• 한국군사과학기술학회지
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• 제20권3호
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• pp.405-412
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• 2017

In the present study, two phase flows around a projectile vertically launched from an underwater platform have been numerically investigated by using a three dimensional multi-phase RANS flow solver based on pseudo-compressibility and a homogeneous mixture model on unstructured meshes. The relative motion between the platform and projectile was described by six degrees of freedom(6DOF) equations of motion with Euler angles and a chimera technique. The propulsive power of the projectile was modeled as the fluid force acting on the lower surface of the body by the compressed air emitted from the platform. Qualitative analysis was conducted for the time history of vapor volume fraction distributions. Uncorking pressure around the projectile and platform was analyzed to predict impact force acting on the surfaces. The results of 6DOF analysis presented similar tendency with the surficial pressure distributions.

• Smart Structures and Systems
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• 제11권2호
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• pp.135-161
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• 2013

This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.755-756
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• 2010

• Wind and Structures
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• 제26권6호
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• pp.343-354
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• 2018

A realistic FEM structural model is developed to predict the behavior, load transfer, force distribution and performance of a riverine platform under earthquake and environmental loads. The interaction between the transfer plate and the piles supporting the platform is investigated. Transfer plate structures have the ability to redistribute the loads from the superstructure above to piles group below, to provide safe transits of loads to piles group and thus to the soil, without failure of soil or structural elements. The distribution of piles affects the distribution of stress on both soil and platform. A materially nonlinear earthquake response spectrum analysis was performed on this riverine platform subjected to earthquake and environmental loads. A fixed connection between the piles and the platform is better in the design of the piles and the prospect of piles collapse is low while a hinged connection makes the prospect of damage high because of the larger displacements. A fixed connection between the piles and the platform is the most demanding case in the design of the platform slab (transfer plate) because of the high stress values developed.

• Steel and Composite Structures
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• 제12권5호
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• pp.427-444
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• 2012

This paper presented a new aerial platform-AERORail for rail transport and its structure evolution based on the elastic stiffness of cable; through the analysis on the cable properties when the cable supported a small service load with high-tensile force, summarized the theoretical basis of the AERORail structure and the corresponding simplified analysis model. There were 60 groups of experiments for a single naked cable model under different tensile forces and different services loads, and 48 groups of experiments for the cable with rail combined structure model. The experimental results of deflection characteristics were compared with the theoretical values for these two types of structures under the same conditions. It proved that the results almost met the classical cable theory. The reason is that a small deflection was required when this structure was applied. After the tension increments tests with moving load, it is verified that the relationships between the structure stiffness and tension force and service load are simple. Before further research and applications are made, these results are necessary for the determination of the reasonable and economic tensile force, allowable service load for the special span length for this new platform.

• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 한국해양공학회지
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• 제37권6호
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• pp.238-246
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• 2023

This paper proposes an effective inertia coefficient (EIC) in the Morison equation for better wave-force calculations. The OC4 semi-submersible floating offshore wind turbine (FOWT) platform was considered to test the feasibility. Large diffraction at large Keulegan-Carpenter (KC) numbers and the interaction between columns can result in errors in estimating the wave force using the Morison equation with a theoretical inertia coefficient, which can be corrected by the EIC as a function of the wave period and direction. The horizontal and vertical wave forces were calculated using the Morison equation and potential theory at each column, wave period, and wave direction. The EICs of each column were then obtained, resulting in a minimal difference between the Morison inertia force and the wave excitation force by the potential theory. The EICs, wave forces, phase angles, and dynamic motions were compared to confirm the feasibility of an EIC concept under regular and random waves.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.181-184
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• 2002

In this paper, an algorithm is proposed for the automatic movement of the platform on a ladder lift which operates by using hydraulic force. Experimental data of the manual movement operated by experts are acquired and analyzed. The length of movement of the platform is estimated by the number of pulses from an encoder while the platform is moving. The operating characteristics have been extracted from the data. The number of pulses varies whenever the weight of load varies. We propose a model to compensate the difference of the number of pulses. An automatic movement algorithm based on the model is proposed. The platform can start and stop smoothly at the starting point and the destination point. Experimental results show that the error distance at the destination point is less than 5 cm when the length of the ladder is 23 m.

• 한국콘텐츠학회논문지
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• 제12권9호
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• pp.389-395
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• 2012

본 연구는 전통적인 태권도 정권지르기 기술인 끊어지르기를 어깨를 앞으로 밀어 넣는 밀어지르기와 비교하여 최대 충격력과 주먹의 최고 속도 및 최고속도가 발현된 지점에 대해 규명하였다. 피험자는 남성 태권도 유단자 7명으로 구성하였다. 최대 충격력은 PS2142 force platform[10]을 수직으로 세워 측정하였고, 주먹의 최고속도는 PS2103A motion sensor[12]를 이용하였다. 측정 데이터는 PASCO사에서 제공한 data studio를 통해 수집되었고, SAS 9.1 패키지를 활용해 지르기 방식에 따른 t-test를 실시하였다. 본 실험절차를 통해 나타난 결론은 다음과 같다. 첫째, 최고 충격력에 있어서는 끊어지르기가 밀어지르기 보다 유의한 수준에서(p<.01) 더 높은 것으로 나타났다. 둘째, 주먹의 최고속도는 밀어지르기가 끊어지르기 보다 유의하게(p<.01) 빠른 것으로 제시되었다. 셋째, 최고속도의 발현지점에 있어서는 끊어지르기가 주먹 전체길이의 69.1%, 밀어지르기는 76.6%로 나타났고, 통계적으로 유의한(p<.001) 차이가 있었다.