• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1063-1066
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• 2014

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

• Journal of Advanced Marine Engineering and Technology
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• 제16권5호
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• pp.6-16
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• 1992

Since world-wide oil shock on 1970s, many large size-low speed diesel engines, instead of steam turbines, are used for the industrial electric power generating plants due to their economic advantage of low specific fuel consumption. But it is very important to control their electric power fluctuation problems for the purpose of smooth parallel operation with existing power plants. In this paper the fluctuation problem of KEPCO Nam-cheju No.1 generator driven by diesel ngine(B & W 7K 60MC, 13931x138.5RPM) is investigated with analysis of torsional vibration of which 4th harmonic component is related to its power fluctuation. The problem can be improved by modification of cylinder arrangement and flywheel position in reverse sequence, equalizing the combustion gas pressure of all cylinder and installation of torsional vibration damper enlarged 30%(Je=7287Kg.m$^{2}$) and high quality balancing of generator rotor.

• 대한기계학회논문집A
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• 제28권12호
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• pp.1845-1855
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• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• 천문학회보
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• 제41권2호
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• pp.66.1-66.1
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• 2016

We developed an observation control software for the IGRINS (Immersion Grating Infrared Spectrograph) silt-viewing camera module, which points the astronomical target onto the spectroscopy slit and sends tracking feedbacks to the telescope control system. The point spread function (PSF) is not always symmetric. In addition, bright targets are easily saturated and shown as a donut shape. It is not trivial to define and find the center of the asymmetric PSF especially on a slit mask. We made a center balancing algorithm (CBA) following the concept of median. The CBA derives the expected center position along the slit-width axis by referencing the stray flux ratios of both upper and lower sides of the slit. We compared efficiencies of the CBA and those of a two-dimensional Gaussian fitting (2DGA) through simulations from observation images in order to evaluate the center finding algorithms. Both of the algorithms are now applied in observation and users can select the algorithm.

• 대한기계학회논문집A
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• 제25권6호
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• pp.1004-1014
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• 2001

The fully automatic algorithm from initial finite element mesh generation to remeshing in two dimensional geometry is introduced using bubble packing method (BPM) for finite element analysis. BPM determines the node placement by force-balancing configuration of bubbles and the triangular meshes are made by Delaunay triangulation with advancing front concept. In BPM, we suggest two node-search algorithms and the adaptive/recursive bubble controls to search the optimal nodal position. To use the automatically generated mesh information in FEA, the new enhanced bandwidth minimization scheme with high efficiency in CPU time is developed. In the remeshing stage, the mesh refinement is incorporated by the control of bubble size using two parameters. And Superconvergent Patch Recovery (SPR) technique is used for error estimation. To verify the capability of this algorithm, we consider two elasticity problems, one is the bending problem of short cantilever beam and the tension problem of infinite plate with hole. The numerical results indicate that the algorithm by BPM is able to refine the mesh based on a posteriori error and control the mesh size easily by two parameters.