• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.1
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• pp.13-21
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• 2020

Surrogate models have been used for the rapid estimation of six-DOF aerodynamic coefficients in the context of the design and control of a missile. For this end, we may generate highly accurate surrogate models with a multitude of aerodynamic data obtained from wind tunnel tests (WTTs); however, this approach is time-consuming and expensive. Thus, we aim to swiftly predict aerodynamic coefficients via co-Kriging using a few WTT data along with plenty of computational fluid dynamics (CFD) data. To demonstrate the excellence of co-Kriging models based on both WTT and CFD data, we first generated two surrogate models: co-Kriging models with CFD data and Kriging models without the CFD data. Afterwards, we carried out numerical validation and examined predictive trends to compare the two different surrogate models. As a result, we found that the co-Kriging models produced more accurate aerodynamic coefficients than the Kriging models thanks to the assistance of CFD data.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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• pp.690-699
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• 2008

In this paper a conventional approach for design and analysis of subsonic air vehicle is used. First of all subsonic aerodynamic coefficients are calculated using Computational Fluid Dynamics(CFD) tools and then wind-tunnel model was developed that integrates vehicle components including control surfaces and initial data is validated as well as refined to enhance aerodynamic efficiency of control surfaces. Experimental data and limited computational fluid dynamics solutions were obtained over a Mach number range of 0.5 to 0.8. The experimental data show the component build-up effects and the aerodynamic characteristics of the fully integrated configurations, including control surface effectiveness. The aerodynamic performance of the fully integrated configurations is comparable to previously tested subsonic vehicle models. Mathematical model of the dynamic equations in 6-Degree of Freedom(DOF) is then simulated using MATLAB/SIMULINK to simulate trajectory of vehicle. Effect of altitude on range, Mach no and stability is also shown. The approach presented here is suitable enough for preliminary conceptual design. The trajectory evaluation method devised accurately predicted the performance for the air vehicle studied. Formulas for the aerodynamic coefficients for this model are constructed to include the effects of several different aspects contributing to the aerodynamic performance of the vehicle. Characteristic parameter values of the model are compared with those found in a different set of similar air vehicle simulations. We execute a set of example problems which solve the dynamic equations to find the aircraft trajectory given specified control inputs.

• Earthquakes and Structures
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• v.13 no.2
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• pp.165-176
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• 2017

Multi-Axial Testing System (MATS) is a 6-DOF loading system located at National Center for Research on Earthquake Engineering (NCREE) in Taiwan for advanced seismic testing of structural components or sub-assemblages. MATS was designed and constructed for a large variety of structural testing, especially for the specimens that require to be subjected to vertical and longitudinal loading simultaneously, such as reinforced concrete columns and lead rubber bearings. Functionally, MATS consists of a high strength self-reacting frame, a rigid platen, and a large number of servo-hydraulic actuators. The high strength self-reacting frame is composed of two post-tensioned A-shape reinforced concrete frames interconnected by a steel-and-concrete composite cross beam and a reinforced concrete reacting base. The specimen can be anchored between the top cross beam and the bottom rigid platen within a 5-meter high and 3.25-meter wide clear space. In addition to the longitudinal horizontal actuators that can be installed for various configurations, a total number of 13 servo-hydraulic actuators are connected to the rigid platen. Degree-of-freedom control of the rigid platen can be achieved by driving these actuators commanded by a digital controller. The specification and information of MATS in detail are described in this paper, providing the users with a technical point of view on the design, application, and limitation of MATS. Finally, future potential application employing advanced experimental technology is also presented in this paper.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.8
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• pp.681-688
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• 2021

This paper considers the trajectory and impact point dispersion analysis of the test launch vehicle (TLV). The analysis, which performed before and after its flight test on November 28, 2018, is described and verified by comparing with the flight test results. The six degree-offreedom (DOF) simulation is used to compute the dispersion of the trajectory, attitude, and impact point, where the launch vehicle performance variations and wind effects during the atmospheric phase are included. The impact area to guarantee the flight safety is determined using the results of the dispersion analysis. The flight test results confirm that the safe flight of TLV is performed within the predicted dispersion boundary.

• Composites Research
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• v.32 no.5
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• pp.279-283
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• 2019

A flight training simulator of a fully spherical configuration is being developed to precisely and quickly control six degrees of freedom (Dof) motions especially with unlimited rotations. The full-scale simulator should be designed with a lightweight material to reduce inertial effects for fast and stable feedback controls while no structural failure is ensured during operations. In this study, a sandwich composite consisting of glass fiber reinforced plastics and a foam core is used to obtain high specific strengths and specific stiffnesses. T-type stainless steel frames are inserted to minimize the deformation of the sphere curvature. Finite element analysis is carried out to evaluate structural safety of the simulator composed of the sandwich sphere and steel frames. The analysis considers the weights of the equipment and trainee and it is assumed to be 200 kg. Gravity acceleration is also considered. The stresses and displacement acting on the simulator are calculated and the safety is assessed under two different situations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Magazine of the Korea Concrete Institute
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• v.6 no.1
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• pp.120-130
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• 1994

The purpose of this study is to propose the analytical model for the hysteretic behavior of Reinforced Concrete bearn-column joints under various loading history. Discrete line elernents , YVith inelastic rotational spring was adopted to consider the movement of plastic hinging zone influenced by the details of longitudinal reinforcements. Also hysteretic model was constructed by excluding such variables which can not be utilized in dynamic analysis of Reinforced Concrete. structure that it will be adoptable in two-dimensional inelastic frame ardysis with 6-DOF. From the analysis of previous test results, it was found that stiffness deterioration caused by inelastic hysteretic loadings can be predicted by the functron of basic pinching coefficients, ductility ratio.and yield strength ratio of members. Strength degradation coefficients were newly proposed to explain the difference of inelastic behavior of members caused by spacing ratio of transverse steel and sectlon aspect ratio. The energy dissipation capacities calculated using the analytical model proposed in thls paper show a good agreements w~lh test results by an error of 10~20%.

• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.479-484
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• 1999

본 연구에서는 사람의 턱 운동과 턱 사이에 작용하는 힘(혹은 압력)을 그대로 나타낼 수 있는 저작로봇을 개발하는 것을 궁극적인 목표로 한다. 이러한 저작로봇이 개발되면, 치과의사가 환자의 턱운동에 나타나는 병변을 진단하고 치료하는데 큰 도움이 될 것으로 사료된다. 또한 , 본 연구에 채택한 병렬기구(parallel mechanism)에대한 순기구학적( forward kinematics)분석은 일반적인 병렬기구의 실계에도 응용될 것으로 기대된다. 본 연구진이 1차적으로 설계한 모델은 베이스와 플랫폼(platform), 그리고 이 둘을 연결하는 3개의 다리로 구성되어 있다. 다리와 플랫폼은 3자유도의 관절로 다리와 베이스는 1자유도의 경첩 관절로 연결되어 있으며, 이 3개의 경첩 관절은 베이스 위의 수평면에서 직선을 따라 움직인다. 경첩 관절의 수평 변위와 세 다리의 길이가 주어졌을 때 플랫폼의 위치와 오리엔테이션을 구하는 순기구학의 해( 解)를 계산해내는 알고리즘을 개발하였다. 이 알고리즘의 특징은 매 순간 오차를 계산하여 이 오차가 줄어드는 방향으로 나아가도록 시간간격(time step)을 조절하는 것이다. 본 알고리즘은 현재 가장 보편적으로 사용되고 있는 뉴튼-렙슨 방법에 비하여 3가지 장점을 나타내고 있다. 우선 , 초기치(initial guess)에 관계없이 수렴한다는 것이다. 또한, 본 알고리즘은 뉴튼-렙슨 방법에 비하여 수렴속도가 훨씬 빠르며, 연산 시간이 매우 짧아져 실제적인 실시간 적용에 적합하다. 마지막으로, 뉴튼-렙슨 방법에서는 여러 개의 해 가운데 어느 곳으로 수렴할 지 예측 할수 없으나 본 알고리즘에서는 초기치에 가장 가까운 해로 수렴한다. 이러한 순기구학의 다중성(multiplicity)문제를 해결하기 위하여 두 개의 조건을 제시하였으며, 이를 적용한 시뮬레이션 결과에 의하면 항상 원하는 해(true solution)에 수렴할 수 있었다.발생량의 감소를 기대 할 수 있는 친환경기술로 유지관리비를 최소화할 수 있는 장점이 있었다. 않은 사람들 중 미래의 검진실행의지에 건강소식지가 영향을 미친 경우는 48.7%였다. 보건교육을 받은 후 유방암 자가검진 실천율은 사업군에서 53.9%로 받기 전의 27.3%보다 증가하였으나 대조군의 경우는 별 차이가 없었다. 연령별로는 60대가 가장 높았고 사업군에서 검진율의 증가분은 30대가 가장 컸다. 교육수준별로는 사업군은 고졸이, 대조군은 전문대졸이 가장 높았고 사업군에서 검진율의 증가분은 고졸에서 가장 컸다. 보건교육 후 유방암과 관련된 건강지식의 정도는 사업군이 3.7점으로 대조군보다 유의하게 높았으며, 유방암 자가검진법을 실천하는 사람들의 동기는 ‘일반 대중매체의 영향’이 가장 많았으며 건강소식지가 동기인 경우도 20.4%였다. 사업군에서 건강소식지가 유방암 자가검진법 실천에 영향을 미친 경우가 79.6%였으며 유방암 자가검진법에 관한 보건교육을 받고 실천하지 않은 사람들 중 미래의 실천의지에 건강소식지가 영향을 미친 경우는 43.6%였다. 이상의 소견에서 지역주민을 대상으로 인쇄매체를 통한 보건교육은 인쇄물만으로도 쉽게 실천 할 수 있는 유방암 자가검진법이 가장 효과적이었으며, 자궁암검진에 관해서도 검진을 받을 수 있도록 지역사회의 보건의료의 하부구조를 정비하여 제도적 장치를 마련하고 정보를 제공한다면 자궁암검진 실천율도 증가할 것이다.고 12.9% 의 발달율을 보여 유의적인 차이를 보이지 않았다. 이상의 결과로 보아 핵이식 수정란을 효율적으로 생산하기 위하여 수핵난자의 세포질에 ionomycin 과 DMAP 의 혼합처리로 탈핵난자의 활성화를 유도하는 것이 효율을 증진시킬 수 있었다고 본다. 또한 공핵수정란을 수정 후 90시간과 114시간 개별 배양하여 할구를 공핵체로 핵이식에 이용하였을 때도 그룹배양에 비하여 효율이 떨어지지 않음을 알 수 있었으며, 수정란의 할구