• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1073-1078
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• 2012

This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.356-361
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• 2011

The flow characteristics of synthetic jet depending on rectangular and circular jet exit configuration are investigated using numerical computation with cross flow. In rectangular slot, synthetic jet generates the strong vortex, however, supply fewer momentum and effectiveness of flow control is reduced along flow direction. In circular slot, regular vortex is fanned from slot center to end and developed in flow direction. It affects the wider region than rectangular slot. The distribution of wall shear stress is considered in order to indicate the effectiveness of flow control device for flow separation delay. As a result, circular slot is a more suitable candidate for delaying flow separation.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.556-561
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• 2000

This paper deals with the control of an active bending actuator fur a catheter. The bending actuator with 40mm in length utilizes three zigzag SMA (shape memory alloy) springs which are equally located in the circumference between inner $({\phi}2.5 mm)$ and outer $({\phi}3.0mm)$ tube. It is purposed on realization of desired bending angle $(90^{\circ})$ and direction $(360^{\circ})$. It is also installed in front of the catheter and used to guide a path at extremely bent or branched blood vessel. The performance-analysis of the bending actuator are investigated fur the purpose of optimizing the control of the bending actuator. The analog joy stick is used to command a bending angle and direction for the fast and accurate response. According to the commands of the joy stick, tensile force of each SMA spring is computed and obtained by controlling the temperature of each SMA spring using PWM (pulse width modulation) of supplied electric power.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2341-2343
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• 2002

This paper describes a vision-based line recognition and control of driving direction for an AGV(autonomous guided vehicle). As navigation guide, black stripe attached on the corridor is used. Binary image of guide stripe captured by a CCD camera is used. For detect the guideline quickly and extractly, we use for variable thresholding algorithm. this low-cost line-tracking system is efficiently using pc-based real time vision processing. steering control is studied through controller with guide-line angle error. This method is tested via a typical agv with a single camera in laboratory environment.

• Journal of Magnetics
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• v.22 no.2
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• pp.333-343
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• 2017

A rotating magnetic field (RMF) ${\Phi}_1-{\Phi}_2$ model was developed in consideration of the skin effect. The rotating magnetic field's induced three-dimensional flow was simulated numerically, and the influence of the skin effect was investigated. The rotating magnetic field drives the rotating convection in the azimuthal direction, and a secondary convection appears in the radial-meridional direction. The results indicate that ignoring the skin effect results in a smaller azimuthal velocity component and larger radial and axial velocity components, and that the deviation becomes more obvious with the larger dimensionless shielding parameter K.

• Proceedings of the KIEE Conference
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• summer
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• pp.1343-1345
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• 2004

The inherent pulsating force generation makes the control of switched-reluctance motor quite complicate. So in this paper, an orthogonal scheme that can be applied to the control of LSRM will be presented. By using this scheme, the motor reluctance forces, which are magnetically decoupled and position dependent, can be projected onto sets of stationary axes that are aligned with the motor fixed secondary poles. Hence the electromagnetic forces can be controlled not only for driving the LSRM at its propulsive direction but also for alleviating the load at its normal direction. Simulation results will be provided to show the validity of the proposed scheme.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.134-142
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• 2012

Purpose: This study examined the effect on postural control during the stimulation of haptic touch with fingertip on the stable surface at quiet standing posture, squat flexion stage, 60 degrees squat stage and squat extension stage. Methods: The postural sway was measured on the force platform, while 30 subjects were squatting, under three different haptic touch conditions (No Touch [NT], Light Touch [LT], Heavy Touch [HT]), above the touch pad in front of their body midline. Three different haptic touch conditions were divided into 1) NT condition; squatting as right index fingers held above the touch pad, 2) LT condition (<1N); squatting as the touch pad was in contact with right index fingers pulp with a pressure not exceeding 1N and 3) HT condition; squatting as subjects were allowed to use the touch pad for mechanical support by transmitting onto it with as much force, choosing with their index fingers. Results: There was significant decrease in LT, rather than that of NT (p<0.01), and in HT, rather than that of LT (p<0.01), as the results of the distance and velocity of center of pressure (COP) in mediolateral direction at quiet standing position. In anteroposterior direction, the distance and velocity of COP in LT and HT showed significant decrease, when compared to that of the data of NT (p<0.01). There was no significant difference between the 3 conditions (NT, LT, and HT), with respect to the distance and velocity of COP in mediolateral direction, during dynamic balance (squat flexion stage, squat extension stage) (p>0.05). In anteroposterior direction, the results of the distance and velocity of COP in HT showed significant decrease when compared to that of the data of NT (p<0.05). Conclusion: Light touch, during the task, decreased the postural sway at static balance. The results suggest that haptic touch should be applied, appropriately, because it varies the effects according to different conditions.