• 한국해양공학회지
• /
• 제14권1호
• /
• pp.17-22
• /
• 2000

This study focuses on a simple analytical approach to calculate crane lifting forces for a sunken ship. The method takes into account the relation of lifting forces acting in wire rope slings to the inclination of the vessel including the effect of lug positions. The importance of the sunken ship salvage is explained from the statistics of ship casualties during last 15 years. Euler angles are introduced to represent the inclination of a sunken ship in developing the static force and moment equations,. Three dimensional examples with one redundant degree of freedom for a GT1500 oil tanker are analyzed and the results show that the information obtained by the method could be useful to salvors to conduct salvage work.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• 제19권3호
• /
• pp.271-287
• /
• 2015

In this article, a more generalized form of the impact time and angle control guidance law is proposed based on the linear quadratic optimal control methodology. For the purpose on controlling an additional constraint such as the impact time, we introduce an additional state variable that is defined to be the jerk (acceleration rate). Additionally, in order to provide an additional degree of freedom in choosing the guidance gains, the performance index that minimizes the control energy weighted by an arbitrary order of time-to-go is considered in this work. First, the generalized form of the impact angle control guidance law with an additional term which is used for the impact time control is derived. And then, we also determine the additional term in order to achieve the desired impact time. Through numbers of numerical simulations, we investigate the superiority of the proposed guidance law compared to previous guidance laws. In addition, a salvo attack scenario with multiple missile systems is also demonstrated.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1424-1429
• /
• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2000년도 봄 학술발표회논문집
• /
• pp.277-285
• /
• 2000

This paper presents a very simple procedure for determining the sensitivities of the eigenpairs of damped vibratory system with distinct eigenvalues. The eigenpairs derivatives can be obtained by solving algebraic equation with a symmetric coefficient matrix whose order is (n＋1)×(n＋1), where n is the number of degree of freedom the method is an improvement of recent work by I. W. Lee, D. O. Kim and G. H. Junng; the key idea is that the eigenvalue derivatives and the eigenvector derivatives are obtained at once via only one algebraic equation, instead of using two equations separately as like in Lee and Jung's method Of course, the method preserves the advantages of Lee and Jung's method.

• 소음진동
• /
• 제6권3호
• /
• pp.287-296
• /
• 1996

A virtual work form of flexible multibody dynamic formulation with rotary inertia has been derived. For the analysis of large flexible multibody systems, deformation modal coordinates have been employed to represent coupled motion between gross and vibrational motion. For the efficient evaluation of the entries in the mass matrix, a flexible body has been treated as a collection of mass points. The rotary inertia was generated from the consistent mass matrix in a finite element model. Deformation mode shapes were obtained from finite element analysis. Bending and twisting vibration analyses of a cantilever have been carried out to see rotary inertia effects. A space flexible robot simulation has been also carried out to show effectiveness of the proposed formulation. This formulation is effective to the model that consists of beam, plate, or shell element that contains rotational degree of freedom at the nodal point. It is also effective to the flexible body model to which a large lumped rotary inertia is attached.

• 제어로봇시스템학회논문지
• /
• 제10권10호
• /
• pp.887-898
• /
• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 춘계학술대회논문집
• /
• pp.501-507
• /
• 2000

This paper presents a very simple procedure for determining the sensitivities of the eigenpairs of damped vibratory system with distinct eigenvalues. The eigenpairs derivatives can be obtained by solving algebraic equation with a symmetric coefficient matrix whose order is (n+1) ${\times}$ (n+1), where n is the number of degree of freedom the mothod is an improvement of recent work by I. W. Lee, D. O. Kim and G. H. Jung; the key idea is that the eigenvalue derivatives and the eigenvector derivatives are obtained at once via only one algebraic equation, instead of using two equations separately as like in Lee and Jung's method. Of course, the method preserves the advantages of Lee and Jung's method.

• 디자인학연구
• /
• 제5권1호
• /
• pp.45-56
• /
• 1992

In the 1970s, the term Post - Modernism came into use to lable work of graphic design who broke up the Swiss style that had defined clarity and order. The characteristics of Post - Modernism graphic design include pluralistic and eclectic style. Those innovation of graphic design concerned with our social, political. cultural, and econonic changes. Deconstruction is one of the theory of Post-structualism. Deconstruction refers to the breaking down of metaphysics, rationalism, totality and so on. Deconstructive graphic design destroys traditional harmony even more than Marinetti's claim. Totality in graphic design seems to be ignored. Post - Modernism in architecture appears as historical revivalism and pluralism. The eclectic revivals and eccentric reinventions in graphic design are far too pluralistic and diverse to fit such as a simplistic system of style. Another innovation in graphic design occurs by electronic revolution. The impact of computer upon graphic design is becoming even more pronounced. Most importantly, Post-Modernism can consider the rediscovered freedom in graphic design. Graphic design is undergoing profound changes. But the essence of graphic design as com$$\mu$ication tools will remain unchanged.

• 소음진동
• /
• 제4권3호
• /
• pp.307-318
• /
• 1994

Existence of any nonlinearity in responses of a nonlinear system is tested using a kurtosis or a fourth moment which has been widely used to characterize signal patterns. By inputting a harmonic signal to a system and investigating the distortions of an output signal from a harmonic pattern, which are due to violations of proportionality between the input and the output, it is judged whether the output is generated from a nonlinear system or not. Through applying the method presented in this work to simulation studies on detections of nonlinearities of a single degree of freedom system, in which three kinds of nonlinearities are treated as restoring force terms, feasibilities of the method are shown and the range of both frequency and input amplitude, in which the system generates nonlinear responses, is determined.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1994년도 추계학술대회 논문집
• /
• pp.611-616
• /
• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deforma ble structures. In this work, we propose another type of assembly devices which generate the compliance effec ts by attaching the compliances (or spring) at the prismatic joints of the griven mechainsm. First, the kinematic analysis for a parallel-type planar 3-degree-of-freedom mechanism is performed using modified transfer method of generalized coordinate. Then, compliance characteristics for the mechanism using prismatic joint compliances are investigated. In particular, when the system maintains its symmetric configuration, the mechanism is show n to have RCC points at the center of the workspace. Finally, sensitivity analysis around RCC points is perfor med.