• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.103-107
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• 2001

When ship claps against the ocean structure sited at shallow water, the time simulation of motion responses of dolphin-moored ocean structure is presented. The equatien of motion based on Cummin's theory of impulse responses are employed, and solved in time domain by using the Newmark $\beta$ method. The added mass and damping coefficients involved in the equations are obtained from a three-dimensional panel method in the frequency domain. The impact forces due to ship collision are modeled as two method, and those are elastic and non-elastic collisions. The mooring forces for dolphin systems of scean structure are considered as linear spring system.

• 로봇학회논문지
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• 제13권3호
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• International Journal of Aeronautical and Space Sciences
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• 제14권1호
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• pp.75-84
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• 2013

In this paper, the guidance law for formation flight and collision avoidance of multiple Unmanned Aerial Vehicle (UAV)s is proposed. To construct the physically comprehensible guidance law for formation flight, the virtual structure approach is used. To develop a guidance law for collision avoidance considering both other UAVs and unknown static obstacles, a geometric approach using information such as a relative position vector is utilized. Through the Lyapunov theorem, the stability of the proposed guidance law is proved. To combine guidance commands, the concept of the elastic weighting factor inspired by the elastic behavior of shape memory polymer, which tends to regain its original shape after deformation, is introduced. By using the concept of elastic weighting factor, multiple UAVs are able to cope actively with the situation of a collision between both UAVs and static obstacles during the formation flight. To verify the performance of the proposed method, numerical simulations are performed.

• 한국해양공학회지
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• 제15권4호
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• pp.115-119
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• 2001

The simulation of motion responses of a dolphin-moored ocean structure in shallow water when it cllides with a ship, has been carried out. The equation of motion in the time domain according to Cummin's theory is employed, and solved by making use of the Newmark-${\beta}$ method. The added mass and damping coefficients involved in the equations are abtained from a three-dimensional panel method in the frequency domain. The impact forces due to ship collision are calculated using both the elastic and non-elastic modelings. The mooring forces for dolphin systems of ocean structure are regarded as linear spring forces.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.293-296
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• 2002

This work presents the reconstruction of impact force produced by the collision between two elastic structures. The 2-DOF impactor was designed. The shape control of impact farce using correlations of the dynamic characteristics and impact force history between two elastic structures is accomplished. The effects of the relative motion between impactor and elastic structure on the impact force shape are studied. Reconstruction characteristics of impact force in cantilever beam are reviewed.

• 한국철도학회논문집
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• 제16권3호
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• pp.202-206
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• 2013

해중철도는 파도와 바람의 영향을 크게 받지 않는 해중을 통과하는 터널내에 고속열차가 운행하는 철도시스템으로 수심에 관계없이 설치할 수 있고, 모듈별 육상 제작후 해상 대조립으로 건설이 가능하기 때문에 건설비용이 획기적으로 절감될 수 있는 장점이 있다. 본 연구에서는 해중철도의 개념설계안을 소개하고 안전성 확보를 위해 해중에서 잠수함과 충돌하는 경우를 대상으로 해중철도의 구조적 거동을 해석할 수 있는 기법을 제시하고자 한다. 탄성지지된 보이론을 활용하여 해중철도 함체의 등가 질량을 계산하고 잠수함과 완전탄성 충돌시 속도를 계산하고 에너지 보존의 원리에 따라 함체의 변형량과 최대굽힘모멘트를 계산하였다. 결과의 검증을 위해 보요소를 사용하여 충돌 유한요소해석을 실시하였고, 비교를 통해 타당성을 확인하였다. 본 연구에서 제안한 충돌 이론 해법은 간편하게 함체의 변형량과 최대굽힘모멘트를 계산할 수 있어 초기 설계시에 효과적으로 활용될 수 있다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2017년도 제55차 동계학술대회논문집 25권1호
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• pp.175-178
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• 2017

본 논문에서는 공을 쳐서 구멍에 넣는 당구 게임을 제작하면서 실제 물리 현상과 같은 충돌 구현을 위해 사용한 여러 가지 상황에서의 원형 물체의 2차원 탄성 충돌 모델 구현 방법에 대하여 연구하였다.

• 한국분말재료학회지
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• 제23권1호
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• pp.54-60
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• 2016

This study focuses on fabricating silver flake powder by a mechanical milling process and investigating the formation of flake-shaped particles during milling. The silver flake powder is fabricated by varying the mechanical milling parameters such as the amount of powder, ball size, impeller rotation speed, and milling time of the attrition ballmill. The particle size of the silver flake powder decreases with increasing amount of powder; however, it increases with increasing impeller rotation speed. The change in the particle size of the silver flake powder is analyzed based on elastic collision between the balls, taking energy loss of the balls due to the powder into consideration. The change in the particle size of the silver flake powder with mechanical milling parameters is consistent with the change in the diameter of the elastic deformation contact area of the ball, due to the collision between the balls, with milling parameters. The flake-shaped silver particles are formed at the elastic deformation contact area of the ball due to the collision.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.193-200
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• 2004

In this study, the impact load on bridge by vessel collision in consideration of fender system is evaluated by numerical method. The bow of object vessel(DWT5000) is standardized, and modeled by shell elements. The main body of objective vessel is modeled by beam elements that present mass distribution and stiffness of vessel. The buoyancy effect of vessel is considered as linear spring. The two types of fender systems, such as steel and rubber are analyzed in this study. In steel fender system, the steel plates that absorb collision energy by its collapse are modeled by shell element with stiffener. The steel is material modeled elastic-plastic material. In the rubber fender system, the rubber material is modeled hyper-elastic material and the main body of fender is modeled by solid elements. The global impact responses of vessel and fender system are evaluated by explicit dynamic scheme. The results show that the magnitude of vessel collision force are depended on the material behavior of fender system. Also the values of collision load are conservative compare to the those of design codes.

• 한국전자통신학회논문지
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• 제7권1호
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• pp.187-194
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• 2012

본 논문에서는 이동 로봇이 자율주행을 하기 위해 사용되는 충돌회피 알고리즘을 실제 로봇과 똑같은 환경에 적용된 시뮬레이터를 통해 성능을 알아본다. 이동 로봇의 충돌회피를 위해 기존에 인공전위계 알고리즘과 Elastic force 알고리즘 등이 제안되어져있다. 본 연구에서는 시뮬레이션을 통해 이 두 가지 방법에 의한 동작시간과 경로의 이동 길이를 비교하였다. 시뮬레이터는 IPC(Inter Process Communication)를 기반으로 개발되어졌으며, 알고리즘의 비교에는 차륜형 이동 로봇을 사용하였다.