• 로봇학회논문지
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• 제12권1호
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• pp.42-54
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• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

• 한국전산구조공학회논문집
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• 제30권3호
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• pp.255-263
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• 2017

본 논문에서는 합성단면을 갖는 구조물의 극한 거동 해석에서 요구하는 재료 및 기하학적 비선형 해석을 수행하기 위한 보 요소를 제시하였다. 제안된 요소는 기하학적 비선형성을 효과적으로 모사할 수 있는 co-rotational 정식화를 통해 도출되었으며, 다양한 합성단면의 저항성능을 재현할 수 있도록 화이버 단면법이 요소의 내력 및 강성을 산정하는데 활용되었다. 제안된 방법을 구현할 수 있도록 해석 프로그램이 개발되었으며, 호장법을 적용하여 최대내력 발생 이후의 연성거동뿐만 아니라 심한 비선형 응답(snap-through 또는 snapback)까지 추적해낼 수 있도록 하였다. 본 연구에서 제안된 요소 정식화와 해석 프로그램의 정확성을 검증을 위해 몇 가지 수치예제가 수행되었고, 해석결과는 제안된 요소의 정확성과 효율성을 보이기 위해 3차원 연속체 모델 및 기존 연구의 결과와 비교되었다. 추가로 합성단면을 갖는 골조 구조물에 대한 수치예제를 통해, 합성단면을 구성하는 재료의 탄성계수 비 및 강도 비에 따른 영향을 분석하였다. 해석결과는 외층 재료의 탄성계수가 증가됨에 따라 준취성 거동이 나타났으며, 외층 재료의 항복강도가 높을수록 선형 거동하는 기하적 비선형 응답과 유사한 응답을 보였다.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• 대한기계학회논문집A
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• 제22권2호
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• pp.372-379
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• 1998

A new 6 degrees-of-freedom micro stage, based on parallel mechanisms and actuated by using piezoelectric elements, has been developed for the application of micro positioning such as semiconductor manufacturing devices, high precision optical measurement systems, and high accurate machining. The micro stage structure consists of a base platform and an upper platform(stage). The base platform can effectively generates planar motion with yaw motion, while the stage can do vertical motion with roll and pitch motions with respect to the base platform. This separated structure has an advantage of less interference among actuators. The forward and inverse kinematics of the micro stage are discussed. Also, through linearization of kinematic equations about an operating point on the assumption that the configuration of the micro stage remains essentially constant throughout a workspace is performed. To maximize the workspace of the stage relative to fixed frame, an optimal design procedure of geometric parameter is shown. Hardware description and a prototype are presented. The prototype is about 150mm in height and its base platform is approximately 94mm in diameter. The workspace of the prototype is obtained by computer simulation. Kinematic calibration procedure of the micro stage and its results are presented.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회/대한산업공학회 2005년도 춘계공동학술대회 발표논문
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• pp.854-861
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• 2005

The functional behavior of a portable consumer electronic (PCE) product is nearly all expressed with human-machine interaction (HMI) tasks. Although physical prototyping and computer aided design (CAD) software can show the appearance of the product, they cannot properly reflect its functional behavior. In this paper, we propose a virtual prototyping (VP) system that incorporates virtual reality and HMI functional simulation in order to enables users to capture not only the realistic look of a PCE product but also its functional behavior. We obtain geometric part models of the product and their assembly and kinematics information with the help of CAD and reverse engineering tools, and visualize them with various display tools. We adopt state transition methodology to capture the HMI functional behavior of the product into a state transition chart, which is later used to construct a finite state machine (FSM) for the functional simulation of the product. The FSM plays an important role to control the transition between states of the product. The proposed VP system receives input events such as mouse clicks on buttons and switches of the virtual prototype model, and it reacts to the events based on the FSM by activating associated activities. The VP system provides the realistic visualization of the product and the vivid simulation of its functional behavior. It can easily allow users to perform functional evaluation and usability testing. Moreover, it can greatly reduce communication errors occurring in a typical product development process. A case study about VP of an MP3 player is given to show the usefulness of the proposed VP system.

• 천문학회보
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• 제41권2호
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• pp.57.3-58
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• 2016

A symbiotic star is a wide binary system consisting of a hot white dwarf and a mass losing giant, where the giant loses its material in the form of a slow stellar wind resulting in accretion onto the white dwarf through gravitational capture. Symbiotic stars are known to exhibit unique spectral features at 6825 and 7082, which are formed from O VI 1032 and 1038 through Raman scattering with atomic hydrogen. In this Monte Carlo study we investigate the flux ratio of 6825 and 7082 in a neutral region with a geometric shape of a slab, cylinder and sphere. By varying the amount of neutral hydrogen parametrized by the column density along a specified direction, we compute and compare the flux ratio of Raman scattered O VI 6825 and 7082. In the column density around 1020 cm-2, flux ratio changes in a complicated way, rapidly decreasing from the optically thin limit to unity the optically thick limit as the column density increases. It is also notable that when the neutral region is of a slab shape with the O VI source outside the slab, the optically thick limit is less than unity, implying a significant fraction of O VI photons escape through Rayleigh scattering near the boundary. We compare our high resolution CFHT data of HM Sge and AG Dra with the data simulated with finite cylinder models confirming that 'S' type symbiotic tend to be characterized by thicker HI region that 'D' type counterparts. It is expected that this study will be useful in interpretation of the clear disparity of Raman O VI 6825 and 7082 profiles, which will shed much light on the kinematics and the asymmetric distribution of O VI material around the hot white dwarf.

• Clinics in Shoulder and Elbow
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• 제18권3호
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• pp.152-158
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• 2015

Background: Acromioclavicular (AC) stability is maintained through a complex combination of soft-tissue restraints that include coracoclavicular (CC), AC ligament and overlying muscles. Among these structures, the role of the CC ligament has continued to be studied because of its importance on shoulder kinematics, especially after AC injury. This study was designed to determine the geometric change of conoid and trapezoid ligaments and resulting stresses on these ligaments according to various scapular motions. Methods: The scapuloclavicular (SC) complex was isolated from a fresh-frozen cadaver by removing all soft tissues except the AC and CC ligaments. The anatomically aligned SC complex was then scanned with a high-resolution computed tomography scanner into 0.6- mm slices. The Finite element model of the SC complex was obtained and used for calculating the stress on different parts of the CC ligaments with simulated movements of the scapula. Results: Average stress on the conoid ligament during anterior tilt, internal rotation, and scapular protraction was higher, whereas the stress on the trapezoid ligament was more prominent during posterior tilt, external rotation, and retraction. Conclusions: We conclude that CC ligament plays an integral role in regulating horizontal SC motion as well as complex motions indicated by increased stress over the ligament with an incremental scapular position change. The conoid ligament is the key structure restraining scapular protraction that might occur in high-grade AC dislocation. Hence in CC ligament reconstructions involving only single bundle, every attempt must be made to reconstruct conoid part of CC ligament as anatomically as possible.

• Steel and Composite Structures
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• 제34권4호
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• pp.511-524
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• 2020

In this research, a simple four-variable trigonometric integral shear deformation model is proposed for the static behavior of advanced functionally graded (AFG) ceramic-metal plates supported by a two-parameter elastic foundation and subjected to a nonlinear hygro-thermo-mechanical load. The elastic properties, including both the thermal expansion and moisture coefficients of the plate, are also supposed to be varied within thickness direction by following a power law distribution in terms of volume fractions of the components of the material. The interest of the current theory is seen in its kinematics that use only four independent unknowns, while first-order plate theory and other higher-order plate theories require at least five unknowns. The "in-plane displacement field" of the proposed theory utilizes cosine functions in terms of thickness coordinates to calculate out-of-plane shear deformations. The vertical displacement includes flexural and shear components. The elastic foundation is introduced in mathematical modeling as a two-parameter Winkler-Pasternak foundation. The virtual displacement principle is applied to obtain the basic equations and a Navier solution technique is used to determine an analytical solution. The numerical results predicted by the proposed formulation are compared with results already published in the literature to demonstrate the accuracy and efficiency of the proposed theory. The influences of "moisture concentration", temperature, stiffness of foundation, shear deformation, geometric ratios and volume fraction variation on the mechanical behavior of AFG plates are examined and discussed in detail.

• 한국기계가공학회지
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• 제20권3호
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• pp.92-99
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• 2021

An automatic transmission, which consists of several decks of planetary gear sets, provides multiple speed and torque ratios by actuating brakes and clutches (mechanical friction components) for connecting central members of the planetary gear sets. The gear set consists of the sun gear, the ring gear, and the carrier supporting multiple planet gears with pin shafts. In designing a new automatic transmission, there are many steps to design and analyze: gears, brakes and clutches, shafts, and other mechanical components. Among them, selecting thrust bearings that not only allow the relative rotation of the central members and other mechanical components but also support axial forces coming from them is important; doing so yields superior driving performance and better fuel efficiency. In selecting thrust bearings, the magnitude of axial forces on them is a critical factor that affects their bearing size and performance; its results are systematically related to the direction of the helical angle of each planetary gear set (a geometric design profile). This research presents the effects of the helical angle direction on the axial forces acting on thrust bearings in an automatic transmission consisting of planetary gear sets. A model transmission was built by analyzing kinematics and power flows and by designing planetary gear sets. The results of the axial forces on thrust bearings were analyzed for all combinations of helix angle directions of the planetary gear sets.

• 광물과 암석
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• 제36권1호
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• pp.55-72
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• 2023

이번 연구는 영덕단층 일원을 대상으로 실시된 상세 지표지질조사에서 수집된 다양한 구조요소들의 기하와 운동학적 자료 그리고 단층암의 대자율이방성 분석 자료를 바탕으로 영덕단층의 내부구조 그리고 기하와 운동학적 특성을 규명하고자 하였다. 영덕단층은 영덕군 강구면 오포리에서 울진군 매화면 길곡리와 기성면 방율리까지 연장되며, 4.6-5.0 km (평균 4.77 km)의 우수향 수평변위로 고원생대부터 중생대에 이르는 다양한 암종을 절단하거나 암상경계를 이룬다. 영덕단층은 4개의 기하학적 분절로 구분되며, 대부분 노두에서 남-북 내지 북북서 주향에 54° 이상 고각으로 동쪽으로 경사지고 있으나 북쪽으로 갈수록 서쪽으로 54°-82° 경사지는 노두가 증가한다. 영덕단층은 모암의 암종에 따라 0.3-15 m 범위의 다양한 폭을 가진 단층핵과 단층대 내부구조의 차이를 보이는데, 이는 모암의 연성도, 구성광물, 입자크기, 이방성과 같은 물성 차이에 기인하는 것으로 해석된다. 이번 연구에서 새롭게 도출한 고응력장 및 대자율이방성 분석 결과와 기존 연구 결과를 종합하면, 영덕단층은 (1) 백악기말~신생대초에 북서-남동 최대수평응력(σ_Hmax)과 북동-남서 최소수평응력(σ_Hmin) 하에서 좌수향 주향이동운동을 겪은 이후, (2) 신생대 고진기에 북동-남서 최대수평응력과 북서-남동 최소수평응력 하에서 우수향 주향이동운동을 겪었음을 지시한다. 이중 고진기에 발생한 우수향 주향이동운동에 의한 변형이 가장 우세하였으며 이후 지각변형은 미미하였던 것으로 해석된다.