• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.683-690
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• 1985

본 논문에는 Euler매개변수를 회전좌표계로 사용하여 구속된 3차원 기계시스템의 역동학력 해 을 수행한 연구결과가 수록되었다. 해석을 위해 문제에 등장하는 비선형 Holonomic구속조건식 들과 운동방정식들을 Cartesian일반좌표계을 사용하여 표시하였으며, 일반좌표계를 구성하는 각 강체의 좌표계로는 변위를 나타내기 위한 3개의 좌표와 회전을 나타내기 위한 4개의 Euler매 개변수가 사용되었다. 구속조건식들과 미분방정식 형태의 운동방정식들을 결합하여 시스템 전 체의 운동방정식을 유도하기 위해 Lagrange승수 기법을 사용하였다. 각 강체의 주어진 시간에 서의 위치, 속도, 가속도는 기구학적 해석(kinematic analysis)을 통해 얻어지고, 이 자료들을 전 체운동방정식에 대입하여 Lagrnage승수의 값을 계산하여 6개의 자유도를 가진 로봇 기구를 원 하는대로 운전하는에 필요한 각 관절의 토오크를 계산하였으며, 계산결과가 정확하다는 사실이 입증되었다. 연구결과 Euler매개변수를 회전좌표로 사용할 경우 특이 경우(singular case)가 발 생하지 않으며, 이 방법은 역동력학 해석용 다목적 전산프로그램 개발에 광범위하게 응용될 수 있음이 밝혀졌다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.151-157
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• 2017

Hydraulic equipment have been traditionally used for constructing machines with high power density and durability. In particular, pumps and motors are considered essential equipment, and are consistently investigated to find suitable methods for optimal utilization of their characteristics. A kinematic analysis of a swash-plate-type piston motor model using the hydraulic analysis program SimulationX$^{(R)}$ to model a nine-piston motor and simulate a swash-plate angle with a low-pulsation and high-efficiency performance of the motor has been provided in this paper. Finally, along with the theoretical consideration of the stroke, the effect of changing strokes and notch shape (V, U, non-type) on the pulsation is simulated to analyze and determine the effects of reduction in pulsation. The optimal swash-plate angle and stroke thus obtained will reduce the trial and error in future design.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.10
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• pp.958-966
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• 2007

This study presents full vehicle dynamics model for the dynamic characteristic analysis of chassis parts which are suspension and brake system. This vehicle dynamics model is appled to kinematics and quasi-static analysis for each chassis part. In order to develop the vehicle dynamics model, the parameters of each chassis element part which are bush, spring and damper are measured by experiment. Also the wheel forces and moments of 6 DOF are measured at each wheel center. These data are applied to input parameter for vehicle dynamics model. And the verification of the developed model is achieved to comparison with the experimental force data of spring, trailing arm and assist arm by using the load response by strain gauge. These experimental force data are acquired by road test at event surfaces of P/G which are belgian and chuck holes roads.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.4_1
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• Journal of the Korean Solar Energy Society
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• v.36 no.3
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• pp.9-16
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• 2016

This paper discusses a refined model for investigating the micro-mechanical behavior of beam-like structures, which are composed of various elastic moduli and complex geometries varying through the cross-section directions and are also periodically-repeated and heterogeneous along the axial direction. Following the previous work (Lee and Yu, 2011), the original three-dimensional static problem is first formulated in a unified and compact form using the concept of decomposition of the rotation tensor. Taking advantage of the smallness of the cross-sectional dimension-to-length parameter and the micro-to-macro heterogeneity, while also performing homogenization along the dimensional reduction simultaneously, the variational asymptotic method is rigorously used to construct a total energy function, which is asymptotically correct up to the second order. Furthermore, through the transformation procedure based on the pure kinematic relations and the linearized equilibrium equations, a generalized Timoshenko model is systematically established. For the purpose of dealing with realistic and complex geometries and constituent materials at the microscopic level, this present approach is incorporated into a commercial analysis package. A few examples available in literature are used to demonstrate the consistency and efficiency of this proposed model, especially for the structures, in which the effects of transverse shear deformations are significant.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.53-58
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• 2016

Various jumping robot platforms have been developed to carry out missions such as rescues, explorations, or inspections of dangerous environments. We suggested a jumping robot platform using energy conversion of the elastic body like the bar of a pole vault, which is the main part in which elastic force occurs. The compliant link was optimized by an optimization method based on Taguchi methodology, and the robot's leaping ability was improved. Among the parameters, the length, width, and thickness of the link were selected as design variables first while the others were fixed. The level of the design variables was settled, and an orthogonal array about its combination was made. In the experiment, dynamic simulations were conducted using the DAFUL program, and response table and sensitivity analyses were performed. We found optimized values through a level average analysis and sensitivity analysis. As a result, the maximum leaping height of the optimized robot increased by more than 6.2% compared to the initial one, and these data will be used to design a new robot.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.6
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• pp.1574-1580
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• 2008

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. Also, the learning architecture to compute inverse kinematic coordinates transformations in the Plants of auto-equipment systems is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.35-35
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• 2012

Most grid-based distributed hydrologic models are complex in terms of data requirements, parameter estimation and computational demand. To address these issues, a simple grid-based hydrologic model is developed in a geographic information system (GIS) environment using storage-release concept. The model is named GIS Storage Release Model (GIS-StoRM). The storage-release concept uses the travel time within each cell to compute howmuch water is stored or released to the watershed outlet at each time step. The travel time within each cell is computed by combining the kinematic wave equation with Manning's equation. The input to GIS-StoRM includes geospatial datasets such as radar rainfall data (NEXRAD), land use and digital elevation model (DEM). The structural framework for GIS-StoRM is developed by exploiting geographic features in GIS as hydrologic modeling objects, which store and process geospatial and temporal information for hydrologic modeling. Hydrologic modeling objects developed in this study handle time series, raster and vector data within GIS to: (i) exchange input-output between modeling objects, (ii) extract parameters from GIS data; and (iii) simulate hydrologic processes. Conceptual and structural framework of GIS StoRM including its application to Pleasant Creek watershed in Indiana will be presented.

• Structural Engineering and Mechanics
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• v.71 no.5
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• pp.485-502
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• 2019

In this research, the nonlinear static, buckling and vibration analysis of viscoelastic micro-composite beam reinforced by various distributions of boron nitrid nanotube (BNNT) with initial geometrical imperfection by modified strain gradient theory (MSGT) using finite element method (FEM) are presented. The various distributions of BNNT are considered as UD, FG-V and FG-X and also, the extended rule of mixture is used to estimate the properties of micro-composite beam. The components of stress are dependent to mechanical, electrical and thermal terms and calculated using piezoelasticity theory. Then, the kinematic equations of micro-composite beam using the displacement fields are obtained. The governing equations of motion are derived using energy method and Hamilton's principle based on MSGT. Then, using FEM, these equations are solved. Finally the effects of different parameters such as initial geometrical imperfection, various distributions of nanotube, damping coefficient, piezoelectric constant, slenderness ratio, Winkler spring constant, Pasternak shear constant, various boundary conditions and three material length scale parameters on the behavior of nonlinear static, buckling and vibration of micro-composite beam are investigated. The results indicate that with an increase in the geometrical imperfection parameter, the stiffness of micro-composite beam increases and thus the non-dimensional nonlinear frequency of the micro structure reduces gradually.