• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.447-456
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• 2010

The application of a reliable motion simulator can contribute effectively in the evaluation of the performance of a vehicle platform in the development stage of a small unmanned aerial vehicle (UAV). Therefore, the research on a reliable motion simulator can accelerate the development of UAV and decrease the relevant cost. In this paper, the design factors considered in the preliminary design stage of a 6 degree-of freedom motion simulator are defined and the motion range of the simulator is described on the basis of these design factors. The length, acceleration, and the required thrust of actuators with respect to the motion simulator under development are also predicted. The motion range can be increased and a suitable actuator can be selected and produced by applying these results in the manufacturing process of the motion simulator. Thus, the reliability of the motion simulators can be achieved during the actual design operation of the UAV.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• Journal of Ocean Engineering and Technology
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• v.28 no.5
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• pp.466-473
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• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.

• Journal of the Semiconductor & Display Technology
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• v.6 no.4
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• pp.23-27
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• 2007

Rotary stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor quality products. To evaluate and improve the performance of such precision rotary stage, undesired movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of the worm gear type spindle with high precision capacitive sensors. To obtain the radial error motion, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have designed and developed the sensor mounting jig with standard cylinder for reversal method.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.20 no.3
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• pp.255-267
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• 2008

Using the commercial CFD code FLOW-$3D^{(R)}$ which has an implicit General Moving Object (GMO) method, the ship-induced wave has been simulated. In the implicit GMO method of the FLOW-$3D^{(R)}$, a rigid body's motion which is either user-prescribed (prescribed motion) or dynamically coupled to fluid flow (coupled motion) can be computed with six degrees of freedom (DOF). The simulated horizontal wave patterns are agree with the wave patterns represented by depth Froude number. The model has been well-simulated to generate the depth-dependent wave transformation in comparison of uniform depth case to complicated depth case. Additionally, it shows that ship-induced waves have been reasonably generated by two ships passing each other and by a ship moving in a curve. Therefore, it is suggested that the FLOW-$3D^{(R)}$ model calibrated with observed data should provide more accurate prediction for the ship-induced wave in a certain fairway or harbor.

• Journal of the Korean Society of Safety
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• v.25 no.3
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• pp.7-14
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• 2010

In order to analyze the vibro-impacts in the torsional system, several clearance types of nonlinearities should be included with the analytical or numerical method. These kinds of nonlinear factors can cause the errors while the system is calculated specifically with the numerical method, also it might take too long to get right answers with the every nonlinearity in the original system. Therefore, there are several methods developed for the sake of overcoming the deficiency of the analysis with the original system and saving the calculating time. The original system can be reduced by keeping the system characteristics such as from 14 to 6 DOF. Especially, since the torque flow in the torsional system is connected with the specific gear ratios, the original system can be transferred into the simpler system corresponding to each gear ratio rather than the original system, which can also show the same system characteristics such as the natural frequencies and the mode shapes. By using the reduced system, the calculating time can be saved and the redundant nonlinear effects for the system analysis can be ignored without any numerical errors.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.34-48
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• 2017

This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.290-299
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• 2017

Reconfigurable flight control using various kinds of adaptive control methods has been studied since the 1970s to enhance the survivability of aircraft in case of severe in-flight failure. Early studies were mainly focused on the failure of actuators. Recently, studies of reconfigurable flight controls that can accommodate complex damage (partial wing and tail loss) in conventional aircraft were reported. However, the partial wing loss effects on the aerodynamics of conventional type aircraft are quite different to those of BWB(blended wing body) aircraft. In this paper, a reconfigurable flight control algorithm was designed using a direct model reference adaptive method to overcome the instability caused by a complex damage of a BWB aircraft. A model reference adaptive control was incorporated into the inner loop rate control system enhancing the performance of the baseline control to cope with abrupt loss of stability. Gains of the model reference adaptive control were polled out using the Liapunov's stability theorem. Outer loop attitude autopilot was designed to manage roll and pitch of the BWB UAV as well. A 6-DOF dynamic model was built-up, where the normal flight can be made to switch to the damaged state abruptly reflecting the possible real flight situation. 22% of right wing loss as well as 25% loss for both vertical tail and rudder control surface were considered in this study. Static aerodynamic coefficients were obtained via wind tunnel test. Numerical simulations were conducted to demonstrate the performance of the reconfigurable flight control system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.967-976
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• 2012

This study presents a model to minimize vibration and noise of powertrain mount on a compact car which has the application of Stop & Go performance, in order to reduce CO2 and achieve better fuel-efficiency in accordance with the environmental regulations in automotive industries. In the first step, we analyze the powertrain mount system of the automobile "A" and present variables about rubber stiffness applied on powertrain mount using the Taguchi method. In the next step, we verify the optimization of vibration and noise which meet Stop & Go performance using the AHP(Analytic Hierarchy Process) method on the proto products for each variable. Using this validation system on the initial stage of the powertrain mount design, it is expected that we can grasp vibration and noise problems caused by engine movements and control them effectively without engineering know-how about powertrain mount rubber stiffness.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.6
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• pp.641-654
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• 2017

The KVLCC2 and its modified hull form were investigated in regular head waves using Unsteady Reynolds Averaged Navier-Stokes (URANS) methods. The modified KVLCC2 (named KWP-bow KVLCC2) is designed for reducing wave reflection from the bow. Firstly, the original KVLCC2 is studied for verification of the present code and methodology and the computed time history of total resistance and 2DOF motions (heave and pitch) for the selected two wave length conditions are directly compared with the results obtained from KRISO towing tank experiment under the identical condition. The predicted added resistance, heave and pitch motion RAOs show relatively good agreement with the experimental results. Secondly, the comparison of performance in waves between KVLCC2 and KWP-bow KVLCC2 is carried out. We confirmed that newly designed hull form shows better performances in all the range of wave length conditions through both the computation and the experiment. The present URANS method can capture the difference of performance in waves of the two hull forms without any special treatment for short wave length conditions. It can be identified that KWP-bow KVLCC2 gives about 8% of energy saving in sea state 5 condition.