• Journal of Korea Society of Industrial Information Systems
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• v.24 no.5
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• pp.121-127
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• 2019

This paper proposes an operator-centric velocity generation and control algorithm for differential-drive mobile robots, which are widely used in many industrial applications. Most of the previous works use a robot centric velocity generation and control for the operators to control the differential-drive mobile robots, which makes the robot control difficult for the operators. Such robot-centric control can cause the increase of accidents and the decrease of work efficiency. The experimental results with a real differential-drive mobile robot testbed demonstrate the efficiency of operator-centric mobile robot control.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.587-590
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• 2003

In this paper, the control of the differential drive wheeled mobile robot (DDWMR) is studied. Because the DDWMR have non-holonomic constraints, it cannot be stabilized by smooth feedback. The T-S fuzzy model for the DDWMR is presented and a control algorithm Is developed by well known PID control and LMI based regional pole-placement.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.5
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• pp.899-909
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• 1992

An iterative solution technique is presented to analyze the dynamic systems of rigid bodies subjected to kinematic constraints. Lagrange multipliers associated with the constraints are iteratively computed by monotonically reducing an appropriately defined constraint error vector, and the resulting equation of motion is solved by a well-established ODE technique. Constraints on the velocity and acceleration as well as the position are made to be satisfied at joints at each time step. Time integration is efficiently performed because decomposition or orthonormalization of the large matrix is not required at all. An acceleration technique is suggested for the faster convergence of the iterative scheme.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.86-93
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• 2017

The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of $R^2$ into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as "free-flying object". In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.

• Advances in nano research
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• v.10 no.1
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• pp.25-42
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• 2021

In this article, the vibration behavior of embedded Functionally Graded Nanoplate (FGNP) employing nonlocal Kirchhoff's plate theory has been investigated under hygrothermal environment. The FGNP is considered to be supported by Winkler-Pasternak foundation. The Eringen's differential theory is used for size effect on the vibration of the FGNP. Rayleigh-Ritz method with orthogonal polynomials are employed for the governing equations and edge constraints. The advantage of this method is that it overcomes all the drawbacks of edge constraints and can easily handle any combinations of mixed edge constraints. The coefficients viz. moisture expansion, thermal expansion and elastic coefficients are considered to be transversely graded across the FGNP. The similarity of the calculated natural frequencies is examined with the previous research, and a good concurrency is seen. The objective of this article is to analyze the parameters' effect on the nondimensionalized frequency of embedded FGNP under hygrothermal environment subjected to all possible edge constraints. For this, uniform and linear rise of temperature and moisture concentration are considered. The study highlights that the nonlocal effect is pronounced for higher modes. Moreover, the effect of the Pasternak modulus is seen to be prominent compared to the Winkler modulus on non dimensionalized frequencies of FGNP.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.848-849
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• 2007

This paper presents an efficient approach for solving the economic dispatch (ED) problems with valve-point effects using differential evolution (DE). A DE, one of the evolutionary algorithms (EAs), is a novel optimization method capable of handling nonlinear, non-differentiable, and nonconvex functions. And an efficient constraints treatment method (CTM) is applied to handle the equality and inequality constraints. The resultant DE-CTM algorithm is very effective in solving the ED problems with nonconvex cost functions. To verify the superiority of the proposed method, a sample ED problem with valve-point effects is tested and its results are compared with those of previous works. The simulation results clearly show that the proposed DE-CTM algorithm outperforms other state-of-the-art algorithms in solving ED problems with valve-point effects

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.8
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• pp.47-53
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• 2014

This paper presents an Differential Search(DS) Algorithm for solving the economic load dispatch(ELD) problems with Valve-Point loading constraints. DS algorithm simulates the Brownian-like random-walk movement used by an organism to migrate. Numerical results on a test system consisting of 13 units show that the proposed approach is faster, more robust and powerful than conventional algorithms. Case studies show the simulation results are better than Lagrange method, the Hopfield neural networks and GA.

• Magazine of the Korean Society of Agricultural Engineers
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• v.34 no.1
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• pp.57-65
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• 1992

The main purpose of this paper is to present both the natural frequencies and mode shapes of tapered beams under tensile axial force. The differential equation governing planar free vibration for tapered beams under tensile axial force is derived as nondimensional form. The three kinds of cross sectional shape are considered in differential equation. The Runge-Kutta method and Determinant Search method are used to perform the integration of the differential equation and to determine the natural frequencies, respectively. The hinged-hinged, hinged-clamped, clamped-clamped and constraints are applied in numerical examples. The lowest four nondimensional natural frequencies are reported as the function of nondimensional tensile axial force. The fundamental natural frequencies are presented when section ratios and nondimensional axial forces are varied. The effects of cross sectional shapes are reported and some typical mode shapes are also presented.