• 전기전자학회논문지
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• 제22권2호
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• pp.362-368
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• 2018

본 논문은 학습으로 공감각 현상을 지각할 수 있는 의도적인 공감각을 기반으로 신체의 움직임에서 시각과 청각정보로의 변환 및 역변환 시스템을 구현하였다. 신체의 움직임은 웨어러블 암밴드인 Myo의 출력인 오일러 각을 사용하였고, 근감각 정보로서 롤(Roll), 피치(Pitch), 요(Yaw) 신호를 사용하였다. 또한, 시각과 청각 정보로서 미디(MIDI, Musical Instrument Digital Interface)신호와 HSI 컬러 모델을 사용하였다. 근감각 신호와 시 청각 신호 사이의 상호변환 방법은 일대일 대응 관계를 적용함으로써 직관적으로 쉽게 유추할 수 있도록 하였다. 시뮬레이션 결과에서 신체의 움직임 정보와 시 청각 정보의 상호변환이 가능함을 ROS(Root Operation System)와 3D 시뮬레이션 툴인 Gazebo를 사용하여 입력과 출력을 비교하였고 변환 오차가 작음을 확인하였다.

• 대한조선학회논문집
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• 제34권4호
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• pp.1-11
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• 1997

바지(barge)선이 예인선에 의해 예인삭으로 예인될때 예인시스템의 특성상 yaw운동이 일어나 큰 sway운동이 발생할 수 있다. 특히, 바람이나 파랑들의 외력의 작용에 의해 바지선이 과대한 운동을 일으키게 되어 예인이 곤란하거나, 심할경우 예인선이나 예인물이 전복되는 사례가 보고되고 있다. 따라서 예인물의 침로 안정성은 주변 항해 선박의 안정성과도 관계되어 여러가지 측면에서 중요한 문제로 다루어져 왔다. 본 연구는 8, 000톤급 바지선의 침로 안정성에 관한 회류수조와 예인수조의 시험 결과이다. 여러가지 형태의 스케그(skeg)를 바지선의 선미부에 부착하여 정수 및 불규칙파에서 침로안정성 시험을 수행하였다. 8,000톤급 바지선이 스케그 부착없이 예인선으로 예인될때 sway 운동의 진폭은 바지선폭의 약 10배정도인것이, 효과적인 스케그의 부착으로 진폭을 0으로 만들어 침로 안정성을 유지할수있음을 보였다.

• 로봇학회논문지
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• 제3권4호
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• International Journal of Aeronautical and Space Sciences
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• 제15권4호
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• pp.412-418
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• 2014

This paper describes the development of variable stability system (VSS) control laws for the KFA-i to simulate the dynamics of KFA-m aircraft. The KFA-i is a single engine, Class IV aircraft and was selected as an in-flight simulator (IFS) aircraft, whereas the KFA-m is a simulated aircraft that is based on the F-16 aircraft. A 6-DoF math model of KFA-i aircraft was developed, linearized, and separated into longitudinal and lateral motion for VSS control law synthesis. The KFA-i aircraft has five primary control surfaces: two flaperons, two all movable horizontal tails, and one rudder. Flaperons are used for load control, the horizontal tails are used for pitch and roll rate control, and the rudder is used for yaw rate control. The developed VSS control law can simulate four parameters of the KFA-m aircraft simultaneously, such as pitch, roll, yaw rates, and load. The simulation results show that KFA-i follows the responses of KFA-m with high accuracy.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권1호
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• pp.25-30
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• 2010

This paper is proposed about three axis motion control camera design method based on wires. Original motion control camera consists of track, boom, L-Head, Camera and so on and is enormous and expensive. But proposed motion control camera adjusts wire length using encoders and motors. And position control use position based straight line of straight-line move method for moving precise position. Proposed simple design is able to use various place and inexpensive than original motion control camera. But, camera was vibrated and rotated due to basic property of wire. So we proposed solutions that connected method of wire and using a tensional object for reducing rotation. For proposed algorithm verification, we realized three axis motion control camera based on wire and measured oscillation while moving same trace. We confirmed the results that standard deviation of oscillation was reduced 4.93 degree than before design method.

• 한국해양공학회지
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• 제38권1호
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• pp.1-9
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• 2024

The vertical center of gravity (VCG) has a significant impact on the roll motion response of a surface ship, particularly oil tankers based on the oil level in the tanker after discharging oil at several stations or positional changes, such as changes in the superstructure and deck structure. This study examined the motion response of the Korea very large crude carrier 2 (KVLCC2) at various VCGs, especially roll motion when the VCG changed. The potential theory in the Ansys AQWA program was used as a numerical simulation method to calculate the motion response. On the other hand, the calculations obtained through potential theory overestimated the roll amplitudes during resonance and lacked precision. Therefore, roll damping is a necessary parameter that accounts for the viscosity effect by performing an experimental roll decay. The roll decay test estimated the roll damping coefficients for various VCGs using Froude's method. The motion response of the ship in regular waves was evaluated for various VCGs using the estimated roll-damping coefficients. In addition, the reliability of the numerical simulation in motion response was verified with those of the experiment method reported elsewhere. The simulation results showed that the responses of the surge, sway, heave, pitch, and yaw motion were not affected by changing the VCG, but the natural frequency and magnitude of the peak value of the roll motion response varied with the VCG.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 추계학술대회 논문집
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• pp.169-173
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• 2001

This study presents the results of decoupling of free decay roll test data by discrete wavelet transform. Free roll decay test was performed to decide the coefficients of damping terms in equation of motion. During the experiment, a slight yaw motion was found while the model was in the free roll decay motion. Discrete wavelet transform was applied to the signal to extract the pure roll motion. The results were compared to those of the Fourier transform. DWT was able to decouple the two signals efficiently while the Fourier transform was not.

• 한국해양공학회지
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• 제27권6호
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• pp.56-64
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• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.

• 한국기계연구소 소보
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• 통권14호
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• pp.101-110
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• 1985

Kyung-p-1 main line is characterized by its curves radii of which are considerably small. It is essential for running time reduction of train to improve capabilities of curve negotiation. This improvement can be achieved by designing a bogie with flexible suspension system. The effect of the improvement is mainly concerned in the primary yaw stiffness of bogie suspension. This paper gives a linear analysis for the motion of railway vehicle on curved track and gives also computer simulation results for Semaul Train. The results introduce a conclusion that the primary yaw stiffness of Semaul train is too rigid to be self-steering on Kyung-pu main line curves.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 추계학술대회 논문집
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• pp.69-70
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• 2013

By using differential force between left and right wheel, lateral motion can be controlled known as Direct Yaw-moment Control (DYC). In previous researches, DYC control is proposed to increase the stability of the vehicle, but maneuverability has not been discussed sufficiently. The car handling condition which is called the index parameter of maneuverability is dependent on the vehicle velocity and steering angle. To achieve the desired vehicle's cornering path, the car handling condition must be considered sufficiently. In this paper, the novel DYC method is proposed which gives the car handling condition regardless of the longitudinal speed. The proposed controller is based on the PI controller to feedback the curvature parameter. The controlled system shows the advantages of DYC regarding to the reference trajectory by the dual motor system. With respect to the uncontrolled model, the effectiveness of the proposed method is validated by numerical examples.