• Structural Engineering and Mechanics
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• v.59 no.6
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• pp.1071-1094
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• 2016

We employ the so-called problem-dependent linked interpolation concept to develop two cubic 4-node quadrilateral plate finite elements with 12 external degrees of freedom that pass the constant bending patch test for arbitrary node positions of which the second element has five additional internal degrees of freedom to get polynomial completeness of the cubic form. The new elements are compared to the existing linked-interpolation quadratic and nine-node cubic elements presented by the author earlier and to the other elements from literature that use the cubic linked interpolation by testing them on several benchmark examples.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.844-849
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• 1991

A high speed control system for a telerobot using DSP is developed. The system is designed to resolve computational burden in advanced algorithms. The design is assumed to h ave no specific algorithm and robot configuration. The system is composed of a teaching box, a DSP board, a set of servo drivers and 16 bit microcomputer system. The teaching box is designed as a man-machine interface, which has two joysticks with three degrees of freedom for velocity generation in Cartesian space. The DSP board, i.e. DSP56000ADS based on a 10.25MIPS digital signal processor, DSP56001, computes the inverse Jacobian matrix which transforms Cartesian velocity into joint velocity. A resolved motion rate control algorithm for a 5 degrees of freedom manipulator was implemented. About 100 Hz sampling rate was achieved in this system.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• Structural Engineering and Mechanics
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• v.9 no.6
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• pp.519-540
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• 2000

In this study, a new functional based on the Reissner theory, for thick plates on a Winkler foundation is obtained. This functional has geometric and dynamic boundary conditions. In deriving the new functional, the $G{\hat{a}}teaux$ differential is used. This functional which is in polar coordinates is also transformable into the classical potential energy equation. Bending and torsional moments, transverse shear forces, rotations and displacements are the basic unknowns of the functional. Two different sectorial elements are developed with $3{\times}8$ degrees of freedom (SEC24) and $4{\times}8$ degrees of freedom (SEC32). The accuracy of the SEC24 and SEC32 elements together are verified by applying the method to some problems taken from literature.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.670-673
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• 1999

In this paper, we present a robust motion controller based on Adaptive-Fuzzy technique is proposed that multifunctional vehicle(MVR) for two DOF mobile robot can perform detailed inspection of physical conditions of sewage pipes as well as can effectively repair the damaged portions of the inner walls. The main difficulties in controlling this multifunctional robot vehicles lie in the fact that vehicles usually have three degrees of freedom in position and orientation in spite of having only two degrees of freedom for motion control in tracking mode. Decomposition of error between the reference posture and the current posture makes control of speed and steering possible. The Gyro compass part and Inclonometer of the robot is configured in order to realize position of robot. The proposed Adaptive-Fuzzy motion controller has two main characteristics: The one guarantees that the MVR follows the reference trajectory; the other one compensates the dynamics of the MVR. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.462-467
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• 2003

As for control systems, many researchers give optimal structures of the finite-word-length compensator. D. Williamson solved a fixed-point case against colored noise for the LQG problem. Recently, one of the authors derived an optimal filter against colored noise. And consequently, we apply the result to a twodegree-of-freedom control system in this paper. In addition the perturbation of the coefficients is considered. Furthermore, simulation results indicate this method gives better than other structures.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• Structural Engineering and Mechanics
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• v.32 no.2
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• pp.321-335
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• 2009

When a roof frame is subjected to the airblast loading, the conventional way to analyze the damage of the frame or design the frame is to use single degree of freedom (SDOF) model. Although a roof frame consists of beams and girders, a typical SDOF analysis can be conducted only separately for each component. Thus, the rigid body motion of beams by deflections of supporting girders can not be easily considered. Neglecting the beam-girder interaction in the SDOF analysis may cause serious inaccuracies in the response values in both Pressure-Impulse curve (P-I) and Charge Weight-Standoff Diagrams (CWSD). In this paper, an inelastic two degrees of freedom (TDOF) model is developed, based on force equilibrium equations, to consider beam-girder interaction, and to assess if the modified SDOF analysis can be a reasonable design approach.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.12 no.2
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• pp.81-86
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• 2000

For on-shore structures, dynamic analysis becomes increasingly important as the water depth increases and the structural configuration becoines slenderer. In this study, an estimation method for equivalent three dimensional (30) hydrodynamic coefficients is introduced as a part of beam permutation technique development. The beam pemlUtation technique is being developed for obtaining an equivalent beam to a frame structure in order to reduce the degrees of freedom and thus the analysis time significantly. Two 3D structures are used in order to verify the obtained equivalent 3D hydrodynamic coefficients. Two commercial softwares, ANSYS and SACS, are used for the verification. The results of the present analysis are found to be satisfactory in comparison with those by the two softwares.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.9
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• pp.1209-1217
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• 2002

The use of a two dimensional hierarchical elements are investigated for the incompressible flow computation. The construction of hierarchical elements are explained by both a geometric configuration and a determination of degrees of freedom. Also a systematic treatment of essential boundary values has been developed for the degrees of freedom corresponding to higher order terms. The numerical study for the poisson problem shows that the computation with hierarchical higher order elements can increase the convergence rate and accuracy of finite element solutions in more efficient manner than the use of standard first order element. for Stokes and Cavity flow cases, a mixed version of penalty function approach has been introduced in connection with the hierarchical elements. Solutions from hierarchical elements showed better resolutions with consistent trends in both mesh shapes and the order of elements.