• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1190-1195
• /
• 2003

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.3 no.4
• /
• pp.472-480
• /
• 2014

The In solar power system, the height and azimuth of the sun are important parameters which control generated power magnitude. The tracking method that controls the daily generation magnitude according to latitude and longitude using the two axles is often used in the existing sunlight tracking system today. In this two-axle PV track control system, the self-load is concentrated on one FRAME. It is influenced of the regular load, snow load and the wind load, etc. It is difficult to set up the system in the conventional building. This research is a development about the small-scale economy track device of independent load-dispersing solar generation system. The position tracking algorithm is through new coordinates transformation calculating the height and azimuth of the sun.

• Bulletin of the Korean Chemical Society
• /
• v.25 no.2
• /
• pp.285-288
• /
• 2004

A canonical transformation changes variables such as coordinates and momenta to new variables preserving either the Poisson bracket or the commutation relations depending on whether the problem is classical or quantal respectively. Classically canonical transformations are well established as a powerful tool for solving differential equations. Quantum canonical transformations have been defined and used relatively recently because of the non-commutativeness of the quantum variables. Three elementary canonical transformations and their composite transformations have quantum implementations. Quantum canonical transformations have been mostly used in time-independent Schrodinger equations and a harmonic oscillator with time-dependent angular frequency is probably the only time-dependent problem solved by these transformations. In this work, we apply quantum canonical transformations to a harmonic oscillator in which both angular frequency and equilibrium position are time-dependent.

• Journal of Power System Engineering
• /
• v.4 no.2
• /
• pp.65-70
• /
• 2000

The shimmy phenomenon, or the radial vibration of steering wheel, happens frequently at a high speed, complicated with suspension system, steering system, vehicle body, engine, transmission and tire. In this study, the suspension system and steering system are modeled by the reference of vehicle body design coordinates(T.L.H), the coordinate system usually used by passenger car maker. In addition, the theoretical results from numerical method have been investigated and compared with the experimental ones by the correlating analysis between the tire and sub-system. The steering and suspension system modeled for the numerical analysis are both independent type. This study developed an analysis program which could forecast the shimmy level in advance by the variation of properties in each system and the change in design of new model.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.35 no.5
• /
• pp.177-184
• /
• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1996.10a
• /
• pp.195-201
• /
• 1996

This paper is mainly forcused on the application of modal analysis In analyze the geometrically non-linear buckling behaviors of large span spatial structures, and the evaluation of each eigen mode affected post-buckling behaviors and buckling loads. Modal analysis is applied . to derivation of the system matrices transforming actual displacement space into generalized coordinates space represented by coefficients multiplied in the linear combination of eigen modes which are independent and orthogonal each other. By using modal analysis method, it will be expected to save the calculating time by computer extremely. For example, we can obtain the satisfactorily good results by using about 7% of total eigen modes only in case of single layer latticed dome. And we can decrease the possibility of divergence on the bifurcation point in the calculation of post-buckling path. Arc-length method and Newton-Raphson iteration method are used to calculate the nonlinear equilibrium path.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2012.04a
• /
• pp.935-939
• /
• 2012

3D vibration measurement is achieved using one laser scanning vibrometer(LSV) and Laser scanner(LS) by moving the LSV to three arbitrarily locations from the principle that vibration analysis based on the frequency domain is independent of the vibration signal based on time domain. The proposed system has the same effect as using three sets of LSVs. It has an advantage of reducing equipment costs. Analytical approach of obtaining in-plane and out-of-plane vibration of surface is introduced using geometrical relations between three LSV coordinates and vibration measured at three different locations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.135-139
• /
• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.834-839
• /
• 2003

In the present study, the performance characteristics and the number of stall cells during rotating stall of a centrifugal air compressor were experimentally investigated. If the flow coefficient is lower than 0.150, the static pressure at impeller inlet is higher than that at inlet duct And reverse flow is observed under these flow coefficient region. Maximum adiabatic efficiency is obtained for the tested compressor around flow coefficient 0.128, and it is independent of compressor rotating speed. The number of stall cells and their rotational speeds are distinctive features of the rotating stall phenomenon. The present study is mainly concerned with the number of stall cells and their rotational speeds. The interpretation method of visualization is based on the pressure distribution in the circumference pressure fields while plotting the pressure and its harmonics variations in time in polar coordinates.

• Journal of Fashion Business
• /
• v.12 no.6
• /
• pp.138-151
• /
• 2008

This study aims at providing comprehensive data which would be helpful to establish a web shopping mall by analyzing the structure of web fashion star shops which have recently emerged as a result of advances in digital technology and communication. For the purpose of analyzing VMD strategy used in web fashion star shop, we adopt both of the documental and empirical research methods, based on which we examine the concept of E-commerce and current business situation of web fashion star shop industry, and then analyze the main page, product category page and product detail page in a star shop featured by a male pop star within a web shopping mall. According to our analysis of the structure of web fashion star shop, in case of open market, a banner with star's image on it leads to star shop when people click on the link of the banner, and in case of independent mall, they show each star's unique style in the main page. Product category page is linked to each product detail page which presents items of various fashion coordinates, satisfying needs of consumers to follow star's trendy fashion sense.