• Journal of the Korea Institute of Military Science and Technology
• /
• v.18 no.3
• /
• pp.226-233
• /
• 2015

Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.

• Composites Research
• /
• v.18 no.4
• /
• pp.8-13
• /
• 2005

Rotating circular disks are widely used in data storage devices as well as in traditional industrial machines. Faster rotating speed is required in data storage devices for higher data transfer rate. In this Paper an application of composite materials to CD is proposed to increase critical speeds and the strength analysis was performed. A differential equation of displacement is derived for the analytic stress distribution of rotating polar orthotropic disk. The stress distributions for typical GFRP and CFRP disks and the maximum allowable speeds subjected to a constraint of tensile strength are presented in addition to polycarbonate disk. The results show that the application of CFRP to rotating disk can increase the maximum allowable rotating speed but this may not be applicable to GFRP disk.

• Journal of Ocean Engineering and Technology
• /
• v.26 no.4
• /
• pp.42-49
• /
• 2012

A numerical method is presented for an out-of-plane structural intensity analysis of rectangular thick plates with arbitrary elastic edge constraints. The method adapts an assumed mode method based on Timoshenko beam functions to obtain the velocities and internal forces needed for a structural intensity analysis. To verify the presented method, the structural intensity of a square thick plate under harmonic force excitation, for which four edges are simply supported, is analyzed, and the result is compared with existing solutions using the assumed mode method based on trigonometric functions. In addition, numerical analyses are carried out for a rectangular-shaped thick plate under harmonic force excitations, of which three edges are simply supported and one edge utilizes an arbitrary elastic edge constraint. These numerical examples show the good accuracy and applicability of the presented method for rectangular thick plates with arbitrary edge constraints.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.10 no.5
• /
• pp.98-106
• /
• 2002

The airflow characteristics of an air-conditioning duct with multiple diffusers were investigated through one-dimensional analysis, CFD simulation and experimental measurement. One-dimensional program based on Bernoulli's equation and minor loss equations was developed in order to evaluate the air distribution rate at each diffuser. In CFD simulation, three-dimensional flow characteristics inside air-conditioning duct were computed for incompressible viscous flow, adopting the RNG k-$\xi$turbulence model. Also, in an effort to equalize the discharge flow rate at each outlet, the optimization procedure has been performed to obtain the optimum diffuser area. In this process, square of difference between maximum discharge rate and minimum discharge rate is used as an object function. Diffuser area and discharge velocity are established as constraints. After optimization process, determined design variables are applied again in CFD simulation and experiment to validate the optimized result by one-dimensional program. Comparison with the experimental data of airflow rate distribution showed that the developed program seems to be acceptable and can be useful design tool for an automotive air-conditioning duct in an initial design stage.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.12
• /
• pp.38-44
• /
• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.7
• /
• pp.144-153
• /
• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11a
• /
• pp.155-160
• /
• 2001

Actual engineering structure is frequently very complex, and parts of structure are designed independently by different engineers. Also each structure contains so many degree of freedom. For these reason, methods have been developed which permits the structure to be divided into components or substructures, with analysis being done on a small substructure in order to obtain a full structural system. In such case, because of different mesh size among finite element model (FEM) or different matching points among FEM models and experimentally obtained models, their interfacing points may be non-matching. Solving this non-matching problem is useful to other application such as structural dynamic modification or model updating. In this work, virtual node concept is introduced. Lagrange multipliers are used to enforce the interface compatibility constraint, and interface displacement is approximated by polynomial presentation. The governing equation of whole structure is derived using hybrid variational principle. The eigenvalue of whole structure are calculated using the determinant search method. The number of degree of freedom in the eigenvalue problem can be drastically reduced to just the number of interface degree of freedom. Some numerical simulation is performed to show usefulness of synthesis method.

• Journal of Korean Society of Steel Construction
• /
• v.14 no.2
• /
• pp.339-348
• /
• 2002

The study developed an automatic design method of steel frames which uses nonlinear analysis. The geometric nonlinearity was considered using stability functions. Likewise, the transverse shear deformation effect in a beam-column was explained. A direct search method was used as an automatic design technique. The unit value of each part was evaluated using LRFD interaction equation. The member with the largest unit value was replaced one by one with an adjacent larger member selected from the database. The weight of the steel frame was considered as an objective function. On the other hand, load-carrying capacities, deflections, inter-story drifts, and ductility requirement were used as constraint functions. Case studies of a two-dimensional and a three-dimensional two-story frames were presented.

• Structural Engineering and Mechanics
• /
• v.51 no.3
• /
• pp.377-402
• /
• 2014

In this study, optimal distribution of springs which supports a cantilever beam is investigated to minimize two objective functions defined. The optimal size and location of the springs are ascertained to minimize the tip deflection of the cantilever beam. Afterwards, the optimization problem of springs is set up to minimize the tip absolute acceleration of the beam. The Fourier Transform is applied on the equation of motion and the response of the structure is defined in terms of transfer functions. By using any structural mode, the proposed method is applied to find optimal stiffness and location of springs which supports a cantilever beam. The stiffness coefficients of springs are chosen as the design variables. There is an active constraint on the sum of the stiffness coefficients and there are passive constraints on the upper and lower bounds of the stiffness coefficients. Optimality criteria are derived by using the Lagrange Multipliers. Gradient information required for solution of the optimization problem is analytically derived. Optimal designs obtained are compared with the uniform design in terms of frequency responses and time response. Numerical results show that the proposed method is considerably effective to determine optimal stiffness coefficients and locations of the springs.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.1
• /
• pp.35-43
• /
• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.