• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.498-505
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• 2002

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1989.10a
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• pp.45-50
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• 1989

The above theorm states that much larger classes of differential games have an equilibrium. The most severe assumption is the second one. It requires that state dynamic equations be linear on his own control variables. But, the dynamic programming approach applied in the above is hardly implementable for the purpose of computation. It is very difficult to solve (SP$_{it}$) directly. Notice, however, the problem can be transformed into a Hamiltonian maximization problem which is easy to solve if initial conditions are given. In this way, it is possible to design a solution algorithm to problems with nonlinear constraints. The above two theorems probide a basis for such an algorithm.m.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.277-285
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• 2020

A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.

• Journal of KSNVE
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• v.7 no.5
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• pp.773-780
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• 1997

Using Generalized Inverse Method presented by Udwadia and Kalaba in 1992, we can obtain equations to exactly describe the motion of constrained systems. When the differential equations are numerically integrated by any numerical integration scheme, the numerical results are generally found to veer away from satisfying constraint equations. Thus, this paper deals with the numerical integration of the differential equations describing constrained systems. Based on Baumgarte method, we propose numerical methods for reducing the errors in the satisfaction of the constraints.

• The Pure and Applied Mathematics
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• v.3 no.1
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• pp.83-94
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• 1996

Classical mechanics begins with some variants of Newton's laws. Lagrangian mechanics describes motion of a mechanical system in the configuration space which is a differential manifold defined by holonomic constraints. For a conservative system, the equations of motion are derived from the Lagrangian function on Hamilton's variational principle as a system of the second order differential equations. Thus, for conservative systems, Newtonian mechanics is a particular case of Lagrangian mechanics.(omitted)

• KSCE Journal of Civil and Environmental Engineering Research
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• v.4 no.3
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• pp.27-42
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• 1984

The complexity and expensiveness of water resources projects have made optimum operation and design by computer-based techniques of increasing interest in recent years. Water resources problems in real world need many decisions under numerous constraints. In addition there are nonlinearities in the state and return function. This mathematical and technical troublesome must be overcome so that the optimum operation polices are determined. Then traditional dynamic optimization method encountered two major-cruxes: variable discretization and appearance of constraints. Even several recent methods which based on the Differential Dynamic Programming(DDP) have some difficulties in handling of constraints. This paper has presented New DDP which is applicable to multi-reservoir control. It is intended that the method suggested here is superior to abailable alternatives. This belief is supported by analysis and experiments(New DDT does not suffer course of dimensionality and requires no discretization and is able to handle easily all constraints nonlinearity).

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.6
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• pp.638-648
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• 1990

An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that 1) linear combination of the orthogonal components should be null 2) linear combination of the tangential components should be the differential length of the desired trajectory, 3) differential joint motion limit is not violated, and 4) weighted sum of the square of each differential joint motion is minimized. Here the weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.828-833
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• 2004

The performance of a mixed $H_{\infty}/H_2$ design with pole placement constraints based on robust vibration control for a piezo/beam system is investigated. The governing equation of motion for the piezo/beam system is derived by Hamilton's principle. The assumed mode method is used to discretize the governing equation into a set of ordinary differential equation. A robust controller is designed by $H_{\infty}/H_2$ feedback control law that satisfies additional constraints on the closed-loop pole location in the face of model uncertainties, which are derived for a general class of convex regions of the complex plane. These constraints are expressed in terms of linear matrix inequalities (LMIs) approach for the multiobjective synthesis. The validity and applicability of this approach for vibration suppressions of SMART structural systems are discussed by damping out the multiple vibrational modes of the piezo/beam system.

• ETRI Journal
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• v.23 no.4
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• pp.158-167
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• 2001

We examine the diffusion layers of some block ciphers referred to as substitution-permutation networks. We investigate the practical and provable security of these diffusion layers against differential and linear cryptanalysis. First, in terms of practical security, we show that the minimum number of differentially active S-boxes and that of linearly active S-boxes are generally not identical and propose some special conditions in which those are identical. We also study the optimal diffusion effect for some diffusion layers according to their constraints. Second, we obtain the results that the consecutive two rounds of SPN structure provide provable security against differential and linear cryptanalysis, i.e., we prove that the probability of each differential (resp. linear hull) of the consecutive two rounds of SPN structure with a maximal diffusion layer is bounded by $p^n(resp.q^n)$ and that of each differential (resp. linear hull) of the SDS function with a semi-maximal diffusion layer is bounded by $p^{n-1}(resp. q^{n-1})$, where p and q are maximum differential and linear probabilities of the substitution layer, respectively.