• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.680-689
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• 2011

A dynamic analysis procedure is developed to provide a comprehensive estimation of the dynamic response spectrum for locomotive's wheels running over a Pre-Stressed Concrete (PSC) box girder bridge on the Korea high speed railway. The wheel force spectrum with the bridge behavior are analyzed as the dynamic procedure for various running speeds (50~450km/h). The high-speed railway locomotive (KTX) is used as 38-degree of freedom system. Three displacements(vertical, lateral, and longitudinal) and three rotational components (pitching, rolling, and yawing). For one car-body and two bogies as well as five movements except pitching rotation components for four wheel axes forces are considered in the 38-degree of freedom model. Three dimensional frame element is used to model of the PSC box girder bridges, simply supported span length of 40m. The irregulation of rail-way is derived using the exponential spectrum density function under assumption of twelve level tracks conditions based on the normal probability procedure. The dynamic responses of bridge passing through the railway locomotive with high-speed analyzed by Newmark-${\beta}$ method and Runge-Kutta method are compared and contrasted considering the developed models of bridge, track and locomotive comprehensively. The dynamic analyses of wheel forces by Runge-Kutta method which are able to analyze the forces with high frequency running on the bridge and ground rail-way are conducted. Additionally, wheel forces spectrum and three rotational components of vehicle body for three typical running speeds is also presented.

• 한국컴퓨터정보학회논문지
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• 제11권2호
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• pp.169-175
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• 2006

본 논문은 고정된 카메라를 수평 이동(panning)시켜 얻어진 영상으로부터 단순화된 변환식을 이용 실린더 파노라마 영상(cylindrical panorama)을 재구성하는 방법을 제안한다. 일반적인 영상간의 사영 변환식(projective transform)은 3차원 공간의 X, Y, Z축에 대한 카메라의 회전 성분을 모두 고려하지만, 실제 파노라마 영상을 구성하기 위해서는 Y축 중심의 카메라 회전만을 고려한다. 이러한 제약은 기존의 8자유도(degree of freedom)를 갖는 사영 변환식을 4자유도를 갖는 사영 변환식으로 단순화시키고, 그 결과 변환식을 유도하기 위해 필요한 대응점의 개수가 절반으로 줄어들어 전체적인 계산량을 크게 감소시킬 수 있다. 모의실험 결과 제안된 알고리즘은 기존의 알고리즘과 계산량을 감소시키면서 유사한 성능을 보이고 있고, 단순화된 사영 변환식을 이용한 영상을 구성하는 것을 보여주었다.

• 한국산학기술학회논문지
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• 제15권9호
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• pp.5452-5459
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• 2014

현가장치에 적용 가능한 공진형 선형 발전시스템은 차량이 노면을 주행 시 발생되는 진동에너지를 수집하여 자가 발전기능을 수행하는 시스템으로써, 작은 노면 진동을 증폭하여 큰 발전량을 유도하기 위해 공진 현상을 적용하였다. 시스템의 진동변위 해석을 통해 세 가지의 각기 다른 발전기 아마튜어의 동적 거동을 시뮬레이션하였고, 이를 전자기 유한요소해석을 통해 실제 발전량을 계산 및 비교분석 하였다. 또한, 차량 노면주행 시, 다양한 가진 주파수에 공진현상을 적용하기 위해 발전기 아마튜어의 수를 증가시키는 다자유도 발전기로의 설계 개선을 수행하여 공진 점의 변화를 확인하고 이에 따른 발전량의 변화를 확인하였다. 최종적으로 동일한 제한조건(설치공간)하에서 약 35% 축소된 아마튜어를 설계하여 이전 대비, 1Hz 및 4Hz 가진환경에서 8.5 %, 13.8 % 감소하였고, 15 Hz의 가진 환경에서는 14.7 %의 증가 현상을 확인하였다.

• 한국구조물진단유지관리공학회 논문집
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• 제15권4호
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• pp.204-211
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• 2011

고속철 교량의 동적응답을 보다 정밀하게 해석하기 위한 동적해석방법을 개발하였다. 차후 증가될 초고속(450km/h)을 포함하여 고속 주행하는 KTX 동력차에 의한 교량의 동적거동을 면밀한 속도변수분석과 정밀한 해석을 위한 고속철, 교량 그리고 궤도구조물의 상호작용을 포함한 수치모델을 구성하였다. 네 가지 40~25미터 단순지간의 PSC 박스교를 3차원 유한 프레임요소 모델로 개발하였다. 스펙트럼밀도함수로 산출된 궤도불규칙값과 궤도간 상이한 거리차이를 수치모델화 하였다. 고속철차량은 (KTX) 38자유도로 구성하였다. 38자유도 모델은 3방향 변위와 상응하는 회전각을 고려하였다. 동적증폭계수는 다양한 불규칙 궤도, 켐버, 주행속도, 자갈도상과 같은 주행조건에 의해 결정된다. 이와 같은 동적증폭계수를 해석하기위한 Newmark-${\beta}$ 기법과 Runge-Kutta기법을 적용하여 고속철 속도별과 경간별로 면밀하게 비교 분석하였다.

• 한국산업정보학회논문지
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• 제14권4호
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• pp.16-29
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• 2009

노인의 평형성 향상과 근력강화 운동을 병행할 수 있는 운동기기 개발을 위해 병렬형 구형관절 모듈을 채택하였다. 병렬형 구형관절 모듈은 링크 2개, 회전관절 3개의 조합으로 된 다이애드 3조가 병렬로 설치되어 있고 모든 회전축은 모듈의 중간 위치에 교차하여 3자유도 회전운동이 가능하다. 본 연구에서는 구형관절 모듈의 기구학 및 동역학 해석을 실시하였으며 제어프로그램을 위한 순방향 및 역방향 위치해석에 대한 수학적 해석해를 도출하였다. 속도 및 가속도해석에서는 임의의 다이애드 내의 관절속도 및 가속도에 대한 상판 속도 및 가속도의 관계식을 유도하였다. 본 연구에서는 재활운동기구로서 사용하기 위해서 50대 이상 한국인 표준 남성에 대한 모델을 선정하여 동역학 모델 시뮬레이션을 통하여 이러한 결과의 유효성을 검증하였다.

• 한국공간정보시스템학회:학술대회논문집
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• 한국공간정보시스템학회 2004년도 춘계 학술발표회 논문집 제1권1호(통권1호)
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• pp.190-196
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• 2004

Thick composite laminated plates is considered in 3D finite-element. To consider continuity of transverse stresses and displacement field, mixed finite-element has been developed by using layerwise theory and the minimum potential energy principle. Mixed finite-element has been enforced through the thick direction, Z, of a laminated plate by considering six degree-of-freedoms per node. Six degree-of-freedoms are three displacement components in the coordinate axes directions and three transverse stress components ${\sigma}_z,\;{\tau}_{xz},\;{\tau}_{yz}$. The model maintain the fundamental elasticity relations that are stress-strain relation and displacement-strain relation, because the transverse stress components invoked as nodal degrees of freedom by using the fundamental elasticity relationship between th components of stress and displacement. Random vibration analysis of the model is performed by computing consistent mass matrix and computing covariance in frequency domain technique.

• Smart Structures and Systems
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• 제15권3호
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• pp.897-911
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• 2015

This study presents a novel approach based on advancements in Evolutionary Computation for data-driven modeling of complex multi-dimensional memory-dependent systems. The investigated example is a benchmark coupled three-dimensional system that incorporates 6 Bouc-Wen elements, and is subjected to external excitations at three points. The proposed technique of this research adapts Genetic Programming for discovering the optimum structure of the differential equation of an auxiliary variable associated with every specific degree-of-freedom of this system that integrates the imposed effect of vibrations at all other degrees-of-freedom. After the termination of the first phase of the optimization process, a system of differential equations is formed that represent the multi-dimensional hysteretic system. Then, the parameters of this system of differential equations are optimized in the second phase using Genetic Algorithms to yield accurate response estimates globally, because the separately obtained differential equations are coupled essentially, and their true performance can be assessed only when the entire system of coupled differential equations is solved. The resultant model after the second phase of optimization is a low-order low-complexity surrogate computational model that represents the investigated three-dimensional memory-dependent system. Hence, this research presents a promising data-driven modeling technique for obtaining optimized representative models for multi-dimensional hysteretic systems that yield reasonably accurate results, and can be generalized to many problems, in various fields, ranging from engineering to economics as well as biology.

• Wind and Structures
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• 제1권1호
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• pp.43-57
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• 1998

A three-degree-of-freedom base hinged assembly (BHA) for aeroelastic model tests of tall building was developed. The integral parts of a BHA, which consists of two perpendicular plane frames and a flexural pivot, enable this modeling technique to independently simulate building translational and torsional degree-of-freedom. A program of wind tunnel aeroelastic model tests of the CAARC standard tall building was conducted with emphasis on the effect of (a) torsional motion, (b) cross-wind/torsional frequency ratio and (c) the presence of an eccentricity between center of mass and center of stiffness on wind-induced response characteristics. The experimental results highlight the significant effect of coupled translational-torsional motion and the effect of eccentricity between center of mass and center of stiffness on the resultant rms acceleration responses in both along-wind and cross-wind directions especially at operating reduced wind velocities close to a critical value of 10. In addition, it was sound that the vortex shedding process remains the main excitation mechanism in cross-wind direction even in case of tall buildings with coupled translational-torsional motion and with eccentricity.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• 한국군사과학기술학회지
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• 제12권4호
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.