• 로봇학회논문지
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• 제4권2호
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• pp.88-96
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• 2009

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

• 설비공학논문집
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• 제16권12호
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• pp.1197-1203
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• 2004

This study investigates the air leakage and heat transfer characteristics of a rotary-type air-to-air heat exchanger with a fiber polyester matrix. The leakage airflow rate is measured using a tracer gas method for various ventilation rates and rotational speeds of the matrix wheel. A correlation equation for air leakage is obtained by combining the pressure leakage and the carryover leakage. The pressure leakage is observed to be a function of ventilation airflow rate only, and the carryover leakage is found to be a linear function of rotational speed. The real efficiency of the heat exchanger can be obtained from its apparent efficiencies by taking into account the air leakage ratio. As the ventilation rate increases, the heat recovery efficiency decreases. As the rotational speed of the matrix increases, the efficiency increases initially but reaches a constant value for the rotational speeds over 10 rpm.

• 한국광학회지
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• 제5권1호
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• pp.25-30
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• 1994

투명한 비등방성 매질의 편광투과특성을 나타내는 유니타리 존즈행렬과 뽀앙카레공의 표면에서의 회전변환이 일대일 대응되는 것을 보여주는 공식을 끌어내었다. 이 공식들을 쓰면 유니타리 존즈행렬의 세 매개변수로부터 이에 대응되는 회전변환의 회전축 방향과 회전각을 보여주는 벡터표현을 얻을 수 있고, 또 거꾸로 회전변환의 벡터표현으로부터 이에 대응디는 유니타리 존즈행렬의 매개변수를 결정할 수 있다. 빛이 투명한 비등방성 선형매질을 지날 때 편광상태의 변화를 살펴보려면 먼저 매질전체의 편광투과특성을 나타내는 존즈행렬을 계산하고, 이로부터 뽀앙카레공에서의 회전변환을 결정하여 뽀앙 카레공 위의 점들이 어떻게 회전이동하는가 보면 된다.

• 한국공간구조학회:학술대회논문집
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• 한국공간구조학회 2006년도 춘계 학술발표회 논문집 제3권1호(통권3호)
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• pp.256-264
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• 2006

This paper describes the formulation of rectangular flat shell element that is modeled with the six degree of freedoms including a rotational degree of freedom. The rectangular finite element matrix with a rotational degree of freedom is developed using a beam stiffness matrix and compared with other methods. The outputs of the quantity of vertical deflection of cantilever beam show us the improving evidence of the Frame-Shell finite element matrix in a calculation of vertical deflections of cantilever beam.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.519-523
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• 2016

This paper proposes a method of estimating the actuator faults of a hexacopter without using encoders when one or more of six actuators do not operate normally. In the case of the hexacopter, a Pseudo-Inverse matrix is generally used to obtain the rotational speed of the actuators because the matrix that transforms the rotational speed of the actuators into the thrust and torque of the body coordinate system is not a square matrix. However, the method based on the Pseudo-Inverse matrix cannot detect the actuator faults correctly because the Pseudo-Inverse matrix is approximate. In the proposed method, the actuator faults are estimated by modifying the transform matrix using the property that the actuators of the hexacopter are symmetrical. The simulation results show the effectiveness of the proposed method when faults occur in one or more of the six actuators.

• 호남수학학술지
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• 제45권4호
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• pp.585-597
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• 2023

We introduce the rotational hypersurface x = x(u, v, s, t) constructed by double rotation in five dimensional Euclidean space 𝔼⁵. We reveal the first and the second fundamental form matrices, Gauss map, shape operator matrix of x. Additionally, defining the i-th curvatures of any hypersurface via Cayley-Hamilton theorem, we compute the curvatures of the rotational hypersurface x. We give some relations of the mean and Gauss-Kronecker curvatures of x. In addition, we reveal Δx=𝓐x, where 𝓐 is the 5 × 5 matrix in 𝔼⁵.

• 항공우주기술
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• 제10권2호
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• pp.49-55
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• 2011

인공위성에 사용되는 센서들의 장착 방향은 보통 방향코사인행렬로 구현되어 있다. 이 방향코사인행렬의 극성검증을 위해서는 센서에 알고 있는 외부 자극을 인가하여 출력되는 응답을 확인하는 방법이 사용된다. 그러나 자이로 센서의 경우에는 인위적인 외부 자극 없이 지구 자전에 의한 회전각속도가 방향코사인행렬의 극성검증을 위한 입력으로 사용될 수 있다. 본 연구에서는 인공위성의 조립 및 시험 단계에서 여러 번 수행되는 자이로 센서의 상태점검 시험결과를 이용하여 자이로 센서의 방향코사인행렬 극성검증을 수행하였다.

• 호남수학학술지
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• 제44권2호
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• pp.219-230
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• 2022

We examine the bi-rotational hypersurface x = x(u, v, w) with the third Laplace-Beltrami operator in the four dimensional Euclidean space 𝔼⁴. Giving the i-th curvatures of the hypersurface x, we obtain the third Laplace-Beltrami operator of the bi-rotational hypersurface satisfying ∆^IIIx =𝒜x for some 4 × 4 matrix 𝒜.

• Structural Engineering and Mechanics
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• 제54권4호
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• pp.711-723
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• 2015

This study investigates the identification of added mass and its location in the glass fiber reinforced polymer (GFRP) beam structures. The main emphasis of this paper is to ascertain the importance of inclusion of rotational degrees of freedom (dofs) in the introduction of added mass or damage identification. Two identification indices that include the rotational dofs have been introduced in this paper: the modal force index (MFI) and the modal rotational curvature index (MRCI). The MFI amplifies damage signature using undamaged numerical stiffness matrix which is related to changes in the altered mode shapes from the original mode shapes. The MRCI is obtained by using a higher derivative of rotational mode shapes. Experimental and numerical results are compared with the existing methods leading to a conclusion that the contributions of the rotational modes play a key role in the identification of added mass. The authors believe that the similar results are likely in the case of damage identification also.

• Smart Structures and Systems
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• 제32권1호
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• pp.1-7
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• 2023

In modal analysis, the mode shape reflects the vibration characteristics of the structure, and thus it is widely performed for finite element model updating and structural health monitoring. Generally, the acceleration-based mode shape is suitable to express the characteristics of structures for the translational vibration; however, it is difficult to represent the rotational mode at boundary conditions. A tilt sensor and gyroscope capable of measuring rotational mode are used to analyze the overall behavior of the structure, but extracting its mode shape is the major challenge under the small vibration always. Herein, we conducted a feasibility study on a multi-mode shape estimating approach utilizing a single physical quantity signal. The basic concept of the proposed method is to receive multi-metric dynamic responses from two sensors and obtain mode shapes through bridge loading test with relatively large deformation. In addition, the linear transformation matrix for estimating two mode shapes is derived, and the mode shape based on the gyro sensor data is obtained by acceleration response using ambient vibration. Because the structure's behavior with respect to translational and rotational mode can be confirmed, the proposed method can obtain the total response of the structure considering boundary conditions. To verify the feasibility of the proposed method, we pre-measured dynamic data acquired from five accelerometers and five gyro sensors in a lab-scale test considering bridge structures, and obtained a linear transformation matrix for estimating the multi-mode shapes. In addition, the mode shapes for two physical quantities could be extracted by using only the acceleration data. Finally, the mode shapes estimated by the proposed method were compared with the mode shapes obtained from the two sensors. This study confirmed the applicability of the multi-mode shape estimation approach for accurate damage assessment using multi-dimensional mode shapes of bridge structures, and can be used to evaluate the behavior of structures under ambient vibration.