• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.29 no.1
• /
• pp.45-52
• /
• 2016

One commercial package for magnetic analysis was used to apply repulsive forces of permanent magnetics to bicycle cushion system. Reliabilities of finite element analysis were acquired by comparing with those of experimental measurements. Equivalent spring stiffnesses corresponding to various sizes of magnetics were implemented into the bicycle dynamic model with three degree of freedom. Input force caused at front and rear wheels due to road unevenness was considered in the dynamic model. Dynamic behaviors were observed in terms of vertical displacements of the rider and the front reach as well as pitching displacement of the mass center when the bicycle ran over half-triangular bump. The methodology suggested in this paper by the finite element analysis and numerical model will be an useful tool for more accurate prediction of cushion design for any vehicle system if magnetic forces are utilized.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.35S no.10
• /
• pp.64-76
• /
• 1998

In this paper, we propose the dynamic modeling, path planning and tracking algorithms of 4-wheeled 2-d.o.f.(degree of freedom) mobile robot(WMR). The gaussian functions are applied to design the smooth path of WMR. To calculate the WMR position in real time, we use three components of inertial measurement units(IMU). These units have initial error because of the rotation rate of earth, gravity acceleration and so on. Therefore we derive the initial error model of IMU, and compare the fitness diagnosis about probability characteristics of real data adn estimated data. The performance of IMU with error model and Kalman filter is compared to that without filter and error model. The simulation results show that the proposed dynamic model, path planning and tracking algorithms are more useful than the conventional control algorithm.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.283-292
• /
• 2008

The foremost criterion in the design of a Satellite Launch Vehicle(SLV) is its performance capability to boost the designated payload to the desired mission orbit; it starts from focusing on the SLV configuration to achieve the velocity requirements($}\Delta}V$) for the mission. In this paper we review an analytical approach which is suitable enough for preliminary conceptual design and is used previously to optimize stage configurations for Two Stage to Orbit SLV for Low Earth Orbit(LEO) Missions; we have extended this approach to Three Stage to Orbit SLV and compared different propellant options for the mission. The objective is to minimize the Gross Lift off Weight(GLOW). The primary performance figures of merit were the total inert weight of the SLV and the payload weight that the SLV could lift into LEO, given candidate propulsion systems. The optimization is achieved by configuring the $}\Delta}V$ between stages. A comparison of configurations of single-stage and multi-stage SLVs is made for different propellants. Based upon the optimized stage configurations a comparative performance analysis is made between Liquid and Solid fueled SLV. A 3 degree of freedom trajectory-analysis program is modeled in SIMULINK and used to conduct the performance analysis. Furthermore, a cost analysis is performed on our stage optimized SLVs. The cost estimation relationships(CER) used give us a comparison of development and fabrication costs for the Liquid vs. Solid fueled SLV in man years. The pros and cons of the production, operation ability, performance, responsiveness, logistics, price, shelf life, storage etc of both Solid and Liquid fueled SLVs are discussed. The statistics and data are used from existing or historical(real) SLV stages.

• Journal of the Korea Concrete Institute
• /
• v.20 no.1
• /
• pp.51-58
• /
• 2008

Analytical probabilistic vulnerability analysis requires extensive computing effort as a result of the randomness in both input motion and response characteristics. In this study, a new methodology whereby a set of vulnerability curves are derived based on the fundamental response quantities of stiffness, strength and ductility is presented. A response database of coefficients describing lognormal vulnerability relationships is constructed by employing aclosed-form solution for a generalized single-degree-of-freedom system. Once the three fundamental quantities of a wide range of structural systems are defined, the vulnerability curves for various limit states can be derived without recourse to further simulation. Examples of application are given and demonstrate the extreme efficiency of the proposed approach in deriving vulnerability relationships.

• The Journal of Korea Robotics Society
• /
• v.15 no.4
• /
• pp.309-315
• /
• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
• /
• v.5 no.1
• /
• pp.22-28
• /
• 2002

A New concept for the LNG-FPSO ship, with moonpool and bilge step in bottom, is proposed. This concept is investigated with regard to motion reduction and sloshing phenomena of the cargo and operation tanks. The principal dimensions of the ship are $L\timesb B\times D\times t(design)=270.0\times51.0\times32.32\times13.7(m)$, with a total cargo capacity of 161KT; a 98% loading condition is considered for this study. The moonpools and rectangular step at the bilge have been designed for the purpose of decreasing the motion within the tank. For the motion analysis, linearized three-dimensional diffraction theory, with the simplified boundary condition was used. The six-degree of freedom coupled motion responses were calculated for the LNG-FPSO ship. Viscous effects on the roll motion responses of a vessel were taken into account in this calculation program, using an empirical formula suggested by Himeno(1981). The case study for the moonpool size has been conducted using theoretical estimation and the experimental method. For the optimization of the moonpool size and effect of the bilge step, 9 cases of its size, both with and without bilge step, were involved in the study. no motion responses, especially roll motion, for the designed LNG-FPSO ships are much lower than those of other drill ships and shuttle tankers. The limit criterions are satisfied. To check the cargo tank and operation tank sizes, we performed a sloshing analysis in the irregular waves which focuses on the pressure distribution on the tank wall and the time history of pressure and free surface for No.2 and 5 tanks of LNG-FPSO with chamfers. Finally, optimum tank sire was estimated.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.2
• /
• pp.137-147
• /
• 2003

The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

• Journal of the Korea Concrete Institute
• /
• v.26 no.5
• /
• pp.599-606
• /
• 2014

Since progressive collapse of tall buildings can cause enormous damage, it should be considered during the design phase of tall buildings. The progressive collapse analysis of tall buildings using finite element methods is almost impossible due to the vast amount of computing time. In this paper, applied element method was evaluated as an alternative to the finite element method. Reduced DOFs modeling technique was proposed to enable the progressive collapse analysis of tall buildings. The reduced DOFs model include only the part which is subjected to direct damage from blast load and the structural properties such as mass, transferred load and stiffness of excluded parts are accumulated into the top story of the reduced DOFs model. The proposed modeling technique was applied to the progressive collapse analysis of 20-story RC building using three collapse scenarios. The reduced DOFs model showed similar collapse behavior to the whole model while the computing time was reduced by 30%. The proposed modeling technique can be utilized in the progressive collapse analysis of tall buildings due to abnormal loads.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.29 no.2
• /
• pp.201-208
• /
• 2016

Recently, extensive research on crack analysis using extended finite element method(XFEM) which has main advantages in element re-meshing and visualization of cracks has been conducted. However, its application was restricted to the members of a single material. In this study, the applicability and feasibility of the XFEM to the multiple crack analysis of reinforced concrete beams were demonstrated. ABAQUS which has implemented XFEM was used for the crack analysis and its results were compared with test results. Enriched degree-of-freedom locking phenomenon was discovered and its causes and the ways to prevent it were suggested. The locking occurs when cracks in the adjacent elements simultaneously develop. A modelling technique for multiple cracking similar to test results was also proposed. The analysis with XFEM showed similar results to the tests in terms of crack patterns, spacing of cracks, and load-deflection relationship.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.8 no.4
• /
• pp.1368-1389
• /
• 2014

Three-dimensional multiple-input multiple-output (3D MIMO) and large-scale MIMO are two promising technologies for upcoming high data rate wireless communications, since the inter-user interference can be reduced by exploiting antenna vertical gain and degree of freedom, respectively. In this paper, we derive the achievable sum rate of 3D MIMO systems employing zero-forcing (ZF) receivers, accounting for log-normal shadowing fading, path-loss and antenna gain. In particular, we consider the prevalent log-normal model and propose a novel closed-form lower bound on the achievable sum rate exploiting elevation features. Using the lower bound as a starting point, we pursue the "large-system" analysis and derive a closed-form expression when the number of antennas grows large for fixed average transmit power and fixed total transmit power schemes. We further model a high-building with several floors. Due to the floor height, different floors correspond to different elevation angles. Therefore, the asymptotic achievable sum rate performances for each floor and the whole building considering the elevation features are analyzed and the effects of tilt angle and user distribution for both horizontal and vertical dimensions are discussed. Finally, the relationship between the achievable sum rate and the number of users is investigated and the optimal number of users to maximize the sum rate performance is determined.