flight conditions and airship performance with and without jet stream condition. Then, they are compared with the optimal trajectories obtained from conventional method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1045-1053
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• 2009

Precision stages for 6-DOF positioning, actuated by PZT stacks, which are fed back by gap sensors and guided by flexure hinges, have enlarged their application territory in micro/nano manufacturing and measurement area. The precision stages inherently have such limitations as the nonlinearity between input and output in piezoelectric stacks, feedback signal noise in precision capacitive gap sensors and low material damping in precision kinematic linkages of mechanical flexures. To surmount these limitations, the precision stage is modeled with physics-based variables, which are identified by transient response correspondence, and a gain margin calculation algorithm using the Prandtl-Ishlinskii model and describing function is newly developed to assess system performance more precisely than linear controller design schemes. Based on such analyses, a precision positioning controller is designed. Excellent positioning accuracy with rapid settlement accomplished by the controller is shown in step responses of the closed-loop system.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.59-66
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• 2010

We developed a model-based controller for 6-DOF micropositioning of a precision stage using $H_{\infty}$ norm, For the design, a state-space system of the mathematical model of the stage is derived In developing the controller, weighting functions are effectively designed in consideration of upper bounds of the sensitivity of the control loop and control input. Step responses in open and closed loop control are provided to verify the micropositioning performance of the stage. By applying the developed controller we prove that the inverse of the weighting function forms the upper bound of the control loop. It is also found that the controller makes the same sensitivity shape with all the DOFs due to the use of $H_{\infty}$ norm. The developed controller is expected to be applied successfully for industrial use.

• Journal of Drive and Control
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• v.19 no.2
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• International Commerce and Information Review
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• v.13 no.2
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• pp.235-258
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• 2011

Our country is operating designating the 6 free economic zones. Korea has designated fixed areas as economic special zones and made their management and living conditions equivalent to the level of advanced countries they are to support. One-Stop Service for the administrative demands that require the assistance at a national level in foreign investment, education, finance etc. However, these free economic zones are modified by regional development projects rather than inviting foreign capital. For the free economic zones to be operated effectively, the following methods should be followed: first, active management support activities should be constructed for the purpose of attracting foreign capital, second, a business model specifically designed to attract foreign capital should be implemented, third and finally, the independence and professionalism for the free economic zones should be strengthened.

• Journal of the Korean Chemical Society
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• v.24 no.3
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• pp.250-258
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• 1980

Various radicals may add to isonitriles to give imidoyl radcals RN=CR'. This may be also generated via abstraction of imidoyl hydrogen from imine in the following manner: RN=CR' ＋ R"${\cdot}{\rightarrow}$ RN=CR' ＋ R"-H Imidoyl radicals would be stabilized via two pathways, ${\beta}$-cleavage and atom transfer reactions. ${\beta}$-Cleavage may occur in two directions depending upon structure of the radicals. Cyanide transfer and the "so-called" normal ${\beta}$-cleavage are the two modes of ${\beta}$-cleavage. Addition of t-butoxy radical to t-butyl isocyanide 7 generates an imidoyl radical t-Bu-N=C-O-Bu-t, which undergoes ${\beta}$-cleavage to give t-butyl isocyanate and t-butyl radical. Addition of phenyl radical to 7 forms the intermediate radical t-Bu-N=$C-C_6H_5$, which decomposes to give benzonitrile and t-butyl radical. The t-butyl radical generated from the ${\beta}$-cleavage adds to 7 giving the radical t-Bu-N=C-Bu-t, which cleaves only to pivalonitrile and t-butyl radical, inducing radical chain isomerization. Trimethylsilyl radical adds to 7 to give the intermediate t-Bu-N=$C-Si(CH_3)_3$, which collapses to $(CH_3)_3$SiCN and a t-butyl radical.

• Journal of Animal Science and Technology
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• v.46 no.6
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• pp.989-998
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• 2004

The objectives of this work was to investigate the effects of feeding type of concentrates during growing period and slaughter age on growth performance, feed efficiency and carcass characteristics in growing-fattening Holstein steers. Treatments were two concentrates feeding types(ad libitum or restricted 1.9% of BW) and three slaughter ages(at 19, 22 or 25 mo). Body weight at slaughter was numerically higher(approx. 8.3%) for the restricted than the ad libitum feeding groups. TDN intake rate was higher(8.4%) for the restricted than the ad libitum feeding groups. One mo slaughter delay increased TDN intake by 4%. Despite the lack of significances, higher back fat thickness and rib-eye area appeared in the restricted feeding or the late slaughter groups compared with the ad libitum feeding or the early slaughter groups. Marbling score(mean 2.46) numerically increased when the steers were restrictively fed concentrates compared with the ad libitum feeding groups. In addition, significant increases in the marbling score were associated with the slaughter age delay. In economic analysis, increases in total income were associated with the restricted feeding and the slaughter age delay. Whereas the highest monthly income appeared in the restricted feeding-and-slaughter at 22 mo group. In conclusion, the optimal feeding system may be 1) the restricted concentrates feeding(1.9% of BW) during growing period and 2) the late slaughter age(22${\sim}$25 mo of age) in growing-fattening Holstein steers fed rice straw.

• Journal of Broadcast Engineering
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• v.24 no.6
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• pp.1035-1052
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• 2019

Recently, as the demand for immersive videos increases, efficient video processing techniques for omnidirectional immersive video is actively developed by MPEG-I. While the omnidirectional video provides a larger degree of freedom for a free viewpoint, the size of the video increases significantly. Furthermore, in order to compress 6 degree-of-freedom (6 DoF) videos that support motion parallax, it is required to develop a codec to yield better coding efficiency. In this paper, we develop a 6 DoF codec using Versatile Video Coding (VVC) as the next generation video coding standard. To the authors' best knowledge, this is the first VVC-based 6 DoF video codec toward the future ISO/IEC 23090 Part 7 (Metadata for Immersive Media (Video)) MPEG-I standardization. The experiments were conducted on the seven test video sequences specified in Common Test Condition (CTC) in two operation modes of TMIV (Test Model for Immersive Media) software. It is demonstrated that the proposed codec improves coding performance around 33.8% BD-rate reduction in the MIV (Metadata for Immersive Video) mode and 30.2% BD-rate reduction in the MIV view mode as compared to the state-of-the-art TMIV reference software. We also show the performance comparisons using Immersive Video PSNR (IV-PSNR) and Mean Structural Similarity (MSSIM).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.637-638
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• 2012