• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1922-1927
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• 2003

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6$\^$th/ order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhoff-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.11
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• pp.673-679
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• 2005

This Paper presents the 3D wavelet transformation based video compression system, which possesses the capability of progressive transmission by increasing resolution and increasing rate for multimedia applications. The 3D wavelet packet based video compression system removes the temporal correlation of the input sequences using the motion compensation filter and decomposes the spatio-temporal subband using the spatial wavelet packet transformation. The proposed system allocates the higher bit rate to the low frequency image of the 3D wavelet sequences and improves the 0.49dB PSNR performance of the reconstructed image in comparison with that of H.263. In addition to the limitation on the propagation of the motion compensation error by the 3D wavelet transformation, the proposed system progressively transmits the input sequence according to the resolution and rate scalability.

• Journal of KIISE:Software and Applications
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• v.29 no.9
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• pp.631-644
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• 2002

In this paper efficient algorithms for content-based video retrieval using motion information are proposed, including temporal scale-invariant retrieval and temporal scale-absolute retrieval. In temporal scale-invariant video retrieval, the distance transformation is performed on each trail image in database. Then, from a given que교 trail the pixel values along the query trail are added in each distance image to compute the average distance between the trails of query image and database image, since the intensity of each pixel in distance image represents the distance from that pixel to the nearest edge pixel. For temporal scale-absolute retrieval, a new coding scheme referred to as Motion Retrieval Code is proposed. This code is designed to represent object motions in the human visual sense so that the retrieval performance can be improved. The proposed coding scheme can also achieve a fast matching, since the similarity between two motion vectors can be computed by simple bit operations. The efficiencies of the proposed methods are shown by experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.12
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• pp.1433-1441
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• 2009

In multibody dynamic analysis, one of the most important problems is to reduce computation times for real-time simulation. This paper presents the derivation procedure of equations of motion of a 6${\times}$6 autonomous vehicle in terms of chassis local coordinates which do not require coordinates transformation matrix to enhance efficiency for real-time dynamic analysis. Also, equations of motion are derived using the VT(velocity transformation) technique and symbolic computation method coded by MATLAB. The Jacobian matrix of the equations of motion of a system is derived from symbolic operations to apply the implicit integration method. The analysis results were compared with ADAMS results to verify the accuracy and approve the feasibility of real time analysis.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Korean Journal of Computational Design and Engineering
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• v.14 no.4
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• pp.261-270
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• 2009

We can save a lot of efforts and time to perform various kinds of multibody system dynamics simulations if the equations of motion of the multibody system can be formulated automatically. In general, the equations of motion are formulated based on Newton's $2^{nd}$law. And they can be transformed into the equations composed of independent variables by using velocity transformation matrix. In this paper the velocity transformation matrix is derived based on a topological modeling approach which considers the topology and the joint property of the multibody system. This approach is, then, used to formulate the equations of motion automatically and to implement a multibody system dynamics simulation program. To verify the the efficiency and convenience of the program, it is applied to the lifting simulation of a floating crane.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.9-14
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• 2006

The authors aim to establish the theory necessary for developing the free gyrocompass. The following considerations are taken. One is to suggest north-finding principle by the angular velocity of the earth's rotation, and the other is to suggest that the motion rate of the spin axis in the free gyro frame is transformed into the platform fame and this transformed rate is again transformed into the NED navigation frame. After transformation ship's heading is obtained using the fore-aft and athwartship components of the motion rate of the spin axis in the NED frame In addition it was suggested how to solve the transformation matrix necessary for transforming each frame.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.926-930
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• 1993

An efficient method of formulating the equations of motion of multibody systems is presented. The equations of motion for each body are formulated by using Newton-Eulerian approach in their generic form. And then a transformation matrix which relates the global coordinates and relative coordinates is introduced to rewrite the equations of motion in terms of relative coordinates. When appropriate set of kinematic constraints equations in terms of relative coordinates is provided, the resulting differential and algebraic equations are obtained in a suitable form for computer implementation. The system geometry or topology is effectively described by using the path matrix and reference body operator.