• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1185-1190
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• 2007

In this paper the vibration system is consisted of a rotating cantilever pipe conveying fluid. The equation of motion is derived by using the Lagrange's equation. Also, the equation of motion is derived applying a modeling method that employs hybrid deformation variables. Generally, the system of pipe conveying fluid becomes unstable by flutter. So, we studied about the influences of the rotating angular velocity, mass ratio and the velocity of fluid flow on the stability of a cantilever pipe by the numerical method. The influences of mass ratio, the velocity of fluid, the angular velocity of a cantilever pipe and the coupling of these factors on the stability of a cantilever pipe are analytically clarified. The critical fluid velocity$(u_{cr})$ is proportional to the angular velocity of the cantilever pipe. In this paper Flutter(instability) always occur in the second mode of the system.

• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.544-551
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• 2015

In this paper, the design and implementation results of the optical flow estimator (OFE) for moving object detection (MOD) in advanced driver assistance system (ADAS). In the proposed design, Brox's algorithm with global optimization is considered, which shows the high performance in the vehicle environment. In addition, Cholesky factorization is applied to solve Euler-Lagrange equation in Brox's algorithm. Also, shift register bank is incorporated to reduce memory access rate. The proposed optical flow estimator was designed with Verilog-HDL, and FPGA board was used for the real-time verification. Implementation results show that the proposed optical flow estimator includes the logic slices of 40.4K, 155 DSP48s, and block memory of 11,290Kbits.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.7 s.124
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• pp.605-610
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• 2007

In this paper a dynamic behavior(natural frequency) of a cracked cantilever beam subjected to follower force is presented. In addition, an analysis of the flutter and buckling instability of a cracked cantilever beam subjected to a follower compressive load is presented. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The vibration analysis on such cracked beam is conducted to identify the critical follower force for flutter instability based on the variation of the first two resonant frequencies of the beam. Besides, the effect of the crack's intensity and location on the flutter follower force is studied. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable 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's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• Journal of Mechanical Science and Technology
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• v.17 no.4
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• pp.538-544
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• 2003

Although many methodologies exist for determining the constrained equations of motion, most of these methods depend on numerical approaches such as the Lagrange multiplier's method expressed in differential/algebraic systems. In 1992, Udwadia and Kalaba proposed explicit equations of motion for constrained systems based on Gauss's principle and elementary linear algebra without any multipliers or complicated intermediate processes. The generalized inverse method was the first work to present explicit equations of motion for constrained systems. However, numerical integration results of the equation of motion gradually veer away from the constraint equations with time. Thus, an objective of this study is to provide a numerical integration scheme, which modifies the generalized inverse method to reduce the errors. The modified equations of motion for constrained systems include the position constraints of index 3 systems and their first derivatives with respect to time in addition to their second derivatives with respect to time. The effectiveness of the proposed method is illustrated by numerical examples.

• Bulletin of the Korean Mathematical Society
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• v.32 no.2
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• pp.303-308
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• 1995

We consider a torus T, that is, a compact surface with genus 1 and $\Omega = D^2 \times S^1$ topologically with $\partial\Omega = T$, where $D^2$ is the open unit disk and $S^1$ is the unit circle. Let $\omega = (x,y)$ denote the generic point on T. For a smooth immersion $u : T \to R^3$, we define the Dirichlet functional by $$ E(u) = \frac{2}{1} \int_{T} $\mid$\nabla u$\mid$^2 d\omega $$ and the volume functional by $$ V(u) = \frac{3}{1} \int_{T} u \cdot u_x \Lambda u_y d\omege $$.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.6
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• pp.753-759
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• 1999

BPF(block pulse function) has been used widely in the system analysis and controller design. The integral operational matrix of BPF converts the system represented in the form of the differential equation into the algebraic problem. Therefore, it is important to reduce the error caused by the integral operational matrix. In this paper, a new integral operational matrix is derived from the approximating function using Lagrange's interpolation formula. Comparing the proposed integral operational matrix with another, the result by proposed matrix is closer to the real value than that by the conventional matrix. The usefulness of th proposed method is also verified by numerical examples.

• Journal of the Korean Institute of Gas
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• v.18 no.3
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• pp.1-12
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• 2014

In this paper, we developed an explosion proof type and portable combustible gas leak detector and proposed an algorithm to improve the accuracy for measuring gaseous concentrations. The nation's first we developed an infrared gas leak detector with explosion proof standard(Ex d ib) and improved measuring accuracy by using linearization recursion equation and 2nd Lagrange interpolation polynomial. Together, we advanced their performances and added their easy functions after investigating field demands. To compare our and other company's detectors, we performed measurement tests with eight standard gases made by Korea Gas Safety Corporation. We demonstrated the excellence of our instruments in measuring accuracy other than detecters through experimental results.

• Journal of the Society of Naval Architects of Korea
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• v.32 no.3
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• pp.98-106
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• 1995

In ship and offshore structures, there exist many local structural systems which may be regarded as a combined structural systems composed of thick plates or double wall panels and attachments reducible to damped spring-mass systems. For vibration analysis of such a combined system an analytical method based on the receptance method is presented in this paper. The free vibrational characteristics and forced vibration responses of the combined system can be calculated by synthesis of receptances of the panel and attachments. To calculate receptances of the panel, it may be regarded as a Mindlin plate for consideration of effects of shear deformation and rotary inertia and the assumed mode-Lagrange's equation method is applied using Timoshenko beam function or polynomials having properties of Timoshenko beam function as trial functions. Through some numerical calculations, accuracy and efficiency of the presented method are shown.