• International Journal of Naval Architecture and Ocean Engineering
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• 제6권2호
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• pp.333-346
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• 2014

If we want to analyze the motion of a body in fluid, we should use rigid-body dynamics and fluid dynamics together. Even if the rigid-body and fluid dynamics are each self-consistent, there arises the problem of self-similar structure in the equation of motion when the two dynamics are coupled with each other. When the added mass is greater than the mass of a body, the calculated motion is divergent because of its self-similar structure. This study showed that the above problem is an inherent problem. This problem of self-similar structure may arise in the equation of motion in which the fluid dynamic forces are treated as external forces on the right hand side of the equation. A reconfiguration technique for the equation of motion using pseudo-added-mass was proposed to resolve the self-similar structure problem; specifically for the case when the fluid force is expressed by integration of the fluid pressure.

• 한국정밀공학회지
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• 제10권4호
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• pp.190-199
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• 1993

In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1158-1161
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom (DOF) motions simulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie, carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions, a motion platform that is constructed by six electric-driven actuators is designed, and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator, and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition, a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail road driving situations discussed in this paper.

• International Journal of Aeronautical and Space Sciences
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• 제8권2호
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• pp.89-97
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• 2007

COMS(Communication, Oceanography, and Meteorology Satellite) is the first Korean multi-purpose satellite which is planned to be deployed at the altitude of geosynchronous orbit above the Korean peninsular. Noting that COMS is composed of the main BUS structure, two deployable solar panels, one yoke, five reactions wheels, COMS is treated as a collection of 9 bodies and its nonlinear equations of motion are obtained using the multi-body dynamics approach. Also, a computer program is developed to analyze the COMS motion during the various mission phase. Quite often, the equations of motion have to be derived repeatedly to reflect the fact that the spacecraft dynamics change as its configuration, and therefore its degree of freedom varies. However, the equations of motion and simulation software presented in this paper are general enough to represent the COMS dynamics of various configurations with a minimum change in input files. There is no need to derive the equations of motion repeatedly. To show the capability of the simulation program, the spacecraft motion during the solar array partial and full deployment has been simulated and the results are summarized in this paper.

• 한국정밀공학회지
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• 제32권4호
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• pp.377-386
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• 2015

Joint force/torque estimation by inverse dynamics is a traditional tool in biomechanical studies. Conventionally for this, kinematic data of human body is obtained by motion capture cameras, of which the bulkiness and occlusion problem make it hard to capture a broad range of movement. As an alternative, inertial motion sensing using cheap and small inertial sensors has been studied recently. In this research, the performance of inertial motion sensing especially to calculate inverse dynamics is studied. Kinematic data from inertial motion sensors is used to calculate ground reaction force (GRF), which is compared to the force plate readings (ground truth) and additionally to the estimation result from optical method. The GRF estimation result showed high correlation and low normalized RMSE(R=0.93, normalized RMSE<0.02 of body weight), which performed even better than conventional optical method. This result guarantees enough accuracy of inertial motion sensing to be used in inverse dynamics analysis.

• 대한조선학회논문집
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• 제43권6호
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• pp.631-637
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• 2006

This paper presents a numerical method to solve the ship motion coupled with internal fluid flow. Physically the internal fluid motion is coupled with the ship motion. Hitherto the previous numerical results of the coupled motion predict only the general tendency with experiments. The main reason of inaccuracy is that the coupled dynamics of ship motion and internal water motion is not accurately accounted. In this study CFD technique based on VOF is employed for the accurate analysis of flooding water motion. Some cases of the 24th ITTC stability committee's benchmark.study for tanker with internal fluid are analyzed by coupling the ship motion and sloshing dynamics. The calculated ship motion is compared with the experimental result to validate the coupled scheme and is in agreement with the experimental result.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권4호
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• pp.322-331
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• 2014

Chaotic dynamics is an active area of research in biology, physics, sociology, psychology, physiology, and engineering. This interest in chaos is also expanding to the social scientific fields such as politics, economics, and argument of prediction of societal events. In this paper, we propose a dynamic model for addiction of tobacco. A proposed dynamical model originates from the dynamics of tobacco use, recovery, and relapse. In order to make an addiction model of tobacco, we try to modify and rescale the existing tobacco and Lorenz models. Using these models, we can derive a new tobacco addiction model. Finally, we obtain periodic motion, quasi-periodic motion, quasi-chaotic motion, and chaotic motion from the addiction model of tobacco that we established. We say that periodic motion and quasi-periodic motion are related to the pre-addiction or recovery stage, respectively. Quasi-chaotic and chaotic motion are related to the addiction stage and relapse stage, respectively.

• 한국컴퓨터그래픽스학회논문지
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• 제25권3호
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• pp.133-142
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• 2019

물리기반 캐릭터 애니메이션에서 궤적 최적화(trajectory optimization) 기법은 캐릭터 동작에 대한 시스템 동역학 모델(system dynamics model)에 기반하여 가까운 최적의 미래 상태를 예측하여 캐릭터의 동작을 자동적으로 생성하는데 널리 사용되어 왔다. 캐릭터와 환경 간의 접촉 현상을 강체 충돌로 다루는 경우 일반적으로 시스템 동역학 모델은 그 수식이 닫힌 형식(closed form)으로 유도되지 못하고 미분이 불가능하다. 따라서 최근까지 많은 연구자들이 접촉 완화(contact smoothing) 기법을 통해 시스템 동역학의 수치적 미분에 기반한 효율적인 궤적 최적화 기법을 발표해 왔다. 하지만 수치적 미분 정보는 분석적 미분과 달리 부정확하기 때문에 궤적 최적화의 안정성에 영향을 미칠 수 있다. 이 문제를 해결하기 위해 본 논문에서는 접촉 완화 모델에 대한 근사화를 통해 시스템 동역학을 분석적으로 미분하여 닫힌 형식의 도함수를 유도하고, 이를 기반으로 사용자의 온라인 입력에 따라 예제 데이터 없이 이족 캐릭터의 동작을 안정적으로 생성하는 예측 제어 기법(model predictive control (MPC))을 제안한다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.346-363
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• 2015

We have performed integrated dynamics modeling for a supercavitating vehicle. A 6-DOF equation of motion was constructed by defining the forces and moments acting on the supercavitating body surface that contacted water. The wetted area was obtained by calculating the cavity size and axis. Cavity dynamics were determined to obtain the cavity profile for calculating the wetted area. Subsequently, the forces and moments acting on each wetted part-the cavitator, fins, and vehicle body-were obtained by physical modeling. The planing force-the interaction force between the vehicle transom and cavity wall-was calculated using the apparent mass of the immersed vehicle transom. We integrated each model and constructed an equation of motion for the supercavitating system. We performed numerical simulations using the integrated dynamics model to analyze the characteristics of the supercavitating system and validate the modeling completeness. Our research enables the design of high-quality controllers and optimal supercavitating systems.

• Journal of Advanced Marine Engineering and Technology
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• 제39권6호
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• pp.614-619
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• 2015

본 연구는 자율무인잠수정의 운동성능을 예측하기 위한 동역학모델에 관한 연구이다. 이 모델은 선체의 동역학 상태변수들과 잠수정의 운동을 결정하는 힘들의 항으로 구성되어 있다. 힘에 영향을 주는 항은 유체정역학적 힘, 부가질량에 의한 힘, 유체동역학적 감쇠력, 그리고 양력과 항력으로 구성된다. 이 힘의 항들을 이론식과 유체동역학해석법에 의해 구하였다. 수중운동 시뮬레이션에는 PD제어기를 사용하였다. 또한 유체항력은 수조시험을 통해서 검증하였고, 무인잠수정의 운동성능은 인근 실해역에서의 경유점 추종시험을 통해서 부분적으로 검증하였다.