• Advances in aircraft and spacecraft science
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• v.7 no.1
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• pp.53-78
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• 2020

Automatic trajectory planning is an important task that will have to be performed by truly autonomous vehicles. The main method proposed, for unmanned airplanes to do this, consists in concatenating elementary segments of trajectories such as rectilinear, circular and helical segments. It is argued here that because these cannot be expected to all be flyable at a same constant speed, it is necessary to consider segments on which the airplane accelerates or decelerates. In order to preserve the planning advantages that result from having the speed constant, it is proposed to do all speed changes at maximum deceleration or acceleration, so that they are as brief as possible. The constraints on the load factor, the lift and the power required for the motion are derived. The equation of motion for such accelerated motions is solved numerically. New results are obtained concerning the value of the angle and the speed for which the longest distance and the longest duration glides happen, and then for which the steepest, the fastest and the most fuel economical climbs happen. The values obtained differ from those found in most airplane dynamics textbooks. Example of tables are produced that show how general speed changes can be effected efficiently; showing the time required for the changes, the horizontal distance traveled and the amount of fuel required. The results obtained apply to all internal combustion engine-propeller driven airplanes.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.58-66
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• 2005

Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the kinematic structure of the two feet. The human being adapts his own control algorithm to minimize the ill effect due to the collision with the environment. In order to operate a Humanoid robot like the human being, it is necessary to understand the physics of the impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion in playing soccer. At the instant of impact, the external impulse exerted on the ball by the foot is an important property. Initially, we introduce the complete external impulse model of the lower-extremity of the human body and analyze the external impulses for several kicking postures of the lower-extremity. Secondly, a trajectory-planning algorithm of a ball, in which the initial velocity and the launch angle of the ball are calculated for a desired trajectory of the ball, will be introduced. The aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation and experimentation to verify the effectiveness of the proposed analytical methodology.

• Advances in aircraft and spacecraft science
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• v.4 no.3
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• pp.237-267
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• 2017

Automatic trajectory re-planning is an integral part of unmanned aerial vehicle mission planning. In order to be able to perform this task, it is necessary to dispose of formulas or tables to assess the flyability of various typical flight segments. Notwithstanding their importance, there exist such data only for some particularly simple segments such as rectilinear and circular sub-trajectories. This article presents an analysis of a new, very efficient, way for an airplane to fly on an inclined circular trajectory. When it flies this way, the only thrust required is that which cancels the drag. It is shown that, then, much more inclined trajectories are possible than when they fly at constant speed. The corresponding equations of motion are solved exactly for the position, the speed, the load factor, the bank angle, the lift coefficient and the thrust and power required for the motion. The results obtained apply to both types of airplanes: those with internal combustion engines and propellers, and those with jet engines. Conditions on the trajectory parameters are derived, which guarantee its flyability according to the dynamical properties of a given airplane. An analytical procedure is described that ensures that all these conditions are satisfied, and which can serve for producing tables from which the trajectory flyability can be read. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and an F-16 jet airplane.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.489.2-489.2
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• 2014

The planar type flexible piezoelectric energy harvesters (PEH) based on PbZr0.52Ti0.48O3 (PZT) thin films on the flexible substrates are demonstrated to convert mechanical energy to electrical energy. The planar type energy harvesters have been realized, which have an electrode pair on the PZT thin films. The PZT thin films were deposited on double side polished sapphire substrates using conventional RF-magnetron sputtering. The PZT thin films on the sapphire substrates were transferred by PDMS stamp with laser lift-off (LLO) process. KrF excimer laser (wavelength: 248nm) were used for the LLO process. The PDMS stamp was attached to the top of the PZT thin films and the excimer laser induced onto back side of the sapphire substrate to detach the thin films. The detached thin films on the PDMS stamp transferred to adhesive layer coated on the flexible polyimide substrate. Structural properties of the PZT thin films were characterized using X-ray diffraction (XRD) and scanning electron microscopy (SEM). To measure piezoelectric power generation characteristics, Au/Cr inter digital electrode (IDE) was formed on the PZT thin films using the e-beam evaporation. The ferroelectric and piezoelectric properties were measured by a ferroelectric test system (Precision Premier-II) and piezoelectric force microscopy (PFM), respectively. The output signals of the flexible PEHs were evaluated by electrometer (6517A, Keithley). In the result, the transferred PZT thin films showed the ferroelectric and piezoelectric characteristics without electrical degradation and the fabricated flexible PEHs generated an AC-type output power electrical energy during periodically bending and releasing motion. We expect that the flexible PEHs based on laser transferred PZT thin film is able to be applied on self-powered electronic devices in wireless sensor networks technologies. Also, it has a lot of potential for high performance flexible piezoelectric energy harvester.

• The Journal of the Korea Contents Association
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• v.15 no.5
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• pp.18-26
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• 2015

In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.

• Advances in aircraft and spacecraft science
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• v.5 no.1
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• pp.73-105
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• 2018

A particular type of constant speed helical trajectory, with variable ascension rate, is proposed. Such trajectories are candidates of choice as motion primitives in automatic airplane trajectory planning; they can also be used by airplanes taking off or landing in limited space. The equations of motion for airplanes flying on such trajectories are exactly solvable. Their solution is presented, together with an analysis of the restrictions imposed on the geometrical parameters of the helical paths by the dynamical abilities of an airplane. The physical quantities taken into account are the airplane load factor, its lift coefficient, and the thrust its engines can produce. Formulas are provided for determining all the parameters of trajectories that would be flyable by a particular airplane, the final altitude reached, and the duration of the trajectory. It is shown how to construct speed interval tables, which would appreciably reduce the calculations to be done on board the airplane. Trajectories are characterized by their angle of inclination, their radius, and the rate of change of their inclination. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and the F-16 Fighting Falcon.

• Advances in aircraft and spacecraft science
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• v.3 no.4
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• pp.399-425
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• 2016

The dynamical requirements are obtained for airplanes to travel on inclined circular trajectories. Formulas are provided for determining the load factor, the bank angle, the lift coefficient and the thrust or power required for the motion. The dynamical properties of the airplane are taken into account, for both, airplanes with internal combustion engines and propellers, and airplanes with jet engines. A procedure is presented for the construction of tables from which the flyability of trajectories at a given angle of inclination can be read, together with the corresponding minimum and maximum radii allowed. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and a F-16 jet airplane.

• Journal of the Korean Society for Precision Engineering
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• v.7 no.3
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• pp.56-65
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• 1990

This paper describes a computer aided tool design system of deep drawing of cylindrical cups with or without flange by press. An approach to system is based on knowledge based system. The computer program has written in basic language with personal computer Knowledges for tool design are formulated from the plasticity theory, handbooks, experimental results and empirical knowhow of the field experts. The capabilities of developed system include 1) the selection of tool structure (with or without blank holder, single or double action, lift up or draw off type), 2) the design of tool elements(punch/holder, die/holder etc.) for the previous selected tool structure by the process planning output and the production quantity. The final output is generated in graphics form for design sheet.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.11
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• pp.78-83
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• 2010

Since a tower crane is too high for a worker to ascend and by the wind in the high altitude, the possibility of a safety accident is very high, a lift assist is used. In this study, the hydraulic fall prevention device using the pressure generation device by Seok, et al. was developed. For this, the effects on the fall prevention performances of factors such as gear clearance, oil viscosity, rotative velocity and so on were evaluated by the analysis of fluid flow using FEM and the prototype was producted and a function test was performed.