• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.8
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• pp.784-790
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• 2012

This paper describes a stability and dynamic characteristics of bearingless helicopter main rotor in hover. Baseline rotor configuration is defined and modal analysis for the configuration is taken to verify the dynamic characteristics. The kinematic pitch-lag couplings through ways of pitch link installation are analyzed to know effects on loads, frequencies and stability. The effects of pitch link attachments in spanwise direction and chordwise direction as well as pitch link inclination on thrust, power, flpa-lag-pitch mode frequencies and inplane damping are examined. Pitch link at trailing edge location in chordwise direction has influence on aeroelastic stability of the rotor. Also, the pitch link with negative inclination angle makes inplane damping increase.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.394-399
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• 2012

This paper describes a stability and dynamic characteristics of bearingless helicopter main rotor in hover. Baseline rotor configuration is defined and modal analysis for the configuration is taken to verify the dynamic characteristics. The kinematic pitch-lag couplings through ways of pitch link installation are analyzed to know effects on loads, frequencies and stability. The effects of pitch link attachments in spanwise direction and chordwise direction as well as pitch link inclination on thrust, power, flpa-lag-pitch mode frequencies and inplane damping are examined. Pitch link at trailing edge location in chordwise direction has influence on aeroelastic stability of the rotor. Also, the pitch link with negative inclination angle makes inplane damping increase.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1613-1618
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• 2011

Analysis method for mechanism has been fully developed and relatively easy work compared to mechanism synthesis. Developing or creating a new mechanism for a given task is a creative job. In this case, a few theories are developed such as type synthesis. However, these methods are not sufficient for mechanism designers to sufficientely take into account alternative mechanism models during the initial phase of the mechanism design process. This paper presents the configuration design of mechanisms using graphical representation in the conceptual design stage. In this stage of kinematic synthesis, one needs to select mechanisms and configure appropriately to realize the desired motion of a machine. Graphical representation of mechanisms is proposed in this paper to help a designer to be highly creative and efficient in the initial design process. It is possible to easily design and analyze the mechanism of a machine by using this method.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.8-18
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• 2005

Pedestrians involved in traffic accidents manifest unique trajectory characteristics depending on the collision speed, vehicle configuration, and pedestrian postures. However, the existing analytical models for pedestrian movements do not fully include the rotational characteristics of the pedestrians because they assume a two dimensional parabolic trajectory. This faulty assumption in the development of these models limits their applicability and reliability This study investigated the pedestrians movement at collision by computer simulation. The simulations are carried out by using HADYMO, which is a special simulation software system for dynamic movement analysis. Vehicles and pedestrians are modeled and verified via real crash worthiness experiments. Simulations are performed for various collision speeds, vehicle configuration, and pedestrian postures. Since the simulation uses multi-body dynamics, It can express irregular phenomena of the bodies quite well. The results can be exploited for vehicle design and traffic accident reconstruction.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.1
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• pp.21-32
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• 1999

Mapping and precise point determination by photogrammetry have been shown to be an economic solution. But control points are necessary to determine the exterior orientation parameters. Although the number of required control points has been reduced based on extended bundle adjustment and reinforced cross-strip, the ground survey is a significant factor of whole expenses in photogrammetry. The status of GPS-photogrammetry with kinematic DGPS-positioning to overcome this disadvantages, is now steadly progressive since the first possibility has been proved. The completed satellite configuration, powerful receiver function and upgraded software for kinematic DGPS-positioning have extensively improved the accuracy of combined bundle adjustment. So the research for the operational use of GPS-photogrammetry is absolutely necessary. The presented test field was designed for identification of subsidences in a coal mining area, flown with 60％ sidelap and cross strips. Just with 6 control points and combined block adjustment instead of the traditionally used 21 horizontal and 81 vertical control points the same ground accuracy has been reached. The accuracy of kinematic GPS-positioning and combined block adjustment was independent upon the distance of the ground reference station. It also has been showed that the special model for the systematic error correction in the combined block adjustment.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.2
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• pp.237-242
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• 1993

The bearing capacity of the sand foundation including a thin dense sand layer depends on the stiffiness, thickness and the location of the dense sand layer. In this paper was the influence of the dense sand layer on both the bearing capacity and the failure configuration is studied by means of K.E.M(Kinematic Element Method). K.E.M was implemented to get the excat solution starting from the upper bound of the analysis. The result show that the bearing capacity of the foundation and the failure configuration is greatly influenced by the dense sand layer, when the layer is located not deeper than 3/5 of the foundation width.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.2
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• pp.131-142
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• 2015

In order to support the development of a cost-effective river bathymetric system, this research has focused on modeling GPS observables, which are obtained by array of five single-frequency receivers (i.e., two references and three rovers) to estimate the high accurate kinematic position, and the surveying vessel altitude. Also, by applying all GPS measurements as multiple-baselines with constraining rover baselines, we derived the socalled ‘kinematic network model.’ From the model, the integer-constrained least-squares (LS) for position estimation and the implicit LS for attitude determination were implemented, while a series of simulation tests with respect to the baseline lengths around 2km performed to demonstrate its accuracy analysis. The on-the-fly (OTF) ambiguity resolution tests revealed that ninety-nine percents of time-to-fix-first ambiguity (TTFF) can be decided in less than two seconds, when the positioning accuracy of ambiguity-fixed solutions was assessed as the greater than or equal to one and two centimeters in horizontal and vertical, respectively. Comparing to the GPS-derived attitudes, the achievable accuracy gradually descended in sequence of yaw, pitch and roll due to the antenna geometric configuration. Furthermore, the RMSE values for the baseline lengths of three to six meters were within ±1′for yaw, and less than ±10′and ±20′for pitch and roll, respectively, but those of between six to fifteen meters were less than ±1′for yaw, ±5′for pitch, and ±10′for roll.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.1
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• pp.62-68
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• 2000

Fixtures are used in almost all phases of machining and assembly to position and hold a part accurately. The class of fixture which consists of 3 locators and 1 clamp(3L/1C) is known as the minimal set that can provide form closure which is a kinematic constraint condition for preventing all planar motions. This type of fixtures has advantages in terms of the number of fixture elements required, the time for clamping, and so on. However it is not widely used in industry because reliable loading scheme has not been reported. In this paper, we propose a method to load the class of 3L/1C fixtures using compliant motions. The planner is developed for synthesizing compliant motions to achieve precise final fixture configuration in the presence of sensing and control uncertainties. A novel approach to eliminate uncertainty in part orientation by adding one extra fixture element called an aligning pin is proposed.