• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.138-141
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• 2002

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.457-459
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• 1998

This paper presents a 3-DOF hovering flight controller for a model helicopter using the minimal order LQG/LTR technique. A model helicopter is an unstable multi-input multi-output nonlinear system strongly exposed to disturbances, so a robust multi-variable control theory should be applied to control it. The minimal order LQG/LTR technique which uses a reduced-order observer in the LTR procedure is used to design the controller. Performances for the 3-DOF hovering flight controller are evaluated through computer simulations.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.5
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• pp.475-482
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• 2010

In this paper, an efficient two-level parallel domain decomposition algorithm is suggested to solve large-DOF structural problems. Each subdomain is composed of the coarse problem and local problem. In the coarse problem, displacements at coarse nodes are computed by the iterative method that does not need to assemble a stiffness matrix for the whole coarse problem. Then displacements at local nodes are computed by Multi-Frontal Sparse Solver. A parallel version of PCG(Preconditioned Conjugate Gradient Method) is developed to solve the coarse problem iteratively, which minimizes the data communication amount between processors to increase the possible problem DOF size while maintaining the computational efficiency. The test results show that the suggested algorithm provides scalability on computing performance and an efficient approach to solve large-DOF structural problems.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.24 no.2
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• pp.95-101
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• 2011

In wireless X networks where all transmitters send the independent messages to all receivers, the theoretical bound on the degrees of freedom (DOF) and interference alignment (IA) scheme for its achievability are given by Cadambe and Jafar [1]. However, IA scheme for wireless X network may be infeasible in practice unless the transmitters have the perfect channel information. In addition, if the transmitter with single antenna uses time-varying channel coefficients as a beamforming vector, the infinite channel extension is required to achieve the theoretical bound on the DOF of wireless X networks with perfect IA scheme. In this paper, we consider K-user MIMO X network where K transmitters and K receivers have M antennas each. While the beamforming vectors have been constructed with multiple channel uses over multiple time slot in the earlier work, we consider the beamforming vectors constructed only by a spatial signature over unit time. Accordingly the channel information at the transmitters can be available instantaneously. Then we propose the perfect IA scheme with no channel extension. Based on our sum-rate analysis and the simulation results, we confirm that our proposed scheme can achieve MK/2 DOF which is quite close to the theoretical bound on the DOF region of wireless X networks.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.381-389
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• 2007

6-DOF simulation program is developed in order to increase the efficiency of the store separation analysis. This S/W is much faster than a method based on CFD(Computational Fluid Dynamics) technology, and allows the simulation of stores with fixed shape as well as with extensible wings, because it uses aerodynamic databases which are prepared beforehand. In this paper, aerodynamic databases of stores are obtained with MSAP(Multi-body Separation Analysis Program), and unsteady damping coefficients are modeled with Missile Datcom. These databases and the 6-DOF simulation program are used to predict the trajectory of an external store, while its wings are being deployed. The analysis results indicate that the safe separations of the store can be achieved not only with the wing fixed but with the wings being deployed.

• Korean Journal of Computational Design and Engineering
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• v.17 no.5
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• pp.333-341
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• 2012

Modeling and simulation is important for military training. People can feel perspective when stereoscope images are created using multi-channel visualizations. A submarine oscillates when the submarine is just below the surface of the sea, so that the reconnaissance becomes difficult. Also, the operator should read the information of the target within 6 seconds using the periscope. The operator must have experience. To solve these problems, stereoscopic multi-channel visualization has been tested. The iCAVE system of KAIST provides a large-scale screen, 7 PCs, and 14 projectors to create the stereoscope images. To simulate the motion of a submarine just below the ocean surface, a 4-DOF motion platform is used. The motion data is transmitted to the visual system and the motion platform through the UDP protocol. Variety of weather conditions are created using the Vega Prime software. The stereoscopic multi-channel visualization and the motion platform system created a realistic simulation system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.824-832
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• 2011

An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Journal of the Earthquake Engineering Society of Korea
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• v.5 no.1
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• pp.53-61
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• 2001

구조물이 과동한 기진력을 받을 때에 구조물의 진동 제어를 위하여 적응형 뱅뱅 제어 알고리듬이 저자들에 의해서 제안된 바 있으며, 이 제어 알고리듬을 1자유도계의 시험 구조물에 적용하여 제어 성능을 실험적으로 확인하였다. 본 논문은 이의 연장으로서 제안된 적응형 뱅뱅 제어 알고리듬을 최상층에 유압식 농동질량 감쇠기가 설치된 다자유도계의 시험 구조물에 적용하여 이의 유용성을 확인하였다. 이를 통하여 제안된 적응형 뱅뱅 제어 알고리듬은 제어 및 전체 구조계의 안전성이 보장되는 가운데 과도항 외부의 기진력을 받는 다자유도계의 구조물의 진동을 제어함에 효과적임을 확인할 수 있었다.

• Earthquakes and Structures
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• v.17 no.3
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• pp.317-327
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• 2019

High-speed railway bridge piers in seismically active area may be subjected to multiple earthquakes and then produce cumulative residual deformation. To study the cumulative residual deformation of high-speed railway bridge piers under multiple earthquakes, a nonlinear numerical analytical model with multi-DOF (MDOF) system is presented and validated against two shaking table tests in this paper. Based on the presented model, a simple supported beam bridge pier model of high-speed railway is established and used to investigate the cumulative residual deformation of high-speed railway bridge pier under mainshock-aftershock sequences and swarm type seismic sequences. The results show that the cumulative residual deformation of the bridge pier increases with earthquake number, and the increasing rates are different under different earthquake number. The residual deformation of bridge pier subjected to multiple earthquakes is accumulated and may exceed the limit of code.