• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Journal of Fashion Business
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• v.19 no.3
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• pp.130-143
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• 2015

By studying 3-D virtual human modeling, motion-capturing and clothing simulation for easier and safer work clothes development, this research aimed (1) to categorize heavy manufacturing work motions; (2) to generate a 3-D virtual male model and establish painting work motions within a 3-D virtual clothing simulation system through computerized body scanning and motion-capturing; and finally (3) to suggest simulated clothing images of painting work clothes developed based on virtual male avatar body measurements by implementing the work motions defined in the 3-D virtual clothing simulation system. For this, a male subject's body was 3-D scanned and also directly measured. The procedures to edit a 3-D virtual model required the total body shape to be 3-D scanned into a digital format, which was revised using 3-D Studio MAX and Maya rendering tools. In addition, heavy industry workers' work motions were observed and recorded by video camera at manufacturing sites and analyzed to categorize the painting work motions. This analysis resulted in 4 categories of motions: standing, bending, kneeling and walking. Besides, each work motion category was divided into more detailed motions according to sub-work posture factors: arm angle, arm direction, elbow bending angle, waist bending angle, waist bending direction and knee bending angle. Finally, the implementation of the painting work motions within the 3-D clothing simulation system presented the virtual painting work clothes images simulated in a dynamic mode.

• Journal of Mechanical Science and Technology
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• v.16 no.11
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• pp.1379-1394
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• 2002

In case of a single input single output (SISO) system with a nonlinear term, a signal compression method is useful to identify a system because the equivalent impulse response of linear part from the system can be extracted by the method. However even though the signal compression method is useful to estimate uncertain parameters of the system, the method cannot be directly applied to a unique system with hysteresis characteristics because it cannot estimate all of the two different dynamic properties according to its motion direction. This paper proposes a signal compression method with a pre-processor to identify a unique system with two different dynamics according to its motion direction. The pre-processor plays a role of separating expansion and retraction properties from the system with hysteresis characteristics. For evaluating performance of the proposed approach, a simulation to estimate the assumed unknown parameters for an arbitrary known model is carried out. A motion platform with several single-rod cylinders is a representative unique system with two different dynamics, because each single-rod cylinder has expansion and retraction dynamic properties according to its motion direction. The nominal constant parameters of the motion platform are experimentally identified by using the proposed method. As its application, the identified parameters are applied to a design of a sliding mode controller for the simulator.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.363-368
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• 2004

Maglev vehicles, which are levitated and propelled by electromagnets, often run on elevated guideways comprised of steel, aluminum and concrete. Therefore, an analysis of the dynamic interaction between the Maglev vehicle and the guideway is needed in the design of the critical speed, ride, controller design and weight reduction of the guideway. This study introduces a dynamic interaction simulation technique that applies FEM. The proposed method uses FEM to model the elevated guideway and the Maglev vehicle, which is different from conventional studies. Because the proposed method uses FEM, it is useful to calculate the deformation of the elevated guideway, the dynamic stress, and the motion of the vehicle. By applying the proposed method to an urban transit Maglev vehicle, UTM01, the dynamic response is simulated according to velocity increase and can be reviewed again. From the result of the study, we concluded that FEM simulation of the dynamic interaction between the maglev vehicle and the guideway is possible.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.16 no.1
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• pp.77-86
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• 2003

Dynamic response of baffled fuel-storage tank in turnaround motion is simulated using the ALE finite element method. Fuel-storage tank undergoes abrupt impact load caused by inertia force of internal fuel in turnaround motion. Also, large dynamic force and moment caused by this load influence structural stability and control system. In this paper, ring-type baffles are adopted to suppress the dynamic influence. Through the parametric analysis with respect to the baffle number and location, the effects of baffle on the dynamic response of baffled fuel-storage tank is analyzed. The ALE finite element method is adopted for the accurate and effective simulation of the hydrodynamic interaction between fluid and structure.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.924-929
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• 2001

The flying height of contact slider is determined by vertical and pitching motions of slider. This paper performed the computer simulation for flying height change of contact slider. It is changed by many parameters, contact stiffness, contact damping, air bearing stiffness ratio, a location of mass center, and so on. Computer simulation is performed for knowing for what change of these parameters influences in flying height of contact slider. Disk surface is modeled in harmonic wave with from 10㎑ to 600㎑. Tri-pad slider is modeled in that contact slider has 2-DOF motion (vertical motion, pitching motion). Tri-pad contact slider is analyzed by numerical analysis method in computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.309-314
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• 1992

Many dynamic mechanical systems, such as parts-feeders, walking machines, and percussive power tools, are described by equations of motion which are discontinuous. The discontinuities result from kinematic constraint changes which are difficult to foresee, especially in presence of impact. A simulation algorithm for these types of systems must be able to algorithmically predict and detect the kinematic constraint changes without any prior knowledge of the system's motion. This paper presents a rule-based approach to the prediction and detection of kinematic constraint changes between bodies with arc and line boundaries. The developed algorithm's ability to accurately and automatically detect the unpredicted changes of kinematic constraints is demonstrated with a numerical example.

• The Journal of the Acoustical Society of Korea
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• v.21 no.1E
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• pp.42-48
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• 2002

In this paper, a computer simulation method is presented far the dynamic analysis of a hydraulic engine mount system. The hydraulic engine mount system controls the damping characteristics using the viscosity of fluid flow. The complex stiffnesses of the main rubber for the hydraulic engine mount system are computed using a finite element analysis. The equations of motion considering the parameters of the hydraulic engine mount system are derived. To investigate the effects of the hydraulic engine mount system, the computer simulation running over a typical rough road is carried out using a vehicle dynamic model. These results are compared with those of the conventional rubber mount system.