• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.842-847
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• 2002

One of the challenging problems with bicycle simulators is to deal with the inherent unstable bicycle dynamics that is coupled with rider's motion. For the bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of the rider's action force, which is one of the important control inputs, but of which the direct measurement is impractical. For the effective estimation of the rider's action force, the dynamics model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.630-637
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• 2003

This paper proposes a new modeling scheme to describe the hysteresis and the dynamic characteristics of piezoelectric actuators in the inchworm and develops a control algorithm for the precision motion control. From the analysis of piezoelectric actuator behaviors, the hysteresis can be described by the functions of a maximum input voltage. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. Therefore, the sliding mode control and the Kalman filter are developed for the precision motion control of the inch-warm. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Steel and Composite Structures
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• v.9 no.2
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• pp.119-130
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• 2009

This paper reports results of the structural response of empty steel tanks under vertical ground motions. The tanks are modeled using a finite element discretization using shell elements, and the vertical motion is applied and analyzed using nonlinear dynamics. Several excitation frequencies are considered, with emphasis on those that may lead to resonance of the roof. The computational results illustrate that as the base motion frequency is tuned with the frequency of the first roof-mode of the tank, the system displays large-amplitude displacements. For frequencies away from such mode, small amplitude displacements are obtained. The effect of the height of the cylinder on the dynamic response of the tank to vertical ground motion has also been investigated. The vertical acceleration of the ground motion that induces significant changes in the stiffness of the tank was found to be almost constant regardless of the height of the cylinder.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.190-199
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• 1993

In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.

• Proceedings of the IEEK Conference
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• 2003.07b
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• pp.851-854
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• 2003

The low power motion estimation for MPEG-4 is a soft-core for hardwired motion estimation block in MPEG-4. This motion estimation is modified by 10 difference mode. So, this motion estimation decrease a power consumption compare conventional step search. This modified 4SS Low power Motion Estimation has been tested and verified to be valid for implementation of FPGA. The average PSNR between the original image and the motion-compensated image is 28.25dB. And Power consumption is 26mW.

• ETRI Journal
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• v.35 no.3
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• pp.469-479
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• 2013

This paper proposes an efficient computation-aware mode decision and search point (SP) allocation algorithm for spatial and quality scalabilities in Scalable Video Coding. In our proposal, a linear model is derived to allocate the computation for macroblocks in enhancement layers by using the rate distortion costs of the base layer. In addition, an adaptive SP decision algorithm is proposed to decide the number of SPs for motion estimation under the constraint of the allocated computation. Experiment results demonstrate that the proposed algorithm allocates the computation resource efficiently and outperforms other works in rate distortion performance under the same computational availability constraint.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.319-321
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• 2007

This paper introduces a general overview of the 6000m class deep-sea ROV. Hemire and Henuvy. and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001. sponsored by the Ministry of Maritime Affairs and, Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry. where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper. operational mechanism of manual and automatic mode with some convenient functions for operator is desc.ribed. Finally, results of sea trial conducted at the Philippine sea where a depth is 5.770m are shown.

• Journal of the Korean Solar Energy Society
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• v.28 no.1
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• pp.25-32
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• 2008

Aeroelastic phenomena of a wind turbine include stall-induced vibrations and classical flutters. The classical flutter occurs due to coalescence between bending mode and torsion mode. It is typically the aeroelastic instability of an aircraft wing. Different from the classical flutter, the stall-induced vibration is the instability in lead-lag mode due to negative aerodynamic dampings. In the present study, the three degree of freedom aeroelastic model of a wind turbine blade is introduced to characterize and analyze its aeroelastic phenomena. The numerical results show that the aeroelastic stability of flap-lag motion is more unstable than that of flap-pitch motion and the aeroelastic characteristics of lead-lag motion can become unstable as wind speed increases.

• Journal of the Ergonomics Society of Korea
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• v.6 no.1
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• pp.25-32
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• 1987

The paesent paper deals with obtaining the properly mixed application critaeia for the manual mode, using computer graphic simulation, in order to recover the error effectively occurring in the advanced teleoperator work of man-robot system. In these experiments the error which is occurred during performing the automatic mode is recovered by the manual mode which is combined properly the operation by hyman with the operation by control program. The result shows an improvement availibility of the system by not only establishing an efficient combination of the manual mode according to trajectory planning but also recovering the error effectively. Therefore we suggest that the operation by control program should be applied in macro motion of control and the operation by human in micro motion of control.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.150-156
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• 2015

In this paper, a marionette control system using wrist and finger gestures through an IMU sensor is studied. The signals from the sensor device are conditioned and recognized, then the commands are sent to the 8 motors of the marionette via Bluetooth (5 motors control the motion of the marionette, and 3 motors control the location of the marionette). It is revealed that the degree of freedom of fingers are not independent from each other, therefore, some gestures are hardly made. Gesture mode changes for difficult postures of the fingers in cases of a lack of finger DOF are proposed. Therefore, the gesture mode change switches the assignment of gesture as required. Experimental results show that gesture mode change is successful for appropriate postures of a marionette.