• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Journal of Advanced Marine Engineering and Technology
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• 제33권4호
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• pp.476-483
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• 2009

A linear compressor used in a refrigerator has higher energy efficiency than a reciprocating compressor, but its vibration level is still severe than others. The vibration level of linear compressor at the frequency of 60Hz is dominant since it is the exciting frequency of a motor. In this paper, a simulation tool to predict the shell vibration of the linear compressor was developed. The shell and body parts in a compressor were assumed to be 3-dimensional rigid body having both translational and rotational motion, while the reciprocating piston part has only 1-dimensional translational motion. The flexible loop-pipe was modeled by in-house code of finite element method. To verify the developed tool, five cases of different loop-pipe shapes were examined experimentally. The results by the developed tool showed good agreements with those by experiments.

• The Journal of the Acoustical Society of Korea
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• 제28권1E호
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• pp.1-8
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• 2009

Primary radiation force on ultrasound contrast agents (UCA) in a propagating and standing acoustic field was explored. A specific ultrasound contrast agent $Albunex^{(R)}$ and $Optison^{(R)}$ were chosen for simulation. The model was developed based on a shelled bubble model proposed by Church. The numerical simulation suggests that bubble translational motion is more significant in therapeutic ultrasound due to higher intensity and long pulse duration. Even a single cycle of a propagating wave of 4 MPa at 1 MHz can cause a bubble translational motion of greater than $1{\mu}m$ which is approximately one tenth of capillary. Hence, UCA characteristics can be significantly changed in therapeutic ultrasound without rapid bubble collapses.

• 대한전기학회논문지:전력기술부문A
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• 제48권3호
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• pp.313-320
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• 1999

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.181-185
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• 2001

This paper deals with the dynamic stability of a disc brake pad taking into account of its shear deformation and rotary inertia. A brake pad can be modeled as a beam like model subjected to distributed friction forces and having two translational springs. The study of this model is intended to provide a fundamental understanding of dynamic stability of drum brake pad. Governing equations of motion are derived from extended Hamilton's principle and their corresponding numerical solutions are obtained by applying the finite element formulation. The critical distributed friction force and the instability types are investigated bt changing two translational spring constants, rotary inertia parameter and shear deformation parameter. Also, the changes of eigen-frequencies of a beam determining instability types are investigated for various combinations of two translational spring constants.

• 대한기계학회논문집A
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• 제27권9호
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• pp.1486-1491
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• 2003

A modeling method for the modal analysis of a composite trapezoidal plate undergoing in-plane translational acceleration is presented in this paper. The equations of motion for the plate are derived and transformed into a dimensionless form. The effects of the inclination angles, fiber orientation angle and the acceleration on the modal characteristics of the plate are investigated.

• 한국음향학회지
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• 제18권2호
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• pp.66-76
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• 1999

본 논문은 스테레오 카메라를 대응점 문제가 발생하지 않을 만큼 병진 및 전진 이동시켜 고속으로 양안 시차 정보를 획득할 수 있다는 것을 제안한다. 병진 이동하는 스테레오 비전에 있어서 오차가 없고 신뢰성이 높은 시차 정보를 획득할 수 있다는 것과 전진 이동하는 스테레오 비전에 있어서는 통상의 스테레오 비전으로는 검출할 수 없는 수평성분을 획득할 수 있다는 것을 나타낸다. 또한 좌우 화상사이의 대응을 미리 한정하기 때문에 한정하지 않을 때에 비해 대응점이 밝고 작게 되므로 고속으로 스테레오 비전을 행할 수 있다. 그러나 전진 이동하는 스테레오 비전에 있어서 화상중심 부근과 폐색영역이 일치하면 바른 양안 시차 정보를 얻을 수 없는 문제가 있다.

• Journal of Advanced Marine Engineering and Technology
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• 제39권10호
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Coupled systems mechanics
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• 제5권2호
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• pp.191-201
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• 2016

Coupled structures are widely seen in civil and mechanical engineering. In coupled structures, monitoring the translational motion of its key components is of great importance. For instance, some coupled arms are equipped with a hydraulic piston to provide the stiffness along the piston axial direction. The piston moves back and forth and a distance sensing system is necessary to make sure that the piston is within its stroke limit. The measured motion data also give us insight into how the coupled structure works and provides information for the design optimization. This paper develops two distance sensing systems for coupled structures. The first system measures distance with ultrasonic sensor. It consists of an ultrasonic sensing module, an Arduino interface board and a control computer. The system is then further upgraded to a three-sensor version, which can measure three different sets of distance data at the same time. The three modules are synchronized by the Arduino interface board as well as the self-developed software. Each ultrasonic sensor transmits high frequency ultrasonic waves from its transmitting unit and evaluates the echo received back by the receiving unit. From the measured time interval between sending the signal and receiving the echo, the distance to an object is determined. The second distance sensing system consists of a wire draw encoder, a data collection board and the control computer. Wire draw encoder is an electromechanical device to monitor linear motion by converting a central shaft rotation into electronic pulses of the encoder. Encoder can measure displacement, velocity and acceleration simultaneously and send the measured data to the control computer via the data acquisition board. From experimental results, it is concluded that both the ultrasonic and the wire draw encoder systems can obtain the linear motion of structures in real-time.