• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• Structural Engineering and Mechanics
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• v.1 no.1
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• pp.87-102
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• 1993

A $C^{\circ}$ continuous finite element formulation of a higher order displacement theory is presented for predicting linear and geometrically non-linear in the sense of von Karman transient responses of composite and sandwich plates. The displacement model accounts for non-linear cubic variation of tangential displacement components through the thickness of the laminate and the theory requires no shear correction coefficients. In the time domain, the explicit central difference integrator is used in conjunction with the special mass matrix diagonalization scheme which conserves the total mass of the element and included effects due to rotary inertia terms. The parametric effects of the time step, finite element mesh, lamination scheme and orthotropy on the linear and geometrically non-linear responses are investigated. Numerical results for central transverse deflection, stresses and stress resultants are presented for square/rectangular composite and sandwich plates under various boundary conditions and loadings and these are compared with the results from other sources. Some new results are also tabulated for future reference.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.16 no.2
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• pp.207-216
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• 2003

In this paper, the finite element method for the elastodynamic axisymmetric fracture analysis is presented in matrix form through the application of the Galerkin method to the time integral equations of motion with no inertia forces. Isoparametric quadratic quadrilateral element and triangular crack tip singular elements with one-quarter node are used in the mesh division of the finite element model. To show the validity and accuracy of the proposed method, the infinite elastic medium with the penny shaped crack is solved first and compared with the analytical solution and the numerical results by the finite difference method and the boundary element method existing in the published literatures, and then the dynamic stress intensity factors of solid and hollow cylinders of finite dimensions haying penny-shaped cracks and internal and external circumferential tracks are computed in detail.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.127-134
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• 2016

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.1967-1974
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• 1991

When the functional electrical stimulation is employed to recover mobility to the plegic, it is very important to understand functions of the selected muscles. I have investigated how a muscle acts to accelerate the body segments, since the body segements are connected by joints so that contraction of a muscle not only rotates the segments to which it is attached but also causes other segments to rotate by creation a reaction force at every joint, which is called the inertial coupling. I found that a single-joint muscle always acts to accelerate the spanned joint in the same direction as the joint torque produced by the muscle. However, a double-joint muscle can act to accelerate the spanned joint in the opposite direction to the joint torque produced by the muscle depending on (1) the body position, (2) the body-segmental parameters, and (3) the type of the movement. Investigating the condition number of the inertia matrix of the body-segmental model gave us some insights into how controllable the body-segmental system is for different values of the factors mentioned above. The results suggested that the upright position is the most undesirable position to independently control the three segments(trunk, thigh and shank) and that the controllability is the most sensitive to variation of the shank length and the trunk mass, which implies that accuracy is required particularly when we estimate these two body-segmental parameters before the paralyzed muscles are innervated by using electrical stimulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.27 no.4
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• pp.303-312
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• 1991

This paper describes the general formulation for the in-plane flexural free vibration analysis of two layered structure by the transfer influence coefficient method. The structure is regared as a distributed mass system with lumped mass and inertia moments, massless linear and rotational springs, and joints elements of releases and rolls at which the displacements are discontinuous in each layer. The results of the simple numerical examples on a personal computer demonstrate the validity of the present method, that is, the numerical high accuracy, the high speed, the flexibility for programming of the present algorithm, compared with the transfer matrix method.

• Advances in materials Research
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• v.12 no.3
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• pp.243-261
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• 2023

This study aims to analyze the mechanical buckling behavior of a single-walled carbon nanotube (SWCNT) integrated with a one-parameter elastic medium and modeled as a Kerr-type foundation under a longitudinal magnetic field. The structure is considered homogeneous and therefore modeled utilizing the nonlocal first shear deformation theory (NL-FSDT). This model targets thin and thick structures and considers the effect of the transverse shear deformation and small-scale effect. The Kerr model describes the elastic matrix, which takes into account the transverse shear strain and normal pressure. Using the nonlocal elastic theory and taking into account the Lorentz magnetic force acquired from Maxwell relations, the stability equation for buckling analysis of a simply supported SWCNT under a longitudinal magnetic field is obtained. Moreover, the mechanical buckling load behavior with respect to the impacts of the magnetic field and the elastic medium parameters considering the nonlocal parameter, the rotary inertia, and transverse shear deformation was examined and discussed. This study showed useful results that can be used for the design of nano-transistors that use the buckling properties of single-wall carbon nanotubes(CNTs) due to the creation of the magnetic field effect.

• The Korean Journal of Applied Statistics
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• v.37 no.2
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• pp.157-176
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• 2024

Integrative analysis for better understanding of complex biological systems gains more attention. Observing subjects from various perspectives and conducting integrative analysis of those multiple datasets enables a deeper understanding of the subject. In this paper, we compared two methods that simultaneously consider two datasets gathered from the same objects, canonical correlation analysis (CCA) and co-inertia analysis (CIA). Since CCA cannot handle the case when the data exhibit high-dimensionality, two strategies were considered instead: Utilization of a ridge constant (CCA-ridge) and substitution of covariance matrices of each data to identity matrix and then applying penalized singular value decomposition (CCA-PMD). To illustrate CIA and CCA, both extensions of CCA and CIA were applied to NCI60 cell line data. It is shown that both methods yield biologically meaningful and significant results by identifying important genes that enhance our comprehension of the data. Their results shows some dissimilarities arisen from the different criteria used to measure the relationship between two sets of data in each method. Additionally, CIA exhibits variations dependent on the weight matrices employed.