• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.94-102
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• 2012

There have been many homing navigation algorithms for robotic system. In this paper, we suggest a bio-inspired navigation model. It builds path integration based on optical flow. We consider two factors on robot movements, translational movement and rotational movement. For each movement, we found distinguishable optical flows. Based on optical flow, we estimate ego-centric robot movement and integrate the path optimally. We can determine the homing direction and distance. We test this algorithm and evaluate the performance of homing navigation for robotic system.

• 전자공학회논문지B
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• 제32B권9호
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• pp.1171-1180
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• 1995

In this paper, we present a 3-D object recognition system in which the 3-D Hough transform domain is employed to represent the 3-D objects. In object modeling step, the features for recognition are extracted from the CAD models of objects to be recognized. Since the approach is based on the CAD models, the accuracy and flexibility are greatly improved. In matching stage, the sensed image is compared with the stored model, which is assumed to yield a distortion (location and orientation) in the 3-D Hough transform domain. The high dimensional (6-D) parameter space, which defines the distortion, is decomposed into the low dimensional space for an efficient recognition. At first we decompose the distortion parameter into the rotation parameter and the translation parameter, and the rotation parameter is further decomposed into the viewing direction and the rotational angle. Since we use the 3-D Hough transform domain of the input images directly, the sensitivity to the noise and the high computational complexity could be significantly alleviated. The results show that the proposed 3-D object recognition system provides a satisfactory performance on the real range images.

• 한국광학회지
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• 제11권1호
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• pp.19-24
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• 2000

액정 표시소자에 쓰이는 위상판의 시야각특성을 확장된 존즈행렬과, 이것의 뽀앙카레공(Poincare sphere)에서의 기하학적 회전변환으로 해석하였다. 위상판의 회전변환 특성은 시야각이 바뀌면 회전축은 적도선 위에 있고, 회전각이 시야각에 따라 크게 변한다. 광축의 방향이 다른 두 장의 위상판을 겹쳐쓰면 이런 특성을 보정할 수 있고, 이 방법을 써서 BTN 셀의 시야각 특성을 개선할 수 있었음을 보였다.

• Structural Engineering and Mechanics
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• 제45권2호
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• pp.259-275
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• 2013

Free vibration of symmetric angle-ply layered conical shell frusta of variable thickness is analyzed under shear deformation theory with different boundary conditions by applying collocation with spline approximation. Linear and exponential variation in thickness of layers are assumed in axial direction. Displacements and rotational functions are approximated by Bickley-type splines of order three and obtained a generalized eigenvalue problem. This problem is solved numerically for an eigenfrequency parameter and an associated eigenvector of spline coefficients. The vibration of three and five-layered conical shells, made up of two different type of materials are considered. Parametric studies are made for analysing the frequencies of the shell with respect to the coefficients of thickness variations, length-to-radius ratio, length-to-thickness ratio and ply angles with different combination of the materials. The results are compared with the available data and new results are presented in terms of tables and graphs.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.766-772
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• 2013

Modeling and control of radial force in the double stator type bearingless switched reluctance motor (BLSRM) is researched. The rotational torque is controlled independently from the radial force control. And the radial force is constant which is independent from the rotor position. In order to realize steady suspension, analytical models of torque and radial force for the proposed structure are derived. Meanwhile, in order to realize steady suspension, control scheme for proposed BLSRM is proposed. In the control method, the radial force can be controlled in arbitrary direction and magnitude by selecting some combinations of radial force windings. The validities of structure and control method are verified by the experimental results.

• Steel and Composite Structures
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• 제33권3호
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• pp.403-432
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• 2019

Axially functionally graded (AFG) beams are a new class of composite structures that have continuous variations in material and/or geometrical parameters along the axial direction. In this study, the exact analytical solutions for the free vibration of AFG and uniform beams with general elastic supports are obtained by using Euler-Bernoulli beam theory. The elastic supports are modeled with linear rotational and lateral translational springs. Moreover, the material and/or geometrical properties of the AFG beams are assumed to vary continuously and together along the length of the beam according to the power-law forms. Accordingly, the accuracy, efficiency and capability of the proposed formulations are demonstrated by comparing the responses of the numerical examples with the available solutions. In the following, the effects of the elastic end restraints and AFG parameters, namely, gradient index and gradient coefficient, on the values of the first three natural frequencies of the AFG and uniform beams are investigated comprehensively. The analytical solutions are presented in tabular and graphical forms and can be used as the benchmark solutions. Furthermore, the results presented herein can be utilized for design of inhomogeneous beams with various supporting conditions.

• Wind and Structures
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• 제1권1호
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• pp.59-66
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• 1998

The vibrations of bodies subjected to fluid flow can cause modifications in the flow conditions, giving rise to interaction forces that depend primarily on displacements and velocities of the body in question. In this paper the linearized equations of motion for bodies of arbitrary prismatic or cylindrical cross-section in two-dimensional cross-flow are presented, considering the three degrees of freedom of the body cross-section. By restraining the rotational motion, equations applicable to circular tubes, pipes or cables are obtained. These equations can be used to determine stability limits for such structural systems when subjected to non uniform cross-flow, or to evaluate, under the quasi static assumption, their response to vortex or turbulent excitation. As a simple illustration, the stability of a pipe subjected to a bidimensional flow in the direction normal to the pipe axis is examined. It is shown that the approach is extremely powerful, allowing the evaluation of fluid-structure interaction in unidimensional structural systems, such as straight or curved pipes, cables, etc, by means of either a combined experimental-numerical scheme or through purely numerical methods.

• 한국정밀공학회지
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• 제14권10호
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• pp.15-27
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• 1997

Quasti-static cutting force variations in milling process are measured indirectly using spindle motor current. Quasi-static sensitivity of the spindle motor current is higher than that of the feed motor current. Magnitude of the spindle motor current is independent of cutting direction. The linear relationship between the cutting force and the spimdle motor RMS current at various spindle rotational speed is obtained. Frequency/ Voltage(F/V) converter voltage is measured to identify the spindle speed and to determine the cutting force at various spindle speeds. Overload on the tool during milling process can be detected using the proposed indirect cutting force measurement. Based on these measurements, cutting force is regulated at a constant level by feedrate control.

• 한국정밀공학회지
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• 제14권5호
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• pp.157-163
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• 1997

In the case of direct connecting the nut of ballscrew to guide table, machining error and misalignment of ballscrew largely affect to the motional accuracy of guideway. For decreasing these influences, two type of floating couplings: leaf spring type and hybrid type which releases the table from nut of ballscrew except feed and rotational direction is proposed in this study. In order to verify practical availability of the proposed floating couplings, motional accuracy, dynamic characteristics and micro step response of hydrostatic guideway, mounted with each type of couplings are tested. The conventional fixed type coupling is also tested as the reference in characteristics. From the results of experiments, it is proved that the hybrid type coupling is superior to other couplings and is available to high precision feeding system with ballscrew.

• 한국정밀공학회지
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• 제31권7호
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• pp.635-642
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• 2014

The large volume multi-tasking vertical lathe was developed for machining the bearing parts for a wind power generator. Although the machined part is large in size high precision tolerances are required recently. One of the most important components to achieve this mission is the rotating table which holds and supports the part to be machined. The oil hydrostatic bearing is adopted for the thrust bearing and the rolling bearing for the radial bearing. In this article experimental performance evaluation and its analysis results are presented. The rotational accuracy of the table is assessed and the frequency domain analysis for the structural loop is performed. And in order to evaluate the structural characteristic of table the moment load experiment is performed. The rotational error motion is measured as below 10 ${\mu}m$ for the radial and axial direction and 22,800 Nm/arcsec of moment stiffness is achieved for the rotary table.