• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.621-626
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• 2002

Two problems in the measurement of 6-DOF head vibration in very low frequency range were investigated in this study. One is how much error was involved in the estimation of three rotational and three translational motion at any specified point from measured 6 translational accelerations. The other is quantitative and qualitative influence of gravity on DC and AC component of the estimated accelerations in 6 degree of freedom, which were derived from pick-ups fixed on a helmet. In the study the effect of nonlinear terms on the estimation of 6 degree of freedom accelerations was negligible but gravity effect must be considered carefully.

• Computational Structural Engineering
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• v.5 no.2
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• pp.105-118
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• 1992

Static performance was compared for the triangular plate elements through some numerical experiments. Four Kirchhoff elements and six Mindlin elements were selected for the comparison. Numerical tests were executed for the problems of rectangular plates with regular and distorted meshes, rhombic plates, circular plates and cantilever plates. Among the Kirchhoff 9 DOF elements, the discrete Kirchhoff theory element was the best. Element distortion and the aspect ratio were shown to have negligible effects on the displacement behaviour. The Specht's element resulted in better results than the Bergan's but it was sensitive to the aspect ratio. The element based on the hybrid stress method also resulted in good results but it assumed to be less reliable. Among the linear Mindlin elements, the discrete shear triangle was the best in view of reliability, accuracy and convergence. Since the thin plate behaviour of it was as good as the DKT element, it can be used effectively in the finite element code regardless of the thickness. As a quadratic Mindlin element, the MITC7 element resulted in best results in almost all cases considered. The results were at least as good as those of doubly refined meshes of linear elements.

• Structural Engineering and Mechanics
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• v.29 no.4
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• pp.355-380
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• 2008

In this study, the new three-dimensional finite element analysis model of guideway structures considering ultra high-speed magnetic levitation train-bridge interaction, in which the various improved finite elements are used to model structural members, is proposed. The box-type bridge deck of guideway structures is modeled by Nonconforming Flat Shell finite elements with six DOF (degrees of freedom). The sidewalls on a bridge deck are idealized by using beam finite elements and spring connecting elements. The vehicle model devised for an ultra high-speed Maglev train is employed, which is composed of rigid bodies with concentrated mass. The characteristics of levitation and guidance force, which exist between the super-conducting magnet and guideway, are modeled with the equivalent spring model. By Lagrange's equations of motion, the equations of motion of Maglev train are formulated. Finally, by deriving the equations of the force acting on the guideway considering Maglev train-bridge interaction, the complete system matrices of Maglev train-guideway structure system are composed.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.48.3-48
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• 2001

A gain-scheduled autopilot design for a bank-to-turn (BTT) missile is developed by using the Linear Matrix Inequality (LMI) optimization technique and a state-space lineal interpolation method. The missile dynamics are brought to a quasilinear parameter varying (quasi-LPV) form. Robust linear control design method is used to obtain state feedback controllers for the LPV systems with exogenous disturbances at the frozen values of the scheduling parameters. Two gam-scheduled controllers for the pitch axis and the yaw/roll axis are constructed by linearly interpolating the robust state-feedback gains. The designed controller is applied to a nonlinear six-degree-of-freedom (6-DOF) simulations.

• Earthquakes and Structures
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• v.8 no.1
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• pp.253-273
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• 2015

The current investigation has been conducted to examine the effect of gravity loads on the seismic responses of the doubly asymmetric, three-dimensional structures comprising walls and frames. The proposed model includes the P-${\Delta}$ effects induced by the building weight. Based on the variational approach, a 3D finite element with two nodes and six DOF per node including P-${\Delta}$ effects is formulated. Dynamic and static governing equations are derived for dynamic and buckling analyzes of buildings braced by wall-frame systems. The influences of P-${\Delta}$ effects and height of the building on tip displacements under Hachinohe earthquake record are investigated through many structural examples.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.129-132
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• 1996

There is a tendency nowadays to produce increasingly miniaturized electronic equipment which incorporate parts that have to be precisely positioned, like lenses, heads and CCD's in scanners, printers, copiers, VCR's, optical fiber modules, etc. In contrast to the production process of precision parts, which is currently being carried out automatically, the assemblage process is still being performed by specially skilled technicians. The assemblage process comprises normally the following steps: firstly, the parts are roughly positioned and partially fixed, secondly, the parts are manually nudged towards the target position and finally glued, screwed or welded. This paper presents a system that uses six piezo Impact Drive Mechanisms for accurate micro positioning within three degrees of freedom (lateral and longitudinal translation and rotation). The system is designed to positioning a printed circuit board with an accuracy better than 3 .mu.m (for translations), 5 mrad (for rotation).

• Journal of Navigation and Port Research
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• v.34 no.4
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• pp.271-279
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• 2010

The Mobile Harbor(MH) is a new transportation platform that can load and unload containers to and from very large container ships in the sea. This loading and unloading by crane can be performed with only very small movements of the MH in waves because MH is operated outside of the harbor. For this reason, an anti-rolling tank(ART) and an active mass driving system(AMD) were designed to reduce MH's roll motion, especially at the natural frequency of MH. In the conceptual design stage, it is difficult to confirm the design result of theses anti-rolling devices without modeling and simulation tools. Therefore, the coupled MH and anti-rolling devices' dynamic equations in waves were derived and a simulation program that can analyze the roll reduction performance in various conditions, such as sea state, wave direction, and so on, was developed. The coupled equations are constructed as an eight degrees of freedom (DOF) motion that consists of MH's six DOF dynamics and the ART's and AMD's control variables. In order to conveniently include the ART's and AMD's control dynamics in the time domain, MH's radiated wave force was described by an impulse response function derived by the damping coefficient obtained in the frequency domain, and wave exciting forces such as Froude-Krylov force and diffraction force and nonlinear buoyancy were calculated at every simulation time interval. Finally, the roll reduction performances of the designed anti-rolling devices were successfully assessed in the various loading and wave conditions by using a developed simulation program.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.