• 한국산업융합학회 논문집
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• 제18권2호
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• 대한조선학회지
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• 제22권3호
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• pp.1-8
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• 1985

In this paper, the motion response and wave load of a container ship are treated by a nonlinear motion theory, which is similar to that used by Yamamoto et. al.[1]. This paper deals with the vertical motion response in oblique waves and the effect of the Smith correction in buoyancy force calculation. In the present computation, for S-175 container ship model our result also shows that the ratio of the motion peak to peak value to the wave height decreases as the wave height increases, which was obtained earlier by Yamamoto et.al.[3]. On the other hand the nondimensional midship bending moment increases as the wave height increases. These nonlinear effects are dominant near the resonance frequency, and depend on the hull form and forward speed. However, it is found that these nonlinear effects are significant for tanker model.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1998년도 학술대회
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• pp.3-8
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• 1998

The conversion of monoscopic video to 3D stereoscopic video has been studied by some pioneering researchers. In spite of the commercial of potential of the technology, two problems have bothered the progress of this research area: vertical motion parallax and high computational complexity. The former causes the low 3D perception, while the hardware complexity is required by the latter. The previous research has dealt with NTSC video, thur requiring complex processing steps, one of which is motion estimation. This paper proposes 3D stereoscopic conversion method of MPGE encoded data. Our proposed method has the advantage that motion estimation can be avoided by processing MPEG compressed data for the extraction of motion data as well as that camera and object motion in random in random directions can be handled.

• 한국자동차공학회논문집
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• 제13권1호
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• pp.99-108
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• 2005

This paper represents an efficient modeling method of a suspension system for the vehicle dynamic simulation. The suspension links are modeled as composite joints. The motion of wheel is defined as relative one degree of freedom motion with respect to car body. The unique relative kinematic constraint formulation between the car body and wheel enables to derive equations of motion in terms of wheel vertical motion. Thus, vehicle model has ten degrees of freedom. By using velocity transformation method, the equations of motion of the vehicle is systematically derived without kinematic constraints. Various vehicle simulation such as J-turn, slowly increasing steer, sinusoidal sweep steer and bump run has been performed to verify the validity of the suggested vehicle model.

• 한국정밀공학회지
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• 제32권3호
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• pp.263-268
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• 2015

This paper describes lost motion analysis for a novel 6-DOF ultra-precision positioning stage. In the case of flexure hinge based precision positioning stage, lost motion is generated when the displacement of actuator is not delivered completely to the end-effector because of the elasticity of flexure hinge. Consequently, it is need to compute amount of lost motion to compensate the motion or to decide appropriate control method for precision positioning. Lost motion analysis for the vertical actuation unit is presented. The analysis results are presented in two ways: analytic and numerical analyses. It is found that they closely coincide with each other by 1% error. In finite element analysis result, the amount of lost motion is turned out to be about 3%. Although, the amount is not so large, it is necessary procedure to check the lost motion to establish the control method.

• 조명전기설비학회논문지
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• 제25권8호
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• pp.39-47
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• 2011

The motion of a conductive spherical particle under uniform electric field is investigated in order to find a suitable method for removing the conducting solid impurities contained in liquid plastic. When the positive dc voltage applied to the upper electrode, the vertical up-and-down motion of a charged particle by electrostatic force is observed by a charge-coupled device (CCD) camera or a high-speed video camera. The experimental data of the static threshold voltage by which the particle starts to move toward the counter electrode in air or silicone oil are in good agreement with theoretical value. When the applied voltage is larger than the static threshold voltage, the particle motion pattern in silicone oil consists of four stages: upward motion, stopping at the upper electrode, downward motion and stopping at the lower electrode. The stopping motion on the electrode is thought to be caused by the liquid flow accompanied by the particle motion. The particle charge calculated by integrating the pulse current, which is generated by the charge exchange between the electrode and the particle, is approximately 0.1~0.25 times of the theoretical value. This study is expected to help understand the electric properties of microparticles in oil circuit breaker (OCB) and oil transformer and improve their performance and longevity.

• 대한조선학회논문집
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• 제51권6호
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• pp.503-509
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• 2014

This paper describes the time-domain numerical method for prediction of slamming loads on a ship in waves using the strip theory. The slamming loads was calculated considering the relative vertical velocity between the instantaneous ship motion and wave elevation. For applying the slamming force on a ship section, the momentum slamming theory and the empirical formula-based bottom slamming force were used corresponding to the vertical location of wetted body surface. Using the developed method, the vertical bending moments, relative vertical velocities, and impact forces of S175 containership were compared in the time series for various section locations and wave conditions.

• 한국수산과학회지
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• 제38권5호
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• pp.316-322
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• 2005

In order to develop a floating breakwater, which can efficiently control long period waves, vertical plates are attached in pontoon. Wave control and dynamic behaviors of the newly developed vertical plates type are verified from numerical analysis and hydraulic experiment. As a result, for the wave control and energy dissipation, the newly developed vertical plates type is more efficient than the conventional pontoon type. For the floating body motion, the wave transmission, depending on incident wave period, is decreased at the natural frequency. Dimensionless drift distance has similar trend of the reflection rate of wave transformation near natural frequency except maximum and minimum values. Dimensionless maximum tension is 17 percent of the weight of floating breakwater in case of the conventional pontoon type and 18 percent or 14 percent in case of the newly developed vertical plates type. Thus, it is shown that the wave control is improved by the vertical plates type. In addition, by adjusting the interval of the front and back vertical plate, we would control proper wave control.

• 한국지진공학회논문집
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• 제8권5호통권39호
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• pp.79-89
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• 2004

본 연구에서는 원전기기의 내진안전성을 증가시키기 위해 면진장치를 적용한 기기의 진동대 실험을 수행하였다. 원전구조물과 유사한 진동수 특성을 가지는 실험모형을 제작하여 실험에 사용하였으며 구조물 내부의 기기를 모형화 하기 위하여 400kg의 강체를 사용하였다. 탁월주파수 특성이 상이한 3종류 지진파를 이용하여 진동대 실험을 수행하였다. 면진장치로는 마찰진자형 베어링(FPS)을 사용하였다. 입력지진의 최대가속도를 0.1g, 0.2g, 0.25g의 3단계로 변화시키면서 실험을 수행하였고 또한 1방향, 2방향 및 3방향 가진에 의한 거동을 분석하였다. 실험결과 지진파의 연직성분이 FPS의 면진성능에 영향을 미치는 것을 알 수 있었으며 펄스타입의 속도성분이 큰 근거리 지진인 경우 면진효과가 감소하는 것을 알 수 있었다.

• 수산해양기술연구
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• 제51권1호
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• pp.71-78
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• 2015

In order to deduce an objective evaluation method of motion seasickness incidence (MSI) by ship motions during underway in irregular waves and to present the fundamental data of passenger comfort on the yacht and the passenger ship according to the result, the MSI of the trainees by the questionnaires was analysed and compared with the rate of variation of salivary ${\alpha}$-amylase activity (VSAA) on the training ship "A-ra ho" of Jeju national university. Relationship between rate of variation (x) by salivary ${\alpha}$-amylase activity and motion seasickness incidence (y) was described by the equation, MSI(%) = 0.6073 x + 12.189 including the correlation coefficient ($R^2=0.9853$). The result obtained through the rate of variation of salivary ${\alpha}$-amylase activity which was the quantitative evaluation method for ship motions causing seasickness was most affected by z-vertical acceleration and occurred within the frequency range 0.1 to 0.3Hz centered on 0.2Hz, and the simulation result based on this finding showed the motion seasickness rate at approximately 4% lower than the rate obtained through the survey.