• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.493-499
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• 2022

This paper presents the design for the kinematic structure of a system for an automatically moored 6000 ton autonomous ship in a port, and the process and results of optimal design for the link cross-sectional shape. We propose an automatic mooring system with a PPP type serial manipulator structure capable of linear motion in the XYZ axis. The mooring force applied by the mooring system was derived with dynamics simulation tool "ADAMS". The design goal is the minimization of the cross-sectional area of the link. Constrains include compressive stress and shear stress. The optimization problems were solved by using the sequential quadratic programing method implemented in the fmincon package. The shape of the cross section was assumed to be rectangle. Through future research, we plan to manufacture automatic mooring system for 6000ton class autonomous ship.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• International Journal of Highway Engineering
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• v.18 no.1
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• pp.85-90
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• 2016

PURPOSES : The objective of this paper is to understand the deterioration phenomenon and causes in the pavement of a ramp area. METHODS : Ramp areas need to be sloped because of the centrifugal force, which depends on the vehicle speed and grade of the ramp area. As a result, vertical and horizontal forces are applied on the pavement surface of the ramp area. Furthermore, the horizontal force depends on the vehicle speed and grade of the ramp area. In order to analyze the pavement structure of a ramp area, a multi-layered elastic analysis program was used to evaluate the weakest link of fatigue cracking deterioration, according to the simultaneously applied vertical and horizontal forces. RESULTS : From case studies related to the bonding conditions between the surface and base layer in a ramp area, it was found that the partially bonded cases resulted in a critical potential of fatigue cracking deterioration, in a comparison of 50%, 70%, and fully bonded cases. CONCLUSIONS : According to the results of the case studies, the pavement structure system should be reinforced by upgrading the material or increasing the thickness compared to the general pavement areas, in order to provide a performance life similar to the mainline pavements in the ramp areas.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.4
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• pp.1351-1372
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• 2022

A self-organizing multiple unmanned aerial vehicles (multi-UAVs) deployment based on virtual forces has a difficulty in ensuring the quality-of-experience (QoE) of users because of the difference between the assumed center for users in a hotspot and an actual center for users in the hotspot. This discrepancy is aggravated in a non-uniform and mobile user distribution. To address this problem, we propose a new density based virtual force (D-VF) multi-UAVs deployment algorithm which employs a mean opinion score (MOS) as a metric of QoE. Because MOS is based on signal-to-noise ratio (SNR), a sum of users' MOS is a good metric not only to secure a wide service area but to enhance the link quality between multi-UAVs and users. The proposed algorithm improves users' QoE by combining virtual forces with a random search force for the exploration of finding multi-UAVs' positions which maximize the sum of users' MOS. In simulation results, the proposed deployment algorithm shows the convergence of the multi-UAVs into the position of maximizing MOS. Therefore, the proposed algorithm outperforms the conventional virtual force-based deployment scheme in terms of QoE for non-uniform user distribution scenarios.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.12
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• pp.856-865
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• 2015

In a high-speed press, numerous moving links are interconnected and each link executes a constrained motion at high speed. As a consequence, high-level dynamic unbalance force and unbalance moment are transmitted to the main frame of the press, which results in unwanted vibration and significantly degrades manufacturing accuracy. Dynamic unbalance force and unbalance moment inevitably transmits high-level vibrational force to the foundation on which the press is installed. Minimizing the vibrational force transmitted to the foundation is critical for the protection of both the operators and the surrounding structures. The whole task should be carried out in two steps. The first step is to reduce dynamic unbalance based upon kinematic and dynamic analyses. The second step is to design and build an optimal vibration isolation system minimizing the vibrational force transmitted to the foundation. Firstly, the dynamic design method is presented to reduce dynamic unbalance force and moment. For this a 3D CAD software was utilized and a computer program was written to compute dynamic unbalance force and moment. Secondly, the design method for vibration isolation system is presented. The method for designing coil springs and viscous dampers are explained in detail.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.8
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• pp.649-660
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• 2021

Through analytical method based on S-76 model, the level of rotor hub vibration reduction was analyzed according to higher harmonic actuating by individual blade control. The higher harmonic actuating method for individual blades was divided into a method of generating an additional actuating force from the pitch-link in the rotating part and generating actuating force through the active trailing edge flap control of the blade. In the 100kts forward flight conditions, the hub load analysis was performed by changing the phase angle of 15 degree for the 2P/3P/4P/5P harmonic actuation for individual blades. Through the harmonic actuation results, the sensitivity of the rotor system according to the actuating conditions was analyzed, and the T-matrix representing the characteristics of the rotor system was derived based on this analysis result. And through this T-matrix, optimal higher harmonic actuating condition was derived to minimize hub vibration level for flight condition. In addition, the effect on the performance of the rotor system and the pitch-link load under minimum hub vibration condition, as well as the noise influence through the noise analysis were confirmed.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.1
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• pp.28-34
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• 2017

The vehicle stabilizer link is one of the suspension components that reduces the bumping and rolling during vehicle driving. However, this stabilizer link could be a source of the abnormal noises when its free gaps have higher than normal values. Therefore, the current study aims at investigating the quantitative relationships between the abnormal noises and free gaps of the vehicle stabilizer links, as well as the length of time that the vehicle stabilizer links could be used without generating abnormal noises. In this study, the abnormal noises were measured based on the magnitude of the stabilizer link vibration, while the free gaps were quantified through the force-displacement curves of the stabilizer links. Harsh durability tests were also conducted in order to quantify the operating cycles of the stabilizer links before generating the abnormal noises, along with the concomitant measurements of the free gaps. The current results showed that the abnormal noises of the stabilizer links were detected when its free gaps were larger than 0.12 mm. However, the free gaps of the stabilizer links, which are bigger than 0.1 mm, produced the abnormal noises at 1.5 million cycles under harsh durability test conditions. A parametric study in the future that would reflect the different shapes and sizes of the stabilizer links for diverse vehicles could determine more generalized relationships between the abnormal noises and free gaps of the vehicle stabilizer links.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.599-617
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• 2006

A network model and a Genetic Algorithm(GA) is proposed to solve the simultaneous estimation of the trip distribution and traffic assignment from traffic counts in the congested networks in a logit-based Stochastic User Equilibrium (SUE). The model is formulated as a problem of minimizing the non-linear objective functions with the linear constraints. In the model, the flow-conservation constraints of the network are utilized to restrict the solution space and to force the link flows meet the traffic counts. The objective of the model is to minimize the discrepancies between the link flows satisfying the constraints of flow-conservation, trip production from origin, trip attraction to destination and traffic counts at observed links and the link flows estimated through the traffic assignment using the path flow estimator in the legit-based SUE. In the proposed GA, a chromosome is defined as a vector representing a set of Origin-Destination Matrix (ODM), link flows and travel-cost coefficient. Each chromosome is evaluated from the corresponding discrepancy, and the population of the chromosome is evolved by the concurrent simplex crossover and random mutation. To maintain the feasibility of solutions, a bounded vector shipment is applied during the crossover and mutation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.175-180
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• 1993

The nonlinear integro-differential equations of motion of a two-link structurally flexible planar manipulator executing contact tasks are presented. The equations of motion are derived using the extended Hamilton's principle and the Galerkin criterion. Also, Models for the wrist-force sensor and impact that occurs when the manipulator's end point makes contact withthe environment are presented. The dynamic models presented can be used to studythe dynamics of the system and to design controllers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.227-231
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• 1995

This paper describes a basic programming and interfacing modele which can link DataBase form experiments and dynamic analysis program of chock absorber within the limit of adequate reliability. The system developed can provid a user specific Database of shock absorber within the required damping performance and endurable tolerance, thus show a good application possibilities in commercial vehicle design.