• Journal of Advanced Research in Ocean Engineering
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• 제3권1호
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• pp.25-31
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• 2017

Generally, underwater gliders do not have separate propellers for their forward movement. They derive a propulsive force due to the difference between their buoyancy and gravity. The attitude of an underwater glider is controlled by changing the relative position of the buoyancy center and mass center. In this study, we derived nonlinear 6-DOF dynamic and mathematical models for the motion controller and buoyancy controller. Using these equations, we performed dynamic underwater glider simulations and verified the suitability of the design and dynamic performance of the proposed underwater glider.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1045-1050
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• 2005

This paper describes a design experience of a low-cost 6 DOF spatial tracker system where relative low accuracy and relatively long ranges, wireless communication will be achieved by means of low cost accelerometers and gyros with contemporary microprocessor. However, there are two key problems; one is the bias drift problem and the other is that single or double integration of acceleration signal suffers not only from noise but also from nonlinear effects caused by gravity. To be specific, beginning and stopping of hand motions needs to be accurately detected to initiate and terminate integration process to get position and pose of the hand from accelerometer and gyro signals, since errors due to noise and/or hand-shaking motions accumulated by integration processes. Several experimental results are shown to validate our proposed algorithms.

• 한국항공우주학회지
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• 제37권1호
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• pp.55-61
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• 2009

본 논문은 검증된 수직발사 유도탄을 모델로 고려하여 개발하려는 수직발사 유도탄의 추력을 예측하는 방법을 제안한다. 개발하려는 수직발사 유도탄의 추력을 예측하기위해 모델에 상사법칙과 Pi 이론을 적용하였다. 검증된 수직발사 유도탄의 6-DOF 프로그램에 기반한 예측 결과와 개발하려는 수직발사 유도탄의 모의시험 결과를 비교하여 제안된 방법의 타당성을 검증하였다.

• 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.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.1-9
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• 2006

This paper presents the modeling and multivariable feedback control of a novel high-precision multi-dimensional positioning stage. This integrated 6-degree-of-freedom. (DOF) motion stage is levitated by three aerostatic bearings and actuated by 3 three-phase synchronous permanent-magnet planar motors (SPMPMs). It can generate all 6-DOF motions with only a single moving part. With the DQ decomposition theory, this positioning stage is modeled as a multi-input multi-output (MIMO) electromechanical system with six inputs (currents) and six outputs (displacements). To achieve high-precision positioning capability, discrete-time integrator-augmented linear-quadratic-regulator (LQR) and reduced-order linearquadratic-Gaussian (LQG) control methodologies are applied. Digital multivariable controllers are designed and implemented on the positioning system, and experimental results are also presented in this paper to demonstrate the stage's dynamic performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.457-467
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• 2004

Wave Transmission analysis is one of methods for power transmission and reflection coefficients in coupled infinite structures. This paper focuses the wave transmission analysis of point coupled structures among semi-infinite beams and infinite thin plates considering all kinds of waves. It is supposed that the junction through the beams and plates is an identical spot and no point of contact exist except the spot. The boundary conditions are applied at the spot for continuities of 6 DOF displacements and 6 DOF force equilibriums, and then wave fields are obtained in the coupled structures. Since wave components in plate field are simplified using asymptotic expressions of Henkel functions, the displacements and forces at the plate junction can be simply expressed with magnitudes of the wave components. The wave fields according to incident waves gives the power transmission coefficients in beam/plate point coupled structures. For both coupled structures with a beam vertically and obliquely joined to a plate, power transmission analysis is performed and the analysis results are compared and examined.

• 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.

• International Journal of Aerospace System Engineering
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• 제3권2호
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• pp.1-8
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• 2016

The improvements in high performance and agility of modern fighter aircraft have led to improvements in survivability as well. Related to these performance increases are rapid response and adequate deflection of the control surfaces. Most control surface failures result from the failure of the actuator. Therefore, the failure and behavior of the actuators are essential to both combat aircraft survivability and maneuverability. In this study, we investigate the effects of flaperon actuator failure on flight maneuvers of a supersonic aircraft. The flight maneuvers were analyzed using six degrees of freedom (6DOF) simulations. This research will contribute to improvements in the reconfiguration of control surfaces and control allocation in flight control algorithms. This paper compares the results of these 6DOF simulations with the horizontal tail actuator failures analyzed previously.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.346-363
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• 2015

We have performed integrated dynamics modeling for a supercavitating vehicle. A 6-DOF equation of motion was constructed by defining the forces and moments acting on the supercavitating body surface that contacted water. The wetted area was obtained by calculating the cavity size and axis. Cavity dynamics were determined to obtain the cavity profile for calculating the wetted area. Subsequently, the forces and moments acting on each wetted part-the cavitator, fins, and vehicle body-were obtained by physical modeling. The planing force-the interaction force between the vehicle transom and cavity wall-was calculated using the apparent mass of the immersed vehicle transom. We integrated each model and constructed an equation of motion for the supercavitating system. We performed numerical simulations using the integrated dynamics model to analyze the characteristics of the supercavitating system and validate the modeling completeness. Our research enables the design of high-quality controllers and optimal supercavitating systems.