• 한국물환경학회지
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• 제28권6호
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• pp.866-881
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• 2012

Han River is a complex water system consisting of many lakes. The water quality of Lake Paldang is significantly affected by incoming flows, which are the South and North branches of the Han River, and the Kyungan Stream. In order to manage the water quality of the Lake Paldang, we should consider the entire water body where the incoming flows are included. The objectives of this study are to develop an integrated river and lake modeling system for Han River system using a multidimensional dynamic model and evaluate the model's performance against field measurement data. The integrated model was calibrated and verified using field measurement data obtained in 2007 and 2008. The model showed satisfactory performance in predicting temporal variations of water level, flow rate and temperature. The Root Mean Square Error (RMSE) for water temperature simulation were $0.88{\sim}2.13^{\circ}C$ (calibration period) and $1.05{\sim}2.00^{\circ}C$ (verification period) respectively. And Nash-Sutcliffe Efficiency (NSE) for water temperature simulation were 1089~0.98 (calibration period) and 0.90~0.98 (verification period). Utilizing the validated model, we analyzed the spatial and temporal distributions of temperature within Han River system. The variations of temperature along the river reaches and vertical thermal profiles for each lakes were effectively simulated with developed model. The suggested modeling system can be effectively used for integrated water quality management of water system consisting of many rivers and lakes.

• 한국정밀공학회지
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• 제23권6호
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• pp.72-80
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• 2006

Electric Power Steering (EPS) mechanism has become widely equipped in passenger vehicle due to the increasing environmental concerns and higher fuel efficiency. This paper describes the development of concurrent simulation technique and simulation integration technique of EPS control system with a dynamic vehicle system. A full vehicle model interacting with EPS control algorithm was concurrently simulated on a single bump road condition. The dynamic responses of vehicle chassis and steering system resulting from road surface impact were evaluated and compared with proving ground experimental data. The comparisons show reasonable agreement on tie-rod load, rack displacement, steering wheel torque and tire center acceleration. This concurrent simulation capability was employed fur EPS performance evaluation and calibration as well as for vehicle handling performance integration and synthesis.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.947-953
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• 2010

The KTX-Sancheon has been commercially operating on the high-speed line since March. 2. In order to verify the performance of high-speed train and core equipments such as current collection system, sophisticated tests and evaluating procedures should have been considering. In this paper, the load cell with a built-in strain-gauge which developed to improve measuring method of contact force between the pantograph and catenary system is introduced. The static test results of the load cell shows that its design is very suitable and applicable for the dynamic test and on-line test. After the test and evaluation of load cell's dynamic calibration with pantograph, we will be applied to test interaction characteristics between the pantograph and catenary system on the high-speed line.

• 한국기계가공학회지
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• 제11권6호
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• pp.130-138
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• 2012

There are increasing demands from the industry for intelligent robot-calibration solutions, which can be tightly integrated to the manufacturing process. A proposed solution can simplify conventional robot-calibration and teaching methods without tedious procedures and lengthy training time. iGPS(Indoor GPS) system is a laser based real-time dynamic tracking/measurement system. The key element is acquiring and reporting three-dimensional(3D) information, which can be accomplished as an integrated system or as manual contact based measurements by a user. A 3D probe is introduced as the user holds the probe in his hand and moves the probe tip over the object. The X, Y, and Z coordinates of the probe tip are measured in real-time with high accuracy. In this paper, a new approach of robot-calibration and teaching system is introduced by implementing a 3D measurement system for measuring and tracking an object with motions in up to six degrees of freedom. The general concept and kinematics of the metrology system as well as the derivations of an error budget for the general device are described. Several experimental results of geometry and its related error identification for an easy compensation / teaching method on an industrial robot will also be included.

• 한국정밀공학회지
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• 제34권2호
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• 전기학회논문지
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• 제62권10호
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• pp.1436-1443
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• 2013

A variety of studies on imitating the skeletal structure and the gait of legged animals have been done in order to develop walking robots which have an ability to adapt to atypical environments. In this paper, we analyzed the gait of a Bearded dragon lizard using the motion capture system, proposed a calibration scheme of the motion data and generated the trotting gait of a lizard based on the calibrated data. Also, we constructed the dynamic model based on the biometric data of a Bearded dragon lizard and applied the trotting gait of the lizard to the dynamic model. We verified the validity of the gait with the commercial dynamic simulation software.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 세계 도시지반공학 심포지엄
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• pp.1415-1424
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• 2009

Measuring dynamic properties of gravel-sized materials demands large specimens. Due to the difficulties in experiment as well as equipment, the dynamic properties of gravel-sized material has rarely been investigated. To realize free-free end condition more properly and stabilize specimen during testing with new specimen support system, a free-free resonant column testing device, which is capable of testing gravel-sized materials and constraining a specimen in free-free boundaries, is developed. We report the calibration of the equipment and preliminary testing results on Jumunjin sand. The testing data are compared with the previous data obtained from the existing fixed-free resonant column test.

• 한국진공학회지
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• 제19권1호
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• pp.1-9
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• 2010

진공게이지의 비교교정 방법으로 교정이 가능하고-비교교정은, 2차표준기라고 부르는 교정되어진 게이지와 교정할 다른 게이지의 지시값을 읽어 비교는 방법- 다른 진공관련 실험을 할 수 있는 기체 유량 시스템을 개발하였다. 교정시스템에의 진공용기는 터보분자펌프(TMP)에 의해서 배기하고, 후면에 스크롤펌프를 배치하여 배기시스템을 꾸몄다. 터보분자펌프의 최대허용가능 압력은 펌프의 주입구에서 0.1 Pa까지이며, 이보다 압력이 높아지면 배기속도가 감소하며 압력대 이하의 환경을 조절하기가 매우 어렵게 된다. 현재 133 Pa까지의 높은 압력을 발생시킬 수 있는 새롭게 개발된 기체유량조절시스템은 바이패스 라인에 맞도록 설계된 컨덕턴스-리듀서를 설치하여 터보분자펌프를 안전하게 운용할 수 있도록 하였다. 추가로 진공용기안에 전체압력 범위(0.1 Pa ~ 133 Pa)의 압력을 생성하며 기체 주입과 압력구배를 연구하였다. 압력의 최대 편차는 용기의 위쪽 방향에 위치한 가스 주입구에서 가까운 위치 C에서 1.6%로 나타났다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.472-475
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• 2003

Electric Power Steering (EPS) mechanism has become widely equipped in passenger vehicle due to the environmental consciousness and higher fuel efficiency. This paper describes the development of co-simulation technique and simulation integration technique of EPS control system with dynamic vehicle model. A full vehicle model interacted with EPS control algorithm is concurrently simulated on a single bump road condition. Dynamic responses of vehicle chassis and steering system resulting from road surface impact are evaluated and compared with proving ground experimental data. The comparisons will show reasonable agreement on tie-rod load. rack displacement, handle-wheel torque and tire center acceleration. This developed simulation capability can be used for EPS performance evaluation and calibration as well as for vehicle handling performance integration and synthesis.