• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.105-111
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• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.186.1-186.1
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• 2005

• Journal of Ocean Engineering and Technology
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• v.32 no.4
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• pp.222-227
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• 2018

Most underwater acoustic arrays for low frequency operation are deployed vertically, but a mid-range frequency horizontal array system is being developed by the Korea Research Institute of Ships and Ocean Engineering (KRISO). The horizontal array platform is deployed underwater and kept in place by weather vaning mooring. This is essential because it is nearly impossible to keep a submerged body at a given position in the water without any external force. Hence, the horizontal array platform can maintain the desired position in the presence of a weak tidal current. The objective of this study is to design an underwater platform that can maintain its horizontal position in a weak current. First, the authors investigated various virtual models, selected one of the models, and performed a small model test of the selected model at a basin. We calculated the external forces associated with the 2D motion, and then we conducted a large basin test followed by a circulation water channel test for the manufactured array platform. The results of the simplified 2D motion calculation essentially matched the results of the underwater test.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.8
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• pp.1414-1419
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• 2000

In this paper, we propose a resolution enhancement method for estimating direction-of-arrival (DOA) of narrowband incoherent signals incident on a general array. The resolution of DOA algorithm is dependent on the aperture size of antenna array. But it is very impractical to increase the physical size of antenna array in real environment. Therefore we propose the method that increases the aperture size by virtually expanding the sensor spacing of original antenna array and then construct the steering matrix of the virtual array using the proper transformation matrix. Superior resolution capabilities achieved with this method are shown by simulation results in comparison with the standard MUSIC for incoherent signals incident on a uniform circular array.

• The Journal of the Acoustical Society of Korea
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• v.36 no.1
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• pp.23-29
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• 2017

A concept of a VSA (Virtual Source Array) is the method for an acoustic spatio-temporal focus at a selected location in the outbound direction with respect to the VSA without the need of a probe source as combines a TRP (Time-Reversal Processing) and time-delay and beam-steering. However, in TRP using the VSA concept, it is limited to the critical angle and the short distances relevant to the VSA. In this paper, the waveguide invariant theory is applied to the VSA concept to refocus the received field at ranges greater other than the critical angle and the short ranges by shifting the focused field. The suggested method is verified via numerical simulation, and the results show that the robust acoustic focusing is achieved on the selected location regardless of the limitation on the conventional VSA concept.

• 전기의세계
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• v.24 no.4
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• pp.71-72
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• 1975

A formalism of reference language and homogeneous field is constructed for Iverson Language to organize a virtual file among external media. To execute some data manipulations among these external media files must be organized homogeneously forming multi-dimensional array like single media. This paper shows some organization of reference language to build the virtual file using many external media and some examples of program and hardware organization is presented for the justification of proposals.

• 한국정보디스플레이학회:학술대회논문집
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• 2005.07a
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• pp.41-45
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• 2005

A new algorithm of the image mapping which is a technique of the elemental image generation is proposed. The proposed method is based on the characteristics of the lens array such as the number, the size and the focal length of the elemental lens. The 3D image generated by 3D graphic API such as OpenGL can be directly adopted without the complex adaptation. Since the image mapping using the proposed method can enhance the speed of the elemental image generation, the computer- generated integral imaging system can be applied to virtual reality system.

• ETRI Journal
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• v.43 no.5
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• pp.869-880
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• 2021

Herein, we estimate the direction of arrival (DOA) of non-Gaussian signals for nested arrays (NAs) by implementing the fourth-order difference co-array (FODC) and successive methods. In particular, considering the property of the fourth-order cumulant (FOC), we first construct the FODC of the NA, which can obtain O(N⁴) virtual elements using N physical sensors, whereas conventional FOC methods can only obtain O(N²) virtual elements. In addition, the closed-form expression of FODC is presented to verify the enhanced degrees of freedom (DOFs). Subsequently, we exploit the vectorized FOC (VFOC) matrix to match the FODC of the NA. Notably, the VFOC matrix is a single snapshot vector, and the initial DOA estimates can be obtained via the discrete Fourier transform method under the underdetermined correlation matrix condition, which utilizes the complete DOFs of the FODC. Finally, fine estimates are obtained through the spatial smoothing-Capon method with partial spectrum searching. Numerical simulation verifies the effectiveness and superiority of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.1
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• pp.17-22
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• 2016

In smart factories, the entire manufacturing process from design to the final product is simulated in a virtual manufacturing environment and optimized before starting production. Suppliers and customers make decisions based on the simulation results. Therefore, effective rendering of the information of the virtual products to suppliers and customers is essential for this manufacturing paradigm. In this study, a method of rendering the surface roughness of the virtual products using a tactile display is presented. A tactile display device comprising a $3{\times}3$ array of individually controlled piezoelectric stack actuators is constructed. The surface topology of the virtual products is rendered directly by controlling the piezoelectric stack actuators. A series of experiments is performed to evaluate the performance of the tactile display device. An electrical discharge machined surface is rendered using the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.10a
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• pp.204-204
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• 2009