• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1481-1484
• /
• 1997

The vehicle driving simulator expects vehicle motion with real-time simulation arise from driver's steering, accelerating, stopping and simulates motion of vehicl with visula, audio and washout algorithm. And it gives a vivid feeling to driver in reality. Vehicle driving simulator with vehicle integration control system is used for analysis of analysis of vehicle controllaility, steering capacity and safety in various pseudo environment alike. basides, it analyzeds vehicle safety factor dirver's reaction and promotes traffic safety without driver's own risks. The main proceduress of development of the vehicle driving simulator are classified by 3 parts. first the motion base system which can be generated by the motion queues, should be developed. Secondly, real-time vehicle software which can afford the vehicle dynamics, might be constructed. The third procedure is the integration of vehicle driing simulator which can be interconnected between visual systems with motion base. In this study, we are to study of the motion base for a vehicle driving simulator design and that of its real time control and using an extra gyro sensor and accelerometers to find a position and an orientatiion of the moving platform except for calculating forward kinematics. To drive the motion base, we use National Instruments corp's Labview software. Furthemore, we use analysis module for the vehicle motionand the washout algorithm module to consummate driving simulator, which can be driven by human in reality, so we are doing experimentally process about various vehicle motion conditon.

• Journal of information and communication convergence engineering
• /
• v.17 no.3
• /
• pp.205-212
• /
• 2019

Motion tracking and localization devices are an important building block of motion tracking systems in a virtual reality (VR) environment. This study is about improving the accuracy of motion and location for enhancing user immersion in experience type VR environment to position tracking technique. In this study, we propose and test a design of such a device. The module data test of the attitude and heading reference system shows that the implementation with the MPU-9250 sensor is successful and adequate to be used with short operation time. We consider various sensor hardware dependencies of VR, and compare various correction methods and filtering methods to lower the motion to photon (MTP) time that user movement is fully reflected on the display using sensor devices. The Kalman filter is used to combine the accelerometer with the gyroscope in the sensing unit.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.26 no.1
• /
• pp.13-19
• /
• 2017

In modern industry, the machining process is very important for manufacturing various products. More than 80% of machining processes apply rough cutting. The target of this study is to establish the optimal condition of rough cutting using trochoidal motion for improving productivity. For research, the range of cutting conditions is defined by trochoidal motion. The cutting time and tolerance are measured and evaluated according to the cutting conditions of machining. Experimental data are utilized for comparing trochoidal motion and contouring. It is found that the cutting time of trochoidal motion is two times less than that of contouring with optimal cutting conditions. To conclude, trochoidal motion for rough cutting under appropriate cutting conditions improves productivity and shortens processing time significantly.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.7
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Structural Engineering and Mechanics
• /
• v.60 no.6
• /
• pp.953-977
• /
• 2016

Modern performance-based design methods require ways to determine the factual behavior of structures subjected to earthquakes. Drift ratio demands are important measures of structural and/or nonstructural damage of the structures in performance-based design. In this study, global drift ratio and interstory drift ratio demands, obtained by nonlinear time history analysis of three generic RC frames using code-compatible ground motion record sets, are statistically evaluated. Several ground motion record sets compatible with elastic design spectra defined for the local soil classes in Turkish Earthquake Code are used for the analyses. Variation of the drift ratio demands obtained from ground motion records in the sets and difference between the mean of drift ratio demands calculated for ground motion sets are evaluated. The results of the study indicate that i) variation of maximum drift ratio demands in the sets were high; ii) different drift ratio demands are calculated using different ground motion record sets although they are compatible with the same design spectra; iii) the effect of variability due to random causes on the total variability of drift ratio demands is much larger than the effect of variability due to differences between the mean of ground motion record sets; iv) global and interstory drift ratio demands obtained for different ground motion record sets can be accepted as simply random samples of the same population at %95 confidence level. The results are valid for all the generic frames and local soil classes considered in this study.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.13-16
• /
• 1989

The paper, introduce the real time controller Design method of heavy load 6-DOF motion simulator. And also, introduce the Geometric design of 6-DOF Motion generation, real time control A algorithm and the configuration method of real time controller H/W and S/W.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.4
• /
• pp.190-199
• /
• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2019.11a
• /
• pp.271-271
• /
• 2019

Estimating ship motion is difficult because it take place in complex environments.. Estimating ship motion is an important factor in ensuring the safety of ship, so accurate estimates are needed. Existing motion-related studies compare the apparent motion of the model acquired and the reference model by experimenting with the ship motion on a particular alignment, making it difficult to intuitively estimate the hull motion. This study introduces the concept of estimating the characteristics of ship motion as a transfer function through pole-zero interpretation and frequency response analysis by applying the method of transfer function of Linear-Time Invariant system. Ship motion analysis model using Linear-Time Invariant system is consist with 1) wave as input signal 2) ship motion as output signal 3) hull defined as black box. This model can be defined by numericalizing the ship motion as a transfer function and is expected to facilitate the characterization of the ship motion through pole-zero analysis and frequency response analysis.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.10
• /
• pp.1551-1560
• /
• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.25 no.1
• /
• pp.43-52
• /
• 2021

According to several seismic design standards, a ground motion time history should be selected similar to the design response spectrum, or a ground motion time history should be modified by matching procedure to the design response spectrum through the time-domain method. For the response spectrum matching procedure, appropriate seed ground motions need to be selected to maintain recorded earthquake accelerogram characteristics. However, there are no specific criteria for selecting the seed ground motions for applying this methodology. In this study, the characteristics of ground motion time histories between seed motions and spectral matched motions were compared. Intensity measures used in the design were compared, and their change by spectral matching procedure was quantified. In addition, the seed ground motion sets were determined according to the response spectrum shape, and these sets analyzed the response of nonlinear and equivalent linear single degrees of freedom systems to present the seed motion selection conditions for spectral matching. As a result, several considerations for applying the time domain spectral matching method were presented.