• Title/Summary/Keyword: Dynamic Link

검색결과 710건 처리시간 0.022초

로봇 매니풀레이터의 치수 최적화 (Study on the dimension optimization of the robot manipulator with three links)

  • 조선휘;문홍기
    • 대한기계학회논문집
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    • 제12권4호
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    • pp.730-737
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    • 1988
  • 본 연구에서는 로봇 매니퓰레이터의 각 조인트 토오크를 구하고, 이를 최소자 승법에 의하여 각 링크의 길이를 최적화하였다. 이때 각 링크의 단면은 일정하며 따 라서 각 링크의 무게중심은 링크의 중앙에 있다고 보았다. 작업은 직선운동(C.P)으 로 하였고 이때의 소고 선도를 편의상 삼각형으로 하였다. 작업시간은 속도선도와 작업경로가 주어지면 구하여지고, 이를 등간격으로 나누어 매 순간마다의 조인트 토오 크를 구하였다. 이때 매 순간 기구학적 해석으로 조인트의 변위, 속도, 가속도를 구 하고 Newton-Euler 운동방정식을 이용하여 각 조인트 토오크를 구하였다.

5절 링크구조를 갖는 2자유도 매니퓰레이터의 작업지향설계 (Task Based Design of a Two-DOF Manipulator with Five-Bar Link Mechanism)

  • 김진영;조형석
    • 제어로봇시스템학회논문지
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    • 제6권1호
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    • pp.66-72
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    • 2000
  • As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

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Fault Diagnosis and Fault-Tolerant Control of DC-link Voltage Sensor for Two-stage Three-Phase Grid-Connected PV Inverters

  • Kim, Gwang-Seob;Lee, Kyo-Beum;Lee, Dong-Choon;Kim, Jang-Mok
    • Journal of Electrical Engineering and Technology
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    • 제8권4호
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    • pp.752-759
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    • 2013
  • This paper proposes a method for fault diagnosis and fault-tolerant control of DC-link voltage sensor for two-stage three-phase grid-connected PV inverters. Generally, the front-end DC-DC boost converter tracks the maximum power point (MPP) of PV array and the rear-end DC-AC inverter is used to generate a sinusoidal output current and keep the DC-link voltage constant. In this system, a sensor is essential for power conversion. A sensor fault is detected when there is an error between the sensed and estimated values, which are obtained from a DC-link voltage sensorless algorithm. Fault-tolerant control is achieved by using the estimated values. A deadbeat current controller is used to meet the dynamic characteristic of the proposed algorithm. The proposed algorithm is validated by simulation and experiment results.

무효전력 보상 용량 증대 및 DC 링크 전압 저감을 위한 SVC 결합형 UPQC (SVC coupled UPQC for reactive power compensation capacity increase and DC link voltage reduction)

  • 표수한;박장현;오정식;박태식
    • 전기전자학회논문지
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    • 제23권1호
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    • pp.99-106
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    • 2019
  • 본 논문에서는 UPQC 시스템과 SVC를 결합한 새로운 형태의 보상장치를 제안하고자 한다. 기존의 UPQC는 직렬형 인버터, 병렬형 인버터, DC 링크로 구성되어 있어있으며 우수한 전력품질 보상 성능을 보이지만 높은 인버터 정격을 요구한다. 제안된 방식은 직렬형 인버터, 병렬형 인버터와 DC 링크 그리고 병렬형 인버터의 출력단에 결합된 SVC로 구성되어 있으며, 기존 UPQC에 비해 넓은 무효전력 보상 범위와 낮은 DC 링크 전압의 장점을 가지고 있다. 또한, SVC가 결합된 새로운 UPQC의 구성은 Matlab 시뮬레이션을 통해 성능을 검증하였다.

Predicting Tree Felling Direction Using Path Distance Back Link in Geographic Information Systems (GIS)

  • Rhyma Purnamasayangsukasih Parman;Mohd Hasmadi, Ismail;Norizah Kamarudin;Nur Faziera Yaakub
    • Journal of Forest and Environmental Science
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    • 제39권4호
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    • pp.203-212
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    • 2023
  • Directional felling is a felling method practised by the Forestry Department in Peninsular Malaysia as prescribed in Field Work Manual (1997) for Selective Management Systems (SMS) in forest harvesting. Determining the direction of tree felling in Peninsular Malaysia is conducted during the pre-felling inventory 1 to 2 years before the felling operation. This study aimed to predict and analyze the direction of tree felling using the vector-based path distance back link method in Geographic Information Systems (GIS) and compare it with the felling direction observed on the ground. The study area is at Balah Forest Reserve, Kelantan, Peninsular Malaysia. A Path Distance Back Link (spatial analyst) function in ArcGIS Pro 3.0 was used in predicting tree felling direction. Meanwhile, a binary classification was used to compare the felling direction estimated using GIS and the tree felling direction observed on the ground. Results revealed that 61.3% of 31 trees predicted using the vector-based projection method were similar to the felling direction observed on the ground. It is important to note that dynamic changes of natural constraints might occur in the middle of tree felling operation, such as weather problems, wind speed, and unpredicted tree falling direction.

시뮬레이션 부하기법을 이용한 경로기반 동적통행배정모형의 개발 (Path-based Dynamic User Equilibrium Assignment Model using Simulation Loading Method)

  • 김현명;임용택;백승걸
    • 대한교통학회지
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    • 제19권3호
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    • pp.101-113
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    • 2001
  • 지난 20여년간 연구자들이 가장 주목한 분야 중 하나가 동적 통행배정모형(Dynamic Traffic Assignment model) 분야다. 그러나 현재까지 발표된 많은 모형들은 모형의 안정적인 수렴성과 동적 통행배정모형이 갖는 많은 제약식들을 동시에 만족시키기에는 미흡한 상태였다. 이는 동적모형이 실시간 적용되기 위해서는 이용자의 경로선택문제 뿐만 아니라 각 링크의 대기행렬 길이, 통행시간, 유입·유출 교통량의 동적 변화가 교통류이론에 부합하도록 설계되어야 하기 때문이다. 이런 측면에서 기존에 주로 사용되던 링크기반(link-based)의 통행배정 알고리즘은 위와 같은 동적 특성들을 모두 만족시키기에는 한계가 있다. 링크기반모형의 경우, 각 링크에 대해 여러 제약식 (flow Propagation, FIFO constraint 등)들을 개별적으로 만족시켜야 하는데, 실제 이러한 작업은 모형을 매우 복잡하게 만들뿐만 아니라 실제 현실상의 교통류 특성을 비현실적으로 표현하는 결과를 낳기 때문이다. 본 연구에서는 이러한 문제를 극복하기 위하여 시뮬레이션을 이용한 경로기반(Path-based) 동적 통행배정모형을 제시하고자 한다. 차량의 흐름을 좀 더 현실적으로 표현하기 위하여 개별 링크의 교통류상태를 point queue 이론으로 설명하였다. Point queue 이론은 각 링크 유출부에서의 유출교통량 및 대기시간을 전통적인 대기행렬 이론에 근거해 모형화하는 것으로 본 연구에서 실험한 결과 각 링크의 대기행렬 변화추이를 묘사하는데는 합리적인 것으로 분석되었다. 또한, 시간 종속적 기종점 교통량을 교통망에 부하하기 위해 Simulation Loading Aalgorithm(SLA)을 개발하였다. SLA를 point queue 이론과 결합할 경우 별다른 명시적 제약없이도 앞에서 언급한 제 약식들을 만족시킬 수 있으며, 동적 통행배정모형이 갖추어야 할 두 가지 필요조건 즉 수렴성과 현실적인 교통류의 동적 변화를 묘사하는 것으로 판단되었다.

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Knowledge-driven Dynamic Capability and Organizational Alignment: A Revelatory Historical Case

  • Kim, Gyeung-Min
    • Asia pacific journal of information systems
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    • 제20권1호
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    • pp.33-56
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    • 2010
  • The current business environment has been characterized as less munificent, highly uncertain and constantly evolving. In this environment, the company with dynamic capability is reported to be more successful than others in building competitive advantage. Dynamic capability focuses on the link between a dynamically changing environment, strategic agility, architectural reconfiguration, and value creation. Being characterized to be flexible and adaptive to market circumstance changes, an organization with dynamic capability is described to have high resource fluidity, which represents business process, resource allocation, human resource management and incentives that make business transformation faster and easier. Successful redeployment of the resources for dynamic adaptation requires organizational forms and reward systems to be well aligned with firm's technological infrastructures and business process. The alignment is considered to be an executive level commitment. Building dynamic capability is knowledge driven; relying on new knowledge to reconfigure firm's resources. Past studies established the link between the effective execution of a knowledge-focused strategy and relevant setting of architectural elements such as human resources, structure, process and information systems. They do not, however, describe in detail the underlying processes by which architectural elements are adjusted in coordinated manners to build knowledge-driven dynamic capability. In fact, understandings of these processes are one of the top issues in IT management. This study analyzed how a Korean corporation with a knowledge-focused strategy aligned its architectural elements to develop the dynamic capability and thus create value in the dynamically changing markets. When the Korean economy was in crisis, the company implemented a knowledge-focused strategy, restructured the organization's architecture by which human and knowledge resources are identified, structured, integrated and coordinated to identify and seize market opportunity. Specifically, the following architectural elements were reconfigured: human resource, decision rights, reward and evaluation systems, process, and IT infrastructure. As indicated by sales growth, the reconfiguration helped the company create value under an extremely turbulent environment. According to Ancona et al. (2001), depending on the types of lenses the organization uses, different types of architecture will emerge. For example, if an organization uses political lenses focusing on power, influence, and conflict. the architecture that leverage power and negotiate across multiple interest groups would emerge. Similarly, if an organization uses economic lenses focusing on the rational behavior of organizational actors making choices based on the costs and benefits of action, organizational architecture should be designed to motivate and provide incentives for the actors (Smith, 2001). Compared to this view, information processing perspectives consider architecture to be designed to maximize the capacity of information processing by the actors. Using knowledge lenses, the company studied in this research established architectural elements in a manner that allows the firm to effectively structure knowledge resources to form dynamic capability. This study is revelatory single case with a historic perspective. As a result of this study, a set of propositions and a framework are derived, which can be used for architectural alignment.

동적 네트워크 로딩 방법 및 적용에 관한 연구 (Dynamic Network Loading Method and Its Application)

  • 한상진
    • 대한교통학회지
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    • 제20권1호
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    • pp.101-110
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    • 2002
  • 본 연구는 통행배분 모형과 네트워크 로딩의 일반적인 원리 및 그 관계를 규명하고. 시간을 고려한 네트워크 로딩방법 즉, 동적네트워크 로딩 방법을 소개한다. 우선 본 연구에서는, 동적 네트워크 로딩을 올바로 구현하기 위해 인과성 (causality), FIFO(First-In-First-Out), 교통량전파(flow propagation), 교통류보존(flow conservation) 등의 조건이 만족되어야 함을 제기한다. 그리고, 구체적인 동적 네트워크 로딩 방법을 알고리즘 형식으로 설명하였으며, 이후 링크 비용함수로써 결정적 대기행렬모형을 도입하여 가상 네트워크 속에서 동적 네트워크 로딩이 어떻게 이루어지는지를 수치적으로 보여준다.

6 자유도 HexaSlide 형 병렬기구의 선형화된 운동방정식 유도 (Derivation of Linearized Dynamic Equations of Motion for HexaSlide Type Parallel Manipulators)

  • 김종필;류제하
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2000년도 춘계학술대회논문집
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    • pp.743-750
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    • 2000
  • This paper presents an equivalent linearization method and application to the equations of motion of a 6 degree-of-freedom PRRS HexaSlide type parallel manipulators which are characterized as the architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. Since dynamic equations of parallel manipulators are complicated and highly nonlinear, control bandwidth, adjustable control gain as well as vibration characteristics cannot be easily found. The proposed equivalent linearization method can be applied over specified workspace as well as on a path of mobile platform. Through an equivalent linearization method, one can easily get a simple linear dynamic model. This linearized dynamic model may be utilized in a simplified computed torque control strategy.

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차원 저감화기법을 이용한 불안정 링크구조물의 안정경로 탐색 (Searching for the Steady State of Unstable Link Structures by using Reduced Dimension Technique)

  • 김재열
    • 한국공간구조학회논문집
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    • 제4권1호
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    • pp.39-48
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    • 2004
  • Generally, a structural system with large inextensional deformations, or in other words, non-strained deformation is called as 'Unstable Structure', Truss-linked structures, cable structures, membrane structures and movable structures as foldable space structures etc, are included in this category. In this paper, a dynamic analysis method for unstable structural systems is presented. Governing equations for dynamic analysis of unstable truss structures with inextensional displacements are derived. Because of singularity of inverse matrixin in practical analysis of unstable structure, the generalized inverse matrix is Introduced to resolve the singular problem. Also, the RREF technique is used to get the inextensional displacement mode. Two unstable truss structures are analyzed by using presented method. Damping is not considered. From the given results, it is known that proposed method is useful to figure out the dynamic behavior of unstable truss structures.

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