• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권10호
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• pp.562-570
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• 1999

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. This vibration, which is generated in a two-mass mechanical system. To solve this problem, recently there has been a lot of researches for the robust control relevant to the $H_{\infty}$ control suppressing the torsional vibration and rejecting the torque disturbance. In the case of the $H_{\infty}$controller, however, the command tracking property becomes worse because of overshoot during transient response. For this reason the $H_{\infty}$ controller, which includes the two-degrees-of-freedom(TDOF) controller, is designed in order to improve command tracking property. However, it also includes complexity realizing this controller. In this paper, a new $H_{\infty}$ controller with partial state feedback is proposed. Proposed $H_{\infty}$controller has simple structure but satisfies with the fast command tracking property and the attenuation of disturbances and vibrations simultaneously, just like the complicated TDOF $H_{\infty}$ controller.

• 대한전자공학회논문지
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• 제24권4호
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• pp.577-582
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• 1987

A co-operative position control is proposed for two robots manipulation with five degrees of freedom to transfer an object following a specified trajectory, where each manifulator is assumed to change the postrue of its end effector without releasing the object.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권12호
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• pp.4305-4323
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• 2014

In this paper, we investigate the degrees of freedom (DOF) of the Y channel consisting of three single-antenna users and a two-antenna common access relay, where each user intends to exchange independent messages with the other two users with the assistance of the relay. We show that the DOF of this particular scenario is 1.5. In order to prove this result, we firstly derive a DOF upper bound based on cut-set bound by allowing cooperation among users, which shows that the total DOF is upper bounded by 1.5. Then we propose a novel transmission scheme based on asymmetric signal space alignment (ASSA) to demonstrate the achievability of the upper bound. Theoretical evaluation and numerical results confirm that the upper bound can be achieved by utilizing ASSA, which also proves the optimality of the ASSA-based scheme in terms of DOF. Combining the upper bound and achievability, we conclude that the exact DOF is 1.5. Moreover, we present a novel iterative joint beamforming optimization (I-JBO) algorithm to further improve the sum rate. Numerical simulations have been provided to demonstrate the convergence speed and performance advantage of the I-JBO algorithm.

• 한국산학기술학회논문지
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• 제13권10호
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• pp.4411-4417
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• 2012

본 연구에서는 축소모델을 기반으로 비행체 날개를 최적화하는 기법을 제안한다. 잘 구축된 축소모델은 고유치 문제나 동적 해석 시 정확한 해석결과를 제공하며, 최적화 과정에서 필요한 민감도 계산에서도 정확한 결과를 제공할 수 있다. 이러한 축소모델은 모드기반으로 구축되는 축소차수모델(Reduce Order Model)과 자유도기반으로 구축되는 축소시스템(Reduced System)으로 구분되는데, 본 연구에서 사용하는 자유도 기반 축소시스템은 구조물의 거동에 지배적인 자유도를 적절히 선정하는 것이 중요하므로, 이를 위하여 기존 연구에서 신뢰성이 검증된 2단계 축소방법을 사용하였고, IRS(Improved Reduced System)에 의해 최종시스템을 구축하였다. 수치예제에서 최적화 과정에서 계산되는 등가응력, 고유치 및 설계민감도는 모두 축소시스템 기반으로 구해지며, 축소시스템을 통해 구속조건을 잘 만족하면서 목적함수에 대한 최적 결과를 얻을 수 있음을 보인다.

• 산업기술연구
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• 제19권
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 1999년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall
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• pp.193-202
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• 1999

effect of pounding and friction between oscillators upon global response behaviors of a bridge system under seismic excitations are examined in this study. For convenience an idealized mechanical model is proposed which still retains the dynamic characteristics of bridge motions using multiple oscillators, Each oscillator is consisting of four degrees-of-freedom to implement the pounding between the adjacent oscillators and friction at movable supports, The impact element and bi-linear model are utilized for pounding and friction at movable supports. The impact element and bi-linear model are utilized for pounding and friction respectively. Also the effects of abutments are investigated by adding the addition oscillators consisting of two degrees-of-freedom. The effects of pounding and frictions are determined using the proposed model and the effect of the abutment is also verified, It is found that both pounding and friction affect the bridge responses significantly while the first pounding occurs between the abutment and the nearby oscillator.

• Journal of Information Processing Systems
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• 제7권3호
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• pp.425-434
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• 2011

The success of iris recognition depends mainly on two factors: image acquisition and an iris recognition algorithm. In this study, we present a system that considers both factors and focuses on the latter. The proposed algorithm aims to find out the most efficient wavelet family and its coefficients for encoding the iris template of the experiment samples. The algorithm implemented in software performs segmentation, normalization, feature encoding, data storage, and matching. By using the Haar and Biorthogonal wavelet families at various levels feature encoding is performed by decomposing the normalized iris image. The vertical coefficient is encoded into the iris template and is stored in the database. The performance of the system is evaluated by using the number of degrees of freedom, False Reject Rate (FRR), False Accept Rate (FAR), and Equal Error Rate (EER) and the metrics show that the proposed algorithm can be employed for an iris recognition system.

• Structural Engineering and Mechanics
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• 제6권8호
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• pp.921-937
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• 1998

A new four-node degenerated shell element with drilling degrees of freedom (DOF) is proposed. Allman-type displacement approximation is incorporated into the formulation of degenerated shell elements. The approximation improves in-plane performance and eliminates singularities of system matrices resulted from DOF deficiency. Transverse shear locking is circumvented by introducing assumed covariant shear strains. Two kinds of penalty energy are considered in the formulation for the purpose of suppressing spurious modes and representing true drilling rotations. The proposed element can be applied to almost all kinds of shell problems including composite laminated shell structures and folded shell structures. Numerical examples show that the element is of good accuracy and of reasonably fast convergence rate.

• 한국자동차공학회논문집
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• 제8권5호
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• pp.157-164
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• 2000

It is known that residual aligning torque of tires causes vehicle pull. There is, however, only a little literature available which shows how the residual aligning torque of tires causes vehicle pull. In this paper, a vehicle model in two degrees of freedom was adopted for the analysis of a vehicle under the straight-ahead motion. The analysis with this vehicle model clearly shows the effect of residual aligning torque of tires on vehicle pull. In order to show the validity of the analysis, a vehicle commercially available was selected. This vehicle was modeled in 137 degrees of freedom system with multibody dynamics software. Vehicle pull simulation results show that vehicle model drifts in lateral direction due to the residual aligning torque of tires. Vehicle test results with the car were also included.

• 전산구조공학
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• 제10권2호
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• pp.139-148
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• 1997

A finite element method is programmed to analyse the nonlinear behavior of axisymmetric structures. The lst order Mindlin shell theory which takes into account the transversal shear deformation is used to formulate a conical two node element with six degrees of freedom. To evade the shear locking phenomenon which arises in Mindlin type element when the effect of shear deformation tends to zero, the reduced integration of one point Gauss Quadrature at the center of element is employed. This method is the Updated Lagrangian formulation which refers the variables to the state of the most recent iteration. The solution is searched by Newton-Raphson iteration method. The tangent matrix of this method is obtained by a finite difference method by perturbating the degrees of freedom with small values. For the moment this program is limited to the analyses of non-linear elastic problems. For structures which could have elastic stability problem, the calculation is controled by displacement.