• Journal of Welding and Joining
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• v.30 no.4
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• pp.38-43
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• 2012

Using a fiber laser heat source, an oil pressure sensor was fabricated to measure the pressure in commercial vehicles. A stepping motor was used for the rotational and translational motion in the diaphragms and hardware joining. Laser welding process algorism including shielding gas control and vision system was integrated by using LabVIEW software for the high quality welding and in-line monitoring purpose. For the maximum flexibility in pressure transmission to the pressure sensor, thin sheet metal diaphragm, $25{\sim}50{\mu}m$(SUS-316L), was used and the diaphragms were optimally designed with FEM analysis. The welded samples were cross-sectioned the observation showed that the maximum depth ratio was more than seven times of diaphragms. The maximum welding speed was measured to be as high as 50in/mm by the developed automation mechanism. The fabricated prototypes were tested for the proof pressure, spring constant and sealing. The FEM results of spring constant measurement was as accurate as up to 80% of the design value and the sensor was safely operated up to the nominal pressure of 10bars.

• Earthquakes and Structures
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• v.25 no.6
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• pp.455-467
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• 2023

This study focuses on demonstrating the effectiveness of vibration control of tuned rotary mass damper (TRMD) for reducing the bidirectional and torsional response of the irregular asymmetric structure with voided slabs under earthquake excitations. The TRMD arranged in plane of one-story eccentric structure is proposed as a distributed tuned rotary mass damper (DTRMD) system. Lagrange's equation is used to derive the equations of motion of the controlled system. The optimum position and number of TRMD are numerically investigated under harmonic excitation and the control effects of different distributions are discussed. Furthermore, a shaking table test is conducted under different excitation cases, including free vibration, forced vibration and seismic wave to investigate the absorption performance of the device. The numerical simulations of different distributions of the TRMDs show that the DTRMDs are more effective in reduction of the displacement response of the asymmetric structure under the same mass ratio, even when the degree of eccentricity becomes large. However, with small degree of eccentricity, the unreasonable asymmetrical arrangement may cause the increase of the peak value of the rotational angular displacement. Finally, the experimental investigations exhibit similar results of translational displacement of the structure. It is concluded that the vibration of the irregular asymmetric structure can be controlled more economically and effectively by reducing the mass ratio through reducing the quantity of TRMDs at the high stiffness end.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.740-756
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• 2017

This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation's parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm's accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.2
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• pp.97-105
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• 2020

In order to set up radar cross section(RCS) reduction factors for a target, the scattering point position of the target should be identified through inverse synthetic aperture radar(ISAR) image analysis. For this purpose, ISAR image focusing is important. Maritime ship is non-linear maneuvering in the sea, however, which blur the ISAR image. To solve this problem, translational and rotational motion compensation are essential to form focused ISAR image. In this paper, hourglass and ISAR image analysis are performed on the collected data in the sea instead of using the prediction software tool, which takes much time and cost to make computer-aided design(CAD) model of the ship.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.353-358
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• 2002

Human's vision is mostly confined to the area in the front and we, humans heavily depend on the sense of hearing to gather information in areas out of our sight. Thus, the virtual reality system consisting of the 3D sound effect gives the user a much better sense of reality than the system without the sound effect. Virtual 3D sound technology has mainly been researched with binaural system. The conventional binaural sound systems reproduce the desired sound at two arbitrary points using two channels in 3-D space. Head movement of listener might be change the nominal acoustic transfer function and deteriorate the performance of 3D sound system based on loudspeakers that needs a crosstalk canceller. In this paper, low kinds of sensitivity functions of sphere HRTF are derived to investigate the effect of head movement on HRTF in 3D sound system. Changes of HRTF caused by rotational and translational motion of head are obtained as we calculate the derivatives of HRTF with respect to angle and distance.

• Journal of Korean Neurosurgical Society
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• v.29 no.2
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• pp.280-285
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• 2000

Posterior transarticular screw fixation for atlantoaxial instability due to trauma or rheumatoid arthritis provides immediate rigid fixation of the C1-2 vertebral segment while preserving motion between the occiput and C1. This technique provides more resistance to translational and rotational forces than wiring technique. However, the technique of transarticular screw fixation is inherently demanding because of the complex anatomy of the occipitocervical region and vertebral artery(VA) at risk for arterial damage. VA injury may lead to serious subsequent neurological deficits and possibly death from bilateral VA injury. We report a case of a vertebral artery-to-epidural venous plexus fistula after posterior transarticular screw fixation which was treated with balloon occlusion.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.5
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• pp.368-375
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• 2018

In the present study, aerodynamic load analysis for a floating off-shore wind turbine was conducted to examine the effect of periodic platform motion in the direction of 6-DOF on rotor aerodynamic performance. Blade-element momentum method(BEM) was used for a numerical simulation, the unsteady airload effects due to the flow separation and the shed wake were considered by adopting a dynamic stall model based on the indicial response method. Rotor induced downwash was estimated using the momentum theory, coupled with empirical corrections for the turbulent wake states. The periodic platform motions including the translational motion in the heave, sway and surge directions and the rotational motion in the roll, pitch and yaw directions were considered, and each platform motion was applied as a sinusoidal function. For the numerical simulation, NREL 5MW reference wind turbine was used as the target wind turbine. The results showed that among the translation modes, the surge motion has the largest influence on changing the rotor airloads, while the effect of pitch motion is predominant for the rotations.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Steel and Composite Structures
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• v.17 no.3
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• pp.339-358
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• 2014

Exodermic deck systems are new composite steel grid deck systems which have been used in various projects during the past decade. One of the eminent features of this system is considerable reduction in the structure weight compared to the ordinary reinforced concrete decks and also reduction in construction time by using precast Exodermic decks. In this study, dynamic properties of the Exodermic deck bridges with alternative perfobond shear connectors are investigated experimentally. In order to evaluate the dynamic properties of the decks, peak picking and Nyquist circle fit methods are employed. Frequencies obtained experimentally are in good agreement with the results of the finite-element solution, and the experimental results show that the first mode is the most effective mode among the obtained modes. The first four modes are the rigid translational motion modes, and the next two modes seem to be rigid rotational motion modes around a horizontal axis. From the 7th mode onwards, modes are flexible. The range of damping ratios is about 0.5%. Furthermore, the static behavior of the Exodermic decks under a static load applied at the center of the decks was investigated. Failure of the decks under positive bending was punching-shear. The bending strength of the decks under negative bending was about 50 percent of their strength under positive bending. In addition, the weight of an Exodermic deck is about 40% of that of an equivalent reinforced concrete slab.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.