• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1227-1233
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• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.6-132
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• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• Korean Journal of Computational Design and Engineering
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• v.4 no.1
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• pp.1-11
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• 1999

surface texture denotes set of tiny repetitive geometric features on an object surface. 3D Printing can readily create a surface of controlled macro-textures of high geometric complexity. Designing surface textures for 3D Printing, however, is difficult due to complex macro-structure of the tiny texture geometry since it needs to be compatible with the non-traditioal manufacturing method. In this paper we propose a visual simulation technique involving development of a virtual model-an intermediate geometric model-of the surface texture design prior to fabricating the physical model. Careful examination of the virtual model before the actual fabrication can help minimize unwanted design iterations. The proposed technique demonstrated visualization capability by comparing the virtual model with the physical model for several test cases.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.497-498
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• 2012

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.553-571
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• 2019

Geometric variation including welding distortion accumulates as many parts are joined together, ultimately affecting the final product. This variation is then subjected to correction, which requires considerable effort, time, and cost. This variation can be categorized as in-plane/out-of-plane variation. To date, studies on variation simulation have largely focused on the out-of-plane variation, however the variation generated in the in-plane direction requires more time and efforts to correct afterwards. This research aims to construct a variation simulation model considering both the in-plane and out-of-plane variations. A geometric analysis was performed to derive an equation that reflects the coupling effect of the out-of-plane variation on the in-plane variation. The proposed model is validated with case study analysis and the results shows that good fidelity in predicting and diagnosing the in-plane variation during the block assembly process considering welding distortion.

• 한국HCI학회:학술대회논문집
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• 2008.02c
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• pp.224-224
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• 2008

Recent advances in model acquisition, computer-aided design, and simulation technologies have resulted in massive databases of complex geometric data occupying multiple gigabytes and even terabytes. In various graphics/geometric applications, the major performance bottleneck is typically in accessing these massive geometric data due to the high complexity of such massive geometric data sets. However, there has been a consistent lower growth rate of data access speed compared to that of computational processing speed. Moreover, recent multi-core architectures aggravate this phenomenon. Therefore, it is expected that the current architecture improvement does not offer the solution to the problem of dealing with ever growing massive geometric data, especially in the case of using commodity hardware. In this tutorial, I will focus on two orthogonal approaches--multi-resolution and cache-coherent layout techniques--to design scalable graphics/geometric algorithms. First, I will discuss multi-resolution techniques that reduce the amount of data necessary for performing geometric methods within an error bound. Second, I will explain cache-coherent layouts that improve the cache utilization of runtime geometric applications. I have applied these two techniques into rendering, collision detection, and iso-surface extractions and, thereby, have been able to achieve significant performance improvement. I will show live demonstrations of view-dependent rendering and collision detection between massive models consisting of tens of millions of triangles on a laptop during the talk.

• Computers and Concrete
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• v.31 no.3
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• pp.223-239
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• 2023

Geometric nonlinear performance simulation and analysis of complex modern buildings and industrial products require high-performance shell elements. Balancing multiple aspects of performance in the one geometric nonlinear analysis element remains challenging. We present a new shell element, flat shell DKMGQ-CR (Co-rotational Discrete Kirchhoff-Mindlin Generalized Conforming Quadrilateral), for linear and geometric nonlinear analysis of both thick and thin shells. The DKMGQ-CR shell element was developed by combining the advantages of high-performance membrane and plate elements in a unified coordinate system and introducing the co-rotational formulation to adapt to large deformation analysis. The effectiveness of linear and geometric nonlinear analysis by DKMGQ-CR is verified through the tests of several classical numerical benchmarks. The computational results show that the proposed new element adapts to mesh distortion and effectively alleviates shear and membrane locking problems in linear and geometric nonlinear analysis. Furthermore, the DKMGQ-CR demonstrates high performance in analyzing thick and thin shells. The proposed element DKMGQ-CR is expected to provide an accurate, efficient, and convenient tool for the geometric nonlinear analysis of shells.

• Advances in aircraft and spacecraft science
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• v.10 no.1
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• pp.67-82
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• 2023

Linear array imaging sensors are widely used in remote sensing satellites. The final products of an imaging sensor can only be used when they are geometrically, radiometrically, and spectrally calibrated. Therefore, at the first stages of sensor design, a detailed calibration procedure must be carefully planned based on the accuracy requirements. In this paper, focusing on inherent optical distortion, a step-by-step procedure for laboratory geometric calibration of a typical push-broom satellite imaging sensor is simulated. The basis of this work is the simulation of a laboratory procedure in which a linear imager mounted on a rotary table captures images of a pin-hole pattern at different angles. By these images and their corresponding pinhole approximation, the correction function is extracted and applied to the raw images to give the corrected ones. The simulation results illustrate that using this approach, the nonlinear effects of distortion can be minimized and therefore the accuracy of the geometric position of this method on the image screen can be improved to better than the order of sub-pixel. On the other hand, the analyses can be used to proper laboratory facility selection based on the imaging sensor specifications and the accuracy.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.687-698
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• 2012

LADAR systems can rapidly acquire 3D point clouds by sampling the target surfaces using laser pulses. Such point clouds are widely used for diverse applications such as DSM/DTM generation, forest biomass estimation, target detection, wire avoidance and so on. Many kinds of LADAR systems have been developed with their respective purposes and applications. Particularly, Geiger mode imaging LADAR systems are increasingly utilized since they are energy efficient thank to extremely sensitive detectors incorporated into the systems. The purpose of this research is the performance assessment of a Geiger mode imaging LADAR system based on simulation with the real system parameters. We thus developed a simulation method of such a LADAR system by modeling its geometric, radiometric, optic and electronic aspects. Based on the simulation, we performed the performance assessment of a newly designed system to derive the outlier ratio and false alarm rate expected during its operation in almost real environment with reasonable system parameters. The proposed simulation and performance assessment method will be effectively utilized for system design and optimization, and test data generation.