• 로봇학회논문지
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• 제2권4호
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• pp.310-316
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• 2007

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.224-229
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• 1997

This paper compares the control techniques for position control experiments of a fixible robot moving in a vertical plane. The flexible manipulator is modeled as an Euler-beroulli beam. Elastic deformantion is representedusing the assumed model method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. Control schemes are developed using PID control,pole placement control and discrete Linear Quadratic Regulater(LQQ). The effectiveness of the developed control schems are compared using computer simulation in view of practical experiment. The simulation results show that PID control is very effective in practical implementation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.280-283
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• 2003

In this paper, there was finding laser beam focal length using the camera at the work with laser preprocess. A process have some similarity that the laser direct writing was condition of unused other light source in order to a partical object of working substrate, so we worked finding focal length using yellow light. As we found focal lengths from three points of substrate edges, The focal length of all substrates was able to be computed by calculating a plane equation using these three point. Also we make a device and software that can automatically perform all of the processes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.197-202
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• 1992

In this paper, we consider the synthesis of mixed H$_{2}$/H$_{\infty}$ controllers such that the closed-loop poles are located in a specified region in the complex plane. Using solution to a generalized Riccati equation and a change of variable technique, it is shown that this synthesis problem can be reduced to a convex optimization problem over a bounded subset of matrices. This convex programming can be further reduced to Generalized Eigenvalue Minimization Problem where Interior Point method has been recently developed to efficiently solve this problem..

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2005년도 학술발표회 논문집
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• pp.405-412
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• 2005

In this study, a numerical method for soil-pile-structure interaction problems in multi-layered half-plane is developed. The total soil-pile-structure interaction system is divided into two parts namely, nonlinear structure part and linear soil-pile interaction parts. In the structure field, the general finite element method is introduced to solve the dynamic equation of motion for the structure. In the soil-pile structure interaction part, physical model consisting of lumped parameter, which is frequency dependent coefficient and determined by rigorous analysis method is introduced. Using proposed analysis procedure, the nonlinear behavior of structure considering soil-structure interaction can be efficiently determined in time domain and the analysis cost is dramatically reduced.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1648-1653
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• 2000

Theoretical analysis of noise reduction by a membrane-duct system is presented. When acoustic waves propagate in the membrane-duct, the part of membrane is also excited and its motion is coupled with interior medium. For an infinite plane membrane-duct system, a simple coupled governing equation is derived and solved. One of the characteristics of dispersion relation is that evanescent waves occur below critical frequency. Attaching damping materials to the membrane may improve the absorption efficiency of acoustic energy. The results show that the membrane-duct system can be applied to diminish and absorb low frequency noise in duct instead of passive muffler, such as simple expansion chamber or absorption material.

• Journal of Astronomy and Space Sciences
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• 제9권2호
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• pp.165-170
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• 1992

$\zeta$ Aur형의 쌍성계인 32 Cyg 에 대해 복사 전달 방정식을 수치적분하여 이론적인 선 윤곽을 구하였다. 원천함수를 구하기 위해 2 준위 원자와 완전 재분배를 가정 하고 Sobolev 근사를 이용하였다. 선 윤곽을 궤도위상에 따라 구한 결과, 공전궤도 위상 0.99에서는 선 윤곽이 적색편이를 보였으며, 공전궤도 위상 0.70에서는 파장이 짧은 쪽으로 약간 치우쳤다. 또한 궤도면 기울기에 따른 효과를 보기 위해 같은 위상에서 각기 다른 기울기를 주고 계산하였는데, 기울기가 작은 경우에 빛의 세기가 증가하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.518-522
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• 2014

This paper is concerned with the dynamic modeling of transmission line undergoing galloping vibrations. To this end, the kinetic and potential energies of a uniform wire vibrating in space are derived. The equations of motion suitable for numerical simulations are derived using the assumed mode method and Lagrange equation. The resulting equations of motion are expressed in matrix form. To cope with bundled transmission line, the spacer was modelled by a spring element. As a numerical example, a two-wire transmission line combined by spacers was considered. Natural vibration characteristics show that the in-plane vibrations of the transmission line appeared in low frequency range, which may lead to galloping.

• 비파괴검사학회지
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• 제36권2호
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• pp.102-111
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• 2016

This study develops an efficient and accurate method for calculating nonlinear diffraction beam fields propagating in fluids or solids. The Westervelt equation and quasilinear theory, from which the integral solutions for the fundamental and second harmonics can be obtained, are first considered. A computationally efficient method is then developed using a multi-Gaussian beam (MGB) model that easily separates the diffraction effects from the plane wave solution. The MGB models provide accurate beam fields when compared with the integral solutions for a number of transmitter-receiver geometries. These models can also serve as fast, powerful modeling tools for many nonlinear acoustics applications, especially in making diffraction corrections for the nonlinearity parameter determination, because of their computational efficiency and accuracy.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.222-227
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• 2001

The time simulation of slow drift motions of moored FPSO in waves is presented. The equation of motion based on Cummin's theory of impulse responses are employed, and are consisted of horizonal plane -surge, sway and yaw. The added mass coefficients, wave damping coefficients, first order wave exciting forces and the second order wave drift forces involved in the equations are obtained from a three-dimensional panel method in the frequency domain. The mooring lines are modeled quasistatically as catenary for chains and touchdown. As for numerical example, time domain analyses are carried out for a box-type FPSO in long crest irregular wave condition.