• 전기학회논문지
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• 제56권2호
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• pp.374-382
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• 2007

Robot mobility and intelligence become more important for robots to be used in various fields other than automation. The main purpose of providing mobility to a robot is to extend the robot's manipulability. In this paper, we introduce a small humanoid robot that can autonomously play golf as an example of incorporating robot intelligence, mobility, and manipulability. The robot has 12 degrees of freedom for legs and has various basic walking patterns. It can move to a desired position and change orientation by combining the basic waking patterns. The robot has a color CCD camera and can extract coordinates of the objects in the environments. The small humanoid robot has 8 degrees of freedom for arms and can play golf autonomously with two kinds of dexterous swing motions. Kinematic analysis of the robot arms, vision data processing for the recognition of the environments, algorithm for playing robotic golf have been performed or proposed. The experimental results show that the robot can play golf autonomously.

• 대한기계학회논문집
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• 제17권12호
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• pp.3020-3027
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• 1993

Curved beam element has received attention because of its own usefulness and its bearing on general curved elements like shells. In conventional curved beam elements stiffness matrix is overestimated and eigensolutions are poor. To avoid this phenomenon it is necessary to use a large number of elements and, as a result, the total number of degrees of freedom is increased. In this paper the two-noded, with three degrees of freedom at each node, in-plane curvature-based curbed beam element is employed in eigen-analysis of curved beam. It is shown that the curvature-based beam element is very efficient in vibration analysis and also that it is applicable to both thin and thick curved beams.

• 소음진동
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• 제5권4호
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• pp.503-514
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• 1995

In the case of performing experimental modal analysis(EMA) and finite- element analysis(EFA) for a whole structure of automotive body that is composed of many complex parts, a trouble may arise from the calculation time, the capacity of memory in computers and the experimental conditions, etc. In this paper, for the vibrational analysis of automotive body model, the efficient modal synthesis method by means of dividing the whole structure into two parts and performing EMA and FEA for each part is studied. In addition, the method based on Lagrange interpolation is proposed for approximating rotational degrees-of-freedom information and linking FEA with EMA. In result, by measuring translational degrees-of-freedom information of only few points and adopting only few modes, the linking method based on Lagrange interpolation turned out to be efficient and accurate in the low frequency range.

• 한국공간구조학회논문집
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• 제2권2호
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• pp.59-67
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• 2002

In this study, a method that estimates stiffness and mass matrices of shear building from modal test data is presented. This method applied of building depends on the number of measurement points that are less in number than the total structural degrees of freedom, and on the first two orders of structural mode measured. By means of this method it is possible to use modal data of unmeasurable points to estimate total stiffness and mass matrices of structure. Some examples are studied in this paper, and its result shows that this method is reliable.

• 한국해양공학회지
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• 제19권5호
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• pp.78-82
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• 2005

The motion response results of a submerged submarine section in waves are presented. The numerical method is based on Cauchy's integral and 3 degrees-of-freedom motions of submarine sections are calculated in two dimensions, in regular waves. The fully nonlinear free surface and body boundary conditions are applied to the present problem, and the viscous effects on the submarine are modeled by Morison's formulas. The motions of submarine sections in beam sea are directly simulated and the effects of wave frequency, snorkel depth, and bridge are discussed.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• Bulletin of the Korean Chemical Society
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• 제24권6호
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• pp.744-750
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• 2003

In quantum dynamics of many-body systems, to identify the Hamiltonian becomes more difficult very rapidly as the number of degrees of freedom increases. In order to simplify the dynamics and to deduce dynamically relevant Hamiltonian information, it is desirable to control the dynamics to lie within a reduced space. With a judicious choice for the cost functional, the closed loop optimal control experiments can be manipulated efficiently to steer the dynamics to lie within a subspace of the system eigenstates without requiring any prior detailed knowledge about the system Hamiltonian. The procedure is simulated for optimally controlled population transfer experiments in the system of two degrees of freedom. To show the feasibility of steering the dynamics to lie in a specified subspace, the learning algorithms guiding the dynamics are presented along with frequency filtering. The results demonstrate that the optimal control fields derive the system to the desired target state through the desired subspace.

• Journal of the Optical Society of Korea
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• 제13권2호
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• pp.184-192
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• 2009

There are total eight degrees of freedom in designing a three-mirror system. If we correct four kinds of third order aberrations and the system should have the specified effective focal length, the remaining three degrees of freedom can be used for selecting a suitable configuration for a specific application. We suggest an analytic design procedure for a three-mirror telescope system which has a suitably sized secondary mirror and proper separations between mirrors, and is corrected for four kinds of third order aberrations, spherical aberration, coma, astigmatism, and field curvature. Two design examples are shown. One has a compact configuration with off-axial field, the other has relatively long configuration with annular ring field.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권3호
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• pp.956-970
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• 2015

In this paper, we study the design of network coding for the generalized transmit scheme in multiple input multiple output Y channel, where K users wish to exchange specified and shared information with each other within two slots. Signal space alignment at each user and the relay is carefully constructed to ensure that the signals from the same user pair are grouped together. The cross-pair interference can be canceled during both multiple accessing channel phase and broadcasting channel phase. The proposed signal processing scheme achieves the degrees of freedom of ${\eta}(K)=K^2$ with fewer user antennas.

• 대한토목학회논문집
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• 제6권2호
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• pp.77-83
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• 1986

본 연구에는 전단벽을 가진 프레임의 구조해석을 위한 개선된 해석모델이 소개되었다. 새로이 개발된 12 자유도를 가진 plane stress 요소와 보 요소를 사용하는 컴퓨터 프로그램 SWAN을 이용하여 두 개의 2 차원 구조물의 예에 대한 정적 및 동적해석을 수행하고 그 결과를 널리 사용되고 있는 구조해적용 컴퓨터 프로그램 SAP IV를 사용해서 얻을 결과와 비교 검토한 결과 12 자유도 요소를 사용함으로써 전단벽 요소내의 전단응력의 분포와 전단벽에 연결된 보 요소의 휨 및 전단응력 등이 상당히 정확하게 얻어질 수가 있음이 밝혀졌다.