• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.534-539
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• 1986

This paper considers the ring rolling process contorl and treats the problem of controlling the pressure roll and conical roll motion which critically affects final quality of the rolled products. Since the process dynamics reveals nonlinear characteristics and parameter uncertainty, an adaptive control scheme was applied. The results show that this proposed adaptive control scheme can produce rolled rings of closer dimensional tolerances as compared with nonadaptive control system.

• 대한조선학회논문집
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• 제32권1호
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• pp.37-41
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• 1995

불규칙 해상에서의 선체의 횡동요운동을 해석하기 위하여 통계적 부분선형화 방법을 사용하였다. 선형 1자유도계인 횡동요 운동 모델에 2차의 비선형 감쇠항과 3차 및 5차, 7차, 9차, 11차의 비선형 복원모멘트를 추가하였으며 불규칙 기진모멘트는 가우스 백색잡음으로 가정하였다. 이 해석 결과를 등가선형화 방법으로 구한결과와 비교한 결과 부분선형화 방법이 반드시 더 정확한 결과를 주는 것은 아니란 점을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.534-537
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• 1995

In this paper, we propose a control strategy for a class of nonholonomic systems. A system with nonholonomic constraint is called a nonholonomic system, and as Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. A control strategy we propose is transforming this system into time-state control form by coordinate transformation and input transformation. We will apply this control strategy to the motion control of a rigid ball that is held between two parallel plates.

• 대한조선학회논문집
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• 제30권4호
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• pp.39-45
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• 1993

불규칙 해상에서의 선체의 횡동요운동을 해석하기 위하여 등가선형화방법을 사용 하였다. 일자 유도 선형 횡동요운동 모델에다가 2차의 비선형 감쇠항과 3차 및 5차의 비선형 복원 모멘트를 추가 하였으며 불규칙 기진 모멘트는 가우스 백색잡음으로 가정 하였다. 등가선형화 방법을 사용하여 예측한 응답의 통계적 특성을Simulation 결과와 비교 하였다.

• 대한정형도수물리치료학회지
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• 제2권1호
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• pp.39-49
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• 1996

The techniques of joint mobilization and traction are used to improve joint mobility or to decrease pain by restoring accessory movements to the shoulder joints and thus allowing full, nonrestriced, pain-free range of motion. In the glenohumeral joint, the humeral head would be the convex surface, while the glenoid fossa would be the concave surface. The medial end of the clavicle is concave anterioposteriorly and convex superioinferiorly, the articular surface of the sternum is reciprocally curved. The acromioclavicular joint is a plane synovial joint between a small convex facet on lateral end of the clavicle and a small concave facet on the acromion of the scapula. The relationship between the shape of articulating joint surface and the direction of gliding is defined by the convex-concave rule. If the concave joint surface is moving on a stationary convex surface, gliding occur in the same direction as the rolling motion. If the convex surface is moving on a stationary concave surface, gliding will occur in an opposite direction to rolling. Hypomobile shoulder joint are treated be using a gliding technique.

• 대한조선학회논문집
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• 제31권1호
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• pp.102-110
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• 1994

본 연구를 통하여 협대역 랜덤 기진모멘트 스펙트럼으로 표현되는 횡동요 기진 모멘트를 받는 선박의 횡동요 응답의 통계적 특성을 다중 시간법을 이용하여 그 결과를 구하고, 이를 등가선형화법으로 얻어진 결과와 비교해 보았다. 계산 결과, 등가선형화법보다 다중 시간법을 이용한 결과가 훨씬 넓은 다중치 영역을 보여주는 것을 알 수 있었다. 그리고 시간 궤적에서 횡동요 기진 모멘트의 시뮬레이션과 선박의 횡동요 운동의 시뮬레이션을 수행하여 그 결과를 확인하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.70-75
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• 2001

Intensive experimental investigations were carried out to provide information of the effects of inflow on the rolling characteristics and stability of ships, which becomes great concern in relation to ship's capsizing. A series of systematic experiments have been performed considering the effects cf combined motion of roll-heave-sway and relevant parameters, such as roll angle and period, tank water height etc. To accommodate this type of experiments with 3-degree of freedom of motion, a bench tester has been developed and verified using existing data. Also, theoretical application of anti-roll tank has been incorporated to support the process of investigation. A model of Ro-Ro ships is used in the present study as this type of vessels, as well as fishing vessels, with large open decks, can loose stability rapidly when there is inflow on the decks.

• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• 한국소음진동공학회논문집
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• 제20권7호
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• pp.629-636
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• 2010

A Mobile Harbor is a new transportation platform which can load and unload has containers to and from very large container ships on the sea. Currently designed Mobile Harbor a catamaran type which is equipped with precisely controlled gantry crane on the deck, and can transport 250 TEUs at a time. Loading and unloading works by crane require very small motion of Mobile Harbor in waves, because it may be operated outside of harbors. In this project, applicability of both tuned-type anti-rolling tank and maglev-type active mass driver is studied as anti-rolling systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.672-676
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• 2004

In this paper, measuring system of 5 DOF motion errors are proposed using two capacitive type sensor, a straight edge and a laser interfoerometer. Yawing error and pitching error are measured using the laser interferometer, and rolling error is measured by the reversal method using a capacitive type sensor. Linear motion errors of horizontal and vertical direction are measured using the sequential two point method. In this case, influence of angular motion errors is compensated using the previously measured angular motion errors. In the horizontal direction, measuring accuracy is within 0.05 $\mu$m and 0.27 arcsec, and in the vertical direction, it is within 0.15 $\mu$m and 0.5 arcsec. From these results, it is confirmed that the proposed measureing system is very effective to the measurement of 5 DOF motion errors in the ultra precision feed tables.