• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.756-759
• /
• 1997

Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2008.04a
• /
• pp.410-415
• /
• 2008

This paper presents review on human comfort criteria in major codes and standards for tall buildings. In general, human comfort criteria of tall buildings have been used by magnitude of wind-induced acceleration response. Two different indexes in determination of the magnitude have been used: the peak value which occurs during a period of time and the rms value averaged over this same period. These distinctive acceleration indexes are discussed in detail and each criterion is reviewed and compared. The distinctions arisen because of the different wave forms, or acceleration signatures are addressed. It is described that which index of acceleration should be adopted in establishment of Korean human comfort criteria. In addition, some arguments from a technical standpoint that favor the use of each index are presented.

• Smart Structures and Systems
• /
• v.25 no.2
• /
• pp.255-264
• /
• 2020

This paper deals with a defect classification technique that considers the structural characteristics of a refrigerant compressor. First, the pressure pulsation of the refrigerant flowing in the suction pipe of a normal compressor was measured at the same time as the acceleration of the shell surface, and then the transfer function between the two signals was estimated. Next, the frequency-weighted acceleration signals of the defect classification target compressors were generated using the estimated transfer function. The estimation of the variance of the transfer function is presented to formulate the frequency-weighted acceleration signals. The estimated frequency-weighted accelerations were applied to defect classification using frequency-domain features. Experiments were performed using commercial compressors to verify the technique. The results confirmed that it is possible to perform an effective defect classification of the refrigerant compressor by the shell surface acceleration of the compressor. The proposed method could make it possible to improve the total inspection performance for compressors in a mass-production line.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.25 no.2
• /
• pp.103-112
• /
• 2011

This paper proposes a new fuzzy speed controller for the precise speed control of a permanent magnet synchronous motor(PMSM). The proposed control system needs the information of the angular acceleration instead of the load torque, so the third-order fuzzy acceleration observer estimates it. Moreover, the LMI conditions are derived for the existence of the fuzzy acceleration observer and fuzzy speed controller, and the gain matrices of the observer and controller are obtained. It is analytically proven that the proposed observer-based fuzzy speed regulator is exponentially stable. To evaluate the performance of the proposed control algorithm, experimental results as well as simulation results are provided under the conditions of motor parameter and load torque variations. Finally, it is clearly confirmed that the proposed control method can accurately control the speed of a PMSM.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.347-350
• /
• 2004

In this paper, the acceleration is studied for the rigid-plastic FEM of metal forming simulation. In the FEM, the direct iteration and Newton-Raphson iteration are applied to obtain the initial solution and accurate solution respectively. In general, the acceleration scheme for the direct iteration is not used. In this paper, an Aitken accelerator is applied to the direct iteration. In the modified Newton-Raphson iteration, the step length or the deceleration coefficient is used for the fast and robust convergence. The step length can be determined by using the accelerator. The numerical experiments have been performed for the comparisons. The faster convergence is obtained with the acceleration in the direct and Newton-Raphson iterations.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.6 s.177
• /
• pp.1363-1370
• /
• 2000

Dynamic stability of a flexible spinning disk with angular acceleration is considered. To avoid the coupling between the in-plane and out-of-plane displacements, the linearized strain-displacement relations are used in the Kirchhoff plate theory. The uncoupled governing equations are derived by using Hamilton's principle with considering the angular acceleration. Numerical tests show that existence of the angular acceleration makes a spinning disk dynamically unstable.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.6
• /
• pp.30-37
• /
• 2008

The ARS(Attitude Reference System) calculates an attitude of a vehicle using inertial angular rate sensors and acceleration sensors. The attitude error of ARS increases due to the integration of angular rate sensor output. To reduce the attitude error an acceleration of sensor is used similar to leveling method of INS(Inertial Navigation System). When an acceleration of vehicle is increased, it is difficult to calculate the attitude error using acceleration sensor output. In this paper the estimation method of acceleration due to the attitude error only is proposed. Two methods of the attitude calculation depending on vehicle dynamics and the integration method of these two methods are proposed. To verify its performance the monte carlo simulation is performed and shows that it bounds attitude error of ARS to reasonable level.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.36 no.6
• /
• pp.390-395
• /
• 1987

There is a variety not only of research topics but also of research techniques in electric power problems. It is well known that a significant increase in the rate of convergence can be obtained for the Gauss-Seidel method using the bus admittance matrix by applying acceleration factors determined empirically. The acceleration factor is calculated theoretically by using the bus voltage sensitivity (buses voltage interact each other) in this paper. It is observed that the proposed method using calculated acceleration factor gives better results than those of the method using calculated acceleration factor gives better results than those of the method using empirical one.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2008.05a
• /
• pp.1111-1115
• /
• 2008

The relative magnitudes of the individual terms of the momentum equation are analyzed and compared by the analytical methods in open channel flow. The temporal variations of each term(local acceleration term, convective acceleration term, pressure force term, gravity force term, and friction force term) are analyzed for the influence factors to runoff expressed by the parameters of the momentum equation, stream slopes and roughness coefficients. The magnitudes of each term vary with the channel characteristics, especially when the roughness coefficients are dominant or for the mild stream slopes the pressure term can not be negligible. As a result of the characteristics of momentum equation in open channel flow, the acceleration terms are very small compared with the other terms. The magnitudes of local acceleration and convective acceleration offsets each other. The peak time of each term except the gravity term coincides with inflection point of the hydrograph rising limb each other.

• International Journal of Advanced Culture Technology
• /
• v.5 no.2
• /
• pp.54-62
• /
• 2017

Currently, falling to industrial field workers is causing serious injuries. Therefore, many researchers are actively studying the fall by using acceleration sensor, gyro sensor, pressure sensor and image information.Also, as the spread of smartphones becomes common, techniques for determining the fall by using an acceleration sensor built in a smartphone are being studied. The proposed method has complexity due to fusion of various sensor data and it is still insufficient to develop practical application. Therefore, in this paper, we use acceleration sensor module built in smartphone to collect acceleration data, propose a simple falling algorithm based on accelerometer sensor data after normalization and preprocessing, and implement an Android based app.