• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Steel and Composite Structures
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• v.20 no.2
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• pp.227-249
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• 2016

The objective of this work is to present a zeroth-order shear deformation theory for free vibration analysis of functionally graded (FG) nanoscale plates resting on elastic foundation. The model takes into consideration the influences of small scale and the parabolic variation of the transverse shear strains across the thickness of the nanoscale plate and thus, it avoids the employ use of shear correction factors. Also, in this present theory, the effect of transverse shear deformation is included in the axial displacements by using the shear forces instead of rotational displacements as in available high order plate theories. The material properties are supposed to be graded only in the thickness direction and the effective properties for the FG nanoscale plate are calculated by considering Mori-Tanaka homogenization scheme. The equations of motion are obtained using the nonlocal differential constitutive expressions of Eringen in conjunction with the zeroth-order shear deformation theory via Hamilton's principle. Numerical results for vibration of FG nanoscale plates resting on elastic foundations are presented and compared with the existing solutions. The influences of small scale, shear deformation, gradient index, Winkler modulus parameter and Pasternak shear modulus parameter on the vibration responses of the FG nanoscale plates are investigated.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.4
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• pp.226-230
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• 2007

In the conventional desktop PC environment, keyboard and mouse are used to process the user input and monitor displays the visual information as an output device. In order to manipulate the digital information, we move the virtual cursor to select the desired graphical icon on the monitor The cursor represents the relative motion of the physical mouse on the desk. This desktop metaphor does not provide intuitive interface through human sensation. In this paper, we introduce a novel tangible interface which allows the user to interact with computers using a physical tool called "Smartpuck". SmartPuck system bridges the gap between analog perception and response in human being and digital information on the computer. The system consists of table display based on a PDP, SmartPuck equipped with rotational part and button for the user's intuitive and tactile input, and a sensing system to track the position of SmartPuck. Finally, we will show examples working with the system.

• Korean Journal of Applied Biomechanics
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• v.28 no.2
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• pp.87-92
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• 2018

Objective: The purpose of this study was to investigate the factors affecting two kinds of bat swing behavior through kinematic analysis. Method: A total of 32 high school baseball players participated in this study. The ball was placed on the tee-ball in a position where the subject could easily swing and the standard bat swing was performed as quickly and as accurately as possible using aluminum bats and wooden bats. Results: The aluminum bat showed a rapid swing speed of about 1.79 m/sec compared to the wooden bat. The speed of the batted ball was found to be significantly greater for the aluminum bat than for the wooden bat. In addition, although the difference between the shoulder-pelvis rotation angle according to the type of bat was not indicated, there was a statistically significant difference between the aluminum bat and the wooden bat in terms of the rotational angular velocity. Conclusion: Even though the results can explain the difference between the bat swing speed and the speed of the batted ball depending on the bat's material, it is difficult to explain the difference depending on the type of bat at the shoulder-pelvis rotation angle. However, shoulder-pelvic rotation angular velocity appears to be higher for the aluminum bat, and the differences in the type of bat is considered to be related to the batting swing factor.

• Current Optics and Photonics
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• v.6 no.5
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• pp.445-452
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• 2022

We developed an adaptive optics test bench using an optical simulator and two rotating phase plates that mimicked the atmospheric turbulence at Bohyunsan Observatory. The observatory was reported to have a Fried parameter with a mean value of 85 mm and standard deviation of 13 mm, often expressed as 85 ± 13 mm. First, we fabricated several phase plates to generate realistic atmospheric-like turbulence. Then, we selected a pair from among the fabricated phase plates to emulate the atmospheric turbulence at the site. The result was 83 ± 11 mm. To address dynamic behavior, we emulated the atmospheric disturbance produced by a wind flow of 8.3 m/s by controlling the rotational speed of the phase plates. Finally, we investigated how closely the atmospheric disturbance simulation emulated reality with an investigation of the measurements on the optical table. The verification confirmed that the simulator showed a Fried parameter of 87 ± 15 mm as designed, but a little slower wind velocity (7.5 ± 2.5 m/s) than expected. This was because of the nonlinear motion of the phase plates. In conclusion, we successfully mimicked the atmospheric disturbance of Bohyunsan Observatory with an error of less than 10% in terms of Fried parameter and wind velocity.

• The Journal of the Convergence on Culture Technology
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• v.8 no.5
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• pp.591-596
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• 2022

Since 4-bar linkage widely used in various industrial fields has a fixed link length, it is inconvenient to add an independent link structure or control device to change the movement of output link. Therefore, this paper proposes a new concept of variable 4-bar linkage mechanism to selectively adjust the movement of the output link to fit desired situations, and applied to the commercial table fans, which is a representative product using a 4-bar linkage system. The optimal rotation angle steps for efficiency are determined experimentally and the appropriate lengths of linkage to fit each step are calculated analytically. Changes in the linkage length are implemented by the rotational motion using a grooved cylindrical cam and the feasibility of the proposed variable linkage mechanism is verified through fabrication and measurement. The presented variable link mechanism is expected to improve the efficiency of industrial robots and fuel valve systems.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.1A
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• pp.51-58
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• 2008

A cable element happens to vibration easily rather than other elements because a cable element has few rotational stiffness. Dynamic motion of stay cable is distinguished from vibration by wind and/or rain and excitation by support movement. Mostly a stay cable is vibrated by wind and/or rain except that when natural periods coincide between stiffening girder and stay cable. It happens to deterioration of serviceability and durability by vortex shedding, rainy-wind induced vibration, and galloping. Additional damping generated by installation of cable damper is well known good scheme against above phenomena. Researchers have lack of effort to develop the recommendations even if cable stayed bridges are designed and constructed in Korea. Therefore, development of the domestic recommendations should be achieved as soon as possible. This study suggests the consistent and systematic recommendations on vibration controlling design of stay cable by installation of damper. It gives readers two important methodologies that one evaluates required damping ratio, the other determines installing point considering efficiency.

• Steel and Composite Structures
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• v.49 no.5
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• pp.487-502
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• 2023

In the realm of nanotechnology, the nonlocal strain gradient theory takes center stage as it scrutinizes the behavior of spinning cantilever nanobeams and nanotubes, pivotal components supporting various mechanical movements in sport structures. The dynamics of these structures have sparked debates within the scientific community, with some contending that nonlocal cantilever models fail to predict dynamic softening, while others propose that they can indeed exhibit stiffness softening characteristics. To address these disparities, this paper investigates the dynamic response of a nonlocal cantilever cylindrical beam under the influence of external discontinuous dynamic loads. The study employs four distinct models: the Euler-Bernoulli beam model, Timoshenko beam model, higher-order beam model, and a novel higher-order tube model. These models account for the effects of functionally graded materials (FGMs) in the radial tube direction, giving rise to nanotubes with varying properties. The Hamilton principle is employed to formulate the governing differential equations and precise boundary conditions. These equations are subsequently solved using the generalized differential quadrature element technique (GDQEM). This research not only advances our understanding of the dynamic behavior of nanotubes but also reveals the intriguing phenomena of both hardening and softening in the nonlocal parameter within cantilever nanostructures. Moreover, the findings hold promise for practical applications, including drug delivery, where the controlled vibrations of nanotubes can enhance the precision and efficiency of medication transport within the human body. By exploring the multifaceted characteristics of nanotubes, this study not only contributes to the design and manufacturing of rotating nanostructures but also offers insights into their potential role in revolutionizing drug delivery systems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.1
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• pp.79-87
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• 2015

This paper proposes a floating-type wave energy conversion system that consists of a mechanical part (yo-yo vibrating system, motion rectifying system, and power transmission system) and electrical part (power generation system). The yo-yo vibrating system, which converts translational input to rotational motion, is modeled as a single degree-of-freedom system. It can amplify the wave input via the resonance phenomenon and enhance the energy conversion efficiency. The electromechanical model is established from impedance matching of the mechanical part to the electrical system. The performance was analyzed at various wave frequencies and damping ratios for a wave input acceleration of 0.14 g. The maximum output occurred at the resonance frequency and optimal load resistance, where the power conversion efficiency and electrical output power reached 48% and 290 W, respectively. Utilizing the resonance phenomenon was found to greatly enhance the performance of the wave energy converter, and there exists a maximum power point at the optimum load resistance.

• Journal of Korean Orthopaedic Sports Medicine
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• v.2 no.1
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• pp.62-70
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• 2003

Purpose: We examined the kinematics and kinetics of the shoulder in youth baseball pitchers in light of the mechanisms of development of little league shoulder and humeral retrotorsion. Materials and Methods: The joint kinematics and the net force and torque acting on the humerus were calculated in fourteen youth pitchers throwing in a simulated game. Results: The major force component acting on the humerus was a tensile force of 378$\pm$81 N that peaked just after ball release. The predominant torque on the humerus was an external rotation torque about the long axis of the humerus. This torque reached a peak value of 35.3$\pm$6.7 Nm about 73$\%$through the pitching motion. This torque is approximately 66$\%$ of the torque required to fracture of the adult humerus. Conclusions: The direction of the humeral torque was consistent with the development of increased humeral retrotorsion in the throwing arm. Shear stress arising from the high torque during the late cocking phase likely leads to deformation the relatively weak proximal humeral epiphysis. The external rotation torque applied to the humerus during the pitch also agrees with the proposed mechanism for development little league shoulder, which has been hypothesized to be due to rotational stresses acting on the epiphysis during the throwing motion.