• 한국정밀공학회지
• /
• 제16권3호통권96호
• /
• pp.136-144
• /
• 1999

This paper presents an in-process measurement system for shaft radius measurement during grinding process. This system does not require to stop the grinding process, which can enhance productivity and quality. In order to measure the radius, the system employs an eddy current sensor that can measure without any contact with the shaft. This type of sensor is very appropriate because it is insensitive to interference such as cutting fluid, coolant, contact pressure, and wear. For data analysis, the measurement system is modeled as a linearized discrete form where the states with noise are estimated by an extended Kalman filter. This system has been validated through simulations and experiments.

• 전기학회논문지
• /
• 제66권2호
• /
• pp.468-473
• /
• 2017

This paper presents an in-process measurement system for shaft radius measurement during grinding process. This system does not require to stop the grinding process, which can enhance productivity and quality. In order to measure the radius, the system employs an eddy current sensor that can measure without any contact with the shaft. This type of sensor is very appropriate because it is insensitive to interference such as cutting fluid, coolant, contact pressure, and wear. For data analysis, the measurement system is modeled as a linearized discrete form where the states with noise are estimated by an extended Kalman filter. This system has been validated through simulations and experiments.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1989년도 하계종합학술대회 논문집
• /
• pp.675-678
• /
• 1989

This paper proposes two types of the preview algorithms to predict the joint velocities and joint positions, and deals with a control approach using the preview algorithms for the precise trajectory control. Specifically, a predictor an the form of discrete time state equations is proposed based on the robot dynamics model linearized by the computed torque method. And another state predictor is proposed by the beat line fitting in the least square sense, where present joint velocities and positions and several past positions are employed. Then computer simulations are performed for the SCARA robot with two d.o.f. to show the validities of the proposed algothrithms.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 하계학술대회 논문집 D
• /
• pp.2537-2539
• /
• 2002

This paper presents an in-process measurement system for shaft radius measurement during grinding process. This system does not require to stop the grinding process, which can enhance productivity and quality. For data analysis, the measurement system is modeled as a linearized discrete form where the states with noise are estimated by an extended Kalman filter. This system has been validated through simulations and experiments.

• 한국통신학회논문지
• /
• 제14권5호
• /
• pp.486-502
• /
• 1989

본 논문에서는 로보트 매니퓰레이터의 정밀한 경로 제어를 위해서, 두가지 형태의 로보트 관절 각도 및 관절 속도의 예측 알고리즘을 제시하고, 이를 이용한 제어 방법을 기술하고자 한다. 구체적으로, 로보트 메니퓰레이터의 동특성을 Computed torque방법으로 선형화 시킨후에, 선형화된 모델을 근거로 한 이산시간 상태변수 예측기를 제안한다. 또한, 현재의 관절 위치 및 관절 속도와 과거 및 개의 위치 및 속도 등을 최소 자승법의 의미로 가장 잘 부합시키는 직선을 찾고, 그 직선으로부터 상태를 예측하는 예측기를 제안한다. 이 후에 이들 두 예측기로부터 정보를 이용하여, 예측된 궤적과 원하는 궤적 사이의오차에 적절한 이득을 곱해서 입력 토오크에 보정되어 사용됨으로써 궤적 오차를 줄일 수 있음을, 2자유도를 갖는 SCARA 로보트를 대상으로 컴퓨터 모의 실험을 통하여 보이고자 한다.

• Coupled systems mechanics
• /
• 제11권2호
• /
• pp.167-198
• /
• 2022

In this paper we deal with classical instability problems of heterogeneous Euler beam under conservative loading. It is chosen as the model problem to systematically present several possible solution methods from simplest deterministic to more complex stochastic approach, both of which that can handle more complex engineering problems. We first present classical analytic solution along with rigorous definition of the classical Euler buckling problem starting from homogeneous beam with either simplified linearized theory or the most general geometrically exact beam theory. We then present the numerical solution to this problem by using reduced model constructed by discrete approximation based upon the weak form of the instability problem featuring von Karman (virtual) strain combined with the finite element method. We explain how such numerical approach can easily be adapted to solving instability problems much more complex than classical Euler's beam and in particular for heterogeneous beam, where analytic solution is not readily available. We finally present the stochastic approach making use of the Duffing oscillator, as the corresponding reduced model for heterogeneous Euler's beam within the dynamics framework. We show that such an approach allows computing probability density function quantifying all possible solutions to this instability problem. We conclude that increased computational cost of the stochastic framework is more than compensated by its ability to take into account beam material heterogeneities described in terms of fast oscillating stochastic process, which is typical of time evolution of internal variables describing plasticity and damage.

• 한국지구과학회지
• /
• 제30권7호
• /
• pp.834-844
• /
• 2009

본 연구에서는 최소모델영역 연산자를 MT(magnetotelluric) 2차원 역산 알고리듬에 적용하여 역산 해의 대비를 향상시키고자 하였다. 이를 위하여 creeping법에 기초한 최소자승 역산에 최소모델영역 연산자를 수치적으로 유도하여 알고리듬을 구현하였으며, 공간함수로서의 평활화 상수를 도입한 ACB (Active Constraint Balancing) 법을 동시에 적용하여 최소모델영역 연산자를 이용할 때 단점으로 지적되었던 역산 해의 안정성을 향상시켰다. 고립된 단일 이상체 모델에 대한 수치실험을 통하여 MT 역산에 있어서 최소영역 연산자의 효과를 기존의 2차 미분연산자와 비교 분석하여 MT 역산에서의 특징을 고찰하였다. 또한 다중 이상체 모델에 대한 실험을 통하여 Occam 역산과 비교하여 최소모델영역 연산자를 이용한 역산 해의 특징을 비교 분석하였으며 현장 자료에의 적용을 통하여 그 적용성을 살펴보았다.