• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.688-698
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• 2019

If heave motion in the platform causes horizontal parametric vibration of a Compliant Vertical Access Riser (CVAR), the riser may become unstable. A combination of riser parameters lies in the unstable region aggravates vibrational damage to the riser. Change of axial tensile stress in the riser combined with its natural frequency and mode shape change results in mode coupling. In accordance with the state transition matrices of the riser in the coupled and uncoupled states, the stable and unstable regions were obtained by Floquet theory, and the vibration response under different conditions was obtained. The parametric excitation of the CVAR is shown to occur mainly in first-order unstable regions. Mode coupling may cause parametric excitation in the least stable regions. Damping reduces the extent of unstable regions to a certain extent.

• 로봇학회논문지
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• 제14권4호
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• pp.237-244
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• 2019

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.583-584
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• 2013

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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• pp.155-160
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• 2002

In this paper, a compliant buoy mooring system of a floating cylindrical structure in shallow water depth is studied experimentally. The compliant buoy mooring system consists of four buoys, vertical mooring legs and horizontal mooring lines. A series of model test were carried out at KRISO ocean engineering basin for various mooring parameters; line length, pretension of mooring leg and mooring layouts and environmental conditions; regular and irregular waves combined with current and wind. The mooring line tensions and 6-DOF motions of the floating structure were measured using water-proof load cells and 3 CCD camera system. The results of a series of model tests were discussed on nonlinear motion behaviors of the floating structure and characterisitics of cumulative distributions of mooring line peak tensions.

• 대한기계학회논문집B
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• 제25권1호
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• pp.18-28
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• 2001

The present study investigates flow dynamics between two dimensional compliant plates under sinusoidal flow conditions in order to understand influence of wall motion, impedance phase angle (time delay between pressure and flow waveforms), and non-Newtonian fluid on wall shear stress using computational fluid dynamics. The results showed that wall motion induced additional terms in the streamwise velocity profile and the pressure gradient. These additional terms due to wall motion reduced the amplitude of wall shear stress and also changed the mean wall shear stress. The trend of the changes was very different depending on the impedance phase angle. As the impedance phase angle was changed to more negative values, the mean wall shear stress decreased while the amplitude of wall shear stress increased. As the phase angle was reduced from 0°to -90°under $\pm$4% wall motion, the mean wall shear stress decreased by 12% and the amplitude of wall shear stress increased by 9%. Therefore, for hypertensive patients who have large negative phase angles, the ratio of amplitude and mean of the wall shear stress is raised resulting in a more vulnerable state to atherosclerosis according to the low and oscillatory shear stress theory. We also found that non-Newtonian characteristics of the blood protect atherosclerosis by decreasing the oscillatory shear index.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.595-599
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• 1989

A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.

• 로봇학회논문지
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• 제17권3호
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• Ocean Systems Engineering
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• 제3권2호
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• pp.149-165
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• 2013

Tension leg platforms (TLP's) are highly nonlinear due to large structural displacements and fluid motion-structure interaction. Therefore, the nonlinear dynamic response of TLP's under hydrodynamic wave loading is necessary to determine their deformations and dynamic characteristics. In this paper, a numerical study using modified Morison Equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between all degrees of freedom on the dynamic behavior of a TLP. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics was considered.

• 방송공학회논문지
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• 제1권2호
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• pp.152-164
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• 1996

본 논문은 GA(Grand Alliance) HDTV 동영상 부호화기의 하드웨어 구조 및 그의 구현을 위한 기술을 기술한다. 구현된 동영상 부호화기는 1125본(30Hz)의 비월주사 방식 영상을 입력으로 받고, MPEG-2에 따르는 비트열을 출력한다. 부호화기의 처리과정은 넓은 영역 움직임 추정 및 진보된 비트율 제어 기법을 포함한다. 시스템의 복잡도를 현실화하기 위해 계층적 움직임 추정기법이 사용되었고, 그것의 하드웨어 구조를 개발하였다. 또한, 시각적 화질을 향상시키기 위해 시각 특성을 이용한 적응 양자화 기법이 사용되었다. 개발된 시스템은 실시간 처리를 위해 병렬처리구조를 취하고, 프로그램 가능 소자, 기억 소자, 그리고 DCT와 움직임 추정 소자와 같은 특수 처리 소자를 이용하여 구현된다.