• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• 한국전산유체공학회:학술대회논문집
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• 1999.11a
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• pp.167-173
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• 1999

An Euler-based CFD tool has been developed for the performance evaluation of a thrust reverser mounted on a high bypass ratio turbofan engine. The computational domain surrounded by the ground and non-reflection boundary includes the whole nacelle configuration with a deployed thrust reverser. The numerical algorithm is based on the modified Godunovs scheme to allow the second order accuracy in both space and time. The grid system is generated by using eleven multi-blocks, of which the total cell number is 148,400. The thrust reverser is modeled as if it locates at the nacelle simply in all circumferential direction. The existence of a fan and an OGV(Outlet Guide Vane) is simulated by adopting the actuator disk concept, in which predetermined radial distributions of stagnation pressure ratio and adiabatic efficiency coefficient are used for the rotor type disk, and stagnation pressure losses and flow outlet angles for the stator type disk. All boundary conditions including the fan and OGV simulation are treated by Riemann solver. The developed solver is applied to a turbofan engine with a bypass ratio of about 5.7 and the diameter of the fan cowl of 83 inch. The computational results show that the Euler-based inviscid method is very useful and economical to evaluate the performance of thrust reversers.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.8
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• pp.758-764
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• 2015

This paper describes the pattern synthesis of array antenna which conforms to a metallic curved surface formed by the rotation of a quadratic function by using EAGA(Enhanced Adaptive Genetic Algorithm). Three rotated-type conformal surfaces are realized by changing the coefficient of the quadratic function and the pattern of each conformal array antenna is synthesized. In order to reduce the overall time of pattern synthesis, the transformed active element pattern obtained by the active element pattern of the 2-dimensional planar array using Euler angles rotation is utilized instead of the active element pattern of the 3-dimensional conformal array antenna itself. To verify validity of the proposed synthesis procedure, the synthesized patterns using EAGA are compared with those obtained by MWS.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1231-1239
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• 2001

This paper presents a new leveling algorithm that estimates the initial horizontal angles composed of roll angle and pitch angle for a moving or stationary vehicle. The system model of the EKF is designed by linearizing the nonlinear Euler angle differential equation. The measurement models are designed for the moving case and for the stationary case, respectively. The simulation results show that the leveling algorithm is ade-quate not only for acquiring the initial horizontal angles of the vehicle in the motion with acceleration and rotation but also for the stationary one.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.300-314
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• 2017

This paper examines finite rotation angle (FRA) applications for spacecraft attitude control. The coordinate transformation matrix and the attitude kinematics represented by FRAs are introduced. The interpolation techniques for the angular orientations are thoroughly investigated using the FRAs and the results are compared to those using traditional methods. The paper proposes trajectory description techniques by using extremely smooth polynomial functions of time, which can describe point-to-point attitude maneuvers in a realizable and accurate manner with the help of unique FRA features. In addition, new controller design techniques using the FRAs are developed by combining the proposed interpolation techniques with a model predictive control framework. The proposed techniques are validated through their attitude control applications for an aggressive point-to-point maneuver. Conclusively, the FRAs provide much more flexibility than quaternions and Euler angles when describing kinematics, generating trajectories, and designing attitude controllers for spacecraft.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.2
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• pp.183-189
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• 2010

This paper deals with the comparison of analysis methodologies by applying both Euler angle and quaternion to observe the kinematical behavior of the universal joint system used as an automotive drive-shaft. At first, conventional approaches are applied to predict a kinematical behavior by introducing only Euler angles into the universal joint system, but turns out to be lack in consistency and reliability of the analysis. Then to overcome this deficiency in numerical analysis a different methodology is proposed by using quaternion in this system. Its corresponding advantage is discussed in terms of kinetic energy, rotational velocity and rotational displacement. The application of quaternions in the numerical experiment is shown to be a more useful and valid way of establishing the ideal analytical model of the universal joint system.

• ETRI Journal
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• v.16 no.2
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• pp.27-41
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• 1994

A new mathematical model to predict the beam pointing instability of a nonconservative two-body satellite system in spinning injection mode has been developed by using Newton-Euler and projection methods. Since the on-axis and null axis of the omni antenna with toroidal pattern beam form a right angle, wobbling of the antenna on-axis is measured by determining the Euler angles which represent the orientation of the satellite's spin axis. Because of the complexity of the system which is a time varying, nonstationary, nonlinear dynamical system, a numerical method is used for the analysis. Computer simulation results present the effects of the mass distribution and internal mass motion on the antenna beam pointing.

• Proceedings of the Korea Multimedia Society Conference
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• 2002.05c
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• pp.474-478
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• 2002

본 논문에서는 광학식 모션 캡쳐를 이용하여 얻은 한국인의 발레 동작에 대한 모션 캡쳐 데이터를 사용하여 다른 모션으로 변형함으로써 새로운 형태의 동작을 생성하거나 원래 데이터의 에러가 생긴 경우에 보정이 쉽게 수정 가능하도록 하였다. 즉, 모션 캡쳐 데이터의 구조는 다양한 포맷들로 되어 있는 스켈레톤 구조로서 관절의 각도나 위치에 대해 변형을 가하기 힘들다. 그러므로 모션 수정에 관련된 기술을 이용하여 선택된 조인트(joint), 엔드이펙터(end effecter), 마커(marker)들을 보여주고, 오일러(Euler Angles), 쿼터니언(Quaternions), 지수 맵(Exponential Map) 보간이 가능하여 실시간에서도 재생 되도록 구현하였다.

• 한국전산유체공학회:학술대회논문집
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• 2000.10a
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• pp.32-38
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• 2000

Wing flap deflection angles of a supersonic transport are optimized to improve transonic cruise performance. For this end, a numerical optimization method is adopted using a three-dimensional unstructured Euler code and a discrete adjoint code. Deflection angles of ten flaps; five for leading edge and five fur railing edge, are employed as design variables. The elliptic equation method is adopted for the interior grid modification during the design process. Interior grid sensitivities are neglected for efficiency. Also tested is the validity of the approximate gradient evaluation method for the present design problem and found that it is applicable for loading edge flap design in cases of no shock waves on the wing surface. The BFGS method is used to minimize the drag with constraints on the lift and upper surface Mach numbers. Two design examples are conducted; one is leading edge flap design, and the other is simultaneous design of leading edge and trailing edge flaps. The latter gave a smaller drag than the former by about two counts.