• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1053-1063
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• 2002

This paper presents a robust nonlinear controller for a f degree of freedom (DOF) parallel manipulator in the task space coordinates. The proposed control strategy requires information on orientations and translations in the task space unlike the joint space or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls for a more economical alternative. A novel indirect method based on the readily available length information engages as a potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward kinematics and subsequently applying alpha-beta-gamma tracker With the 6 DOF signals available, a robust nonlinear task space control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task space coordinates.

• 항공우주기술
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• 제13권1호
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• pp.1-9
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• 2014

고흥항공센터는 전남 고흥 간척지에 위치하며 길이 700m, 폭 25m의 활주로를 통해 국내에서 개발된 무인기의 비행시험장으로 활용되고 있으며 비행체 조립 및 점검을 위한 시험동을 갖추고 있다. 항공센터에서 이루어지는 개발 항공기들의 항공안전을 위하여 비행시험 지원설비를 구축하고 있으며 현재 지상감시시설로서 1090ES ADS-B를 구축하였다. ADS-B는 차세대 항행감시 장비로서 위성항법과 데이터 통신을 기반으로 항행정보를 실시간으로 공유할 수 있으며 구축된 ADS-B 지상국과 ADS-B 송신기간 지상 및 비행시험을 통하여 ADS-B 지상국의 정상적인 운용과 비행시험 활용 가능성을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.296-300
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• 2004

A new MR cylinder with built-in valves using MR fluid (MR valve) is proposed for fluid power control systems. The MR or Magneto-Rheololgical fluid is a newly developed functional fluid whose obvious viscosity is controlled by the applied magnetic field intensity. The MR cylinder is composed of cylinder with small clearance and piston with electromagnet. The differential pressure is controlled by the applied magnetic field intensity. It has the characteristics of simple, compact and reliable structure. The size of MR cylinder and piston has ${\varphi}$60mm${\times}$259mm and ${\varphi}$58mm${\times}$136.5mm in face size respectively and 0.8mm in gap length. Through experiments on the static characteristics, it is found that the differential pressure is controlled by the applied magnetic field intensity under little influence of the flow rate, which corresponds to a pressure control valve. Effectiveness of the MR cylinder is demonstrated through the position control of one link MR manipulator.

• 콘크리트학회논문집
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• 제27권4호
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• pp.353-362
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• 2015

이 연구에서는 소성 전단힌지가 있는 PC 모멘트 프레임의 내진성능을 평가하기 위해 반복 하중실험을 수행하였다. 보의 중간 길이에 설치된 소성 전단 힌지는 PC 골조를 연결하는 역할을 하며, 두 개의 강판으로 구성된다. 각 강판에는 세 개의 전단연결고리가 존재한다. 세 개의 전단 연결고리는 PC 보의 전단강도의 50%, 75%, 그리고 100%에 해당하는 전단강도를 사용하여 설계되었다. 제안된 연결방식은 효율적인 에너지 소산 용량 및 우수한 구조적 성능을 보여주었다. 실험결과, 소성 전단 힌지는 보 전단강도의 100% 미만을 사용하여 설계하는 것이 합리적이라 판단된다.

• 대한교통학회지
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• 제17권2호
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• pp.83-90
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• 1999

신호화 간선도로에서 연동신호계획의 효율성이 간선도로 교통운영의 핵심사안이다. 본 논문에서는 연동화 신호시간계획의 우수성을 평가하는 컴퓨터 알고리즘을 제시한다. 링크내에서 이동하는 차량군의 동적 특성과 옾셑값의 변화에 민감한 지체도의 산정이 수학모형의 중요부분이다. 개발되는 알고리즘의 이론적인 배경은 Michalopoulos의 해석적 모형에 기반을 두고 있는데, 이 모형을 다양한 교통조건이나 신호조건에 적용되도록 하는 실용화 과정이 본 논문에 기술되어 있다. 제시된 알고리즘에 대하여 옾셑값의 변화에 따른 지체도의 민감도 평가를 실시하였다. 평가를 통하여 본 알고리즘은 교통수요, 링크길이, 회전교통량비율과 같은 교통조건의 변화에 따라 적절한 민감도와 추정력을 보이는 것으로 판단되었다.

• 한국잡초학회지
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• 제7권3호
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• pp.247-256
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• 1987

The ability of three Echinochloa colona (L.) Link ecotypes to compete with rice (Oryza sativa L.) was evaluated. For all the ecotypes, E. colona was shorter and produced less leaf area and dry matter than rice at 15 days after seeding (DAS), whereas the reverse was observed from 30 to 60 DAS. Neither E. colona nor rice tillered during the first 15 DAS, but E. colona had greater accumulative tiller length than rice from 15 DAS. Rice absorbed more nitrogen than E. colona at 15 DAS. E. colona absorbed greater amounts of nitrogen, phosphorus, and potassium than did rice between 30 and 60 DAS and increase in its density decreased the nutrients uptake of rice. Differences in the competitive ability of the ecotypes were related to the growth characteristics of the ecotypes and the period of competition between the two species. At the early growth stages the Pangasinan ecotype, which increased plant size rapidly and had a shorter life cycle, was more competitive against rice than the Leyte and South Cotabato ecotypes, which had a longer vegetative growth period. However, the reverse was observed at the later growth stages of the ecotypes.

• 한국농공학회지
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• 제15권3호
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• pp.3096-3106
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• 1973

As a link in the chain of antidrought measure, our attempt is made to obtain basic informations on the construction of an infiltration gallary which can be supplied with irrigation water by catching of underground water in small river beds, which is economical, permanent and efficient. The experiment was made, concerning the structure of catchment conduits, by constructing a model sand tank $1.5m{\times}5m{\times}1.5m$ in dimension made of reinforced concrete. Various kinds of measuring equipment were attached to the model tank which contains a set of catchment conduits, each of them was made 30cm in diameter and 60cm in length with the ratio of sectional area to total area of influx holes 10:1, 20:1, 30:1. The average size of influx holes was fixed from 0mm to 10mm, 20mm and 30mm in diameter respectively. Obtained results are as follow; (a) In view of the water catchment capacity, manufacturing cost and the antipressure strength of the catchment conduits, it is the best method to decide the total number of influx holes 20 per sq. meter of each tile surface, and the size of influx holes 20mm in diameter, when the conduits have diameter less than 1m. (b) The greatest factor of safety against external load is to arrange the influx holes in a zigzag manner on the tile surface. The most effective formula of arrangement is $S{\geqq}\sqrt{2gd}$ where: s : spacing of opening row. g : spacing of opening line. d : diameter of influs hole.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2011년도 제37회 추계학술대회논문집
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• pp.472-476
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• 2011

본 논문은 필라멘트 와인딩 압력용기의 섬유 강도 크기 효과에 관한 이론 해석 및 시험 결과를 제시하였다. 시험 방법은 카본-에폭시로 필라멘트 와인딩된 여러 크기의 후프 링 시험이 수행되었다. 시험 결과로부터 섬유 강도의 크기 효과가 현저하게 나타남을 알 수 있었다. 해석적 방법은 와이블 최약 파손 모델과 다 단계 연속 파손 모델을 이용하여 후프 링 시험 결과와 비교하였다. 해석 결과는 시험 결과와 비교하여 현저하게 낮은 섬유 강도 값들을 나타내었다. 그러므로 길이 방향의 크기 효과를 개선한 개선형 다단계 연속 파손 이론을 제시하였다. 개선형 다단계 연속 파손 이론으로부터 구한 섬유 강도 값들은 시험 결과들과 좋은 일치를 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• 대한기계학회논문집A
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• 제20권5호
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• pp.1508-1515
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• 1996

The method of utilizing sensitivity linkages for the analysis of mechanical errors are proposed. As sources of the mechanical error, tolerances in the link length and clearances in thejoints are considered. It is demonstrated that the problem of calculating mechanical errors of a 4-bar mechanism can be transformed into a problem of conventeional velocity analysis of a sensitivity linkage. As a result of the present study, it is found and proved that the mechanical error of the output angle in the 4-Bar mechaism is represented as a simple harmonic function with respect to the relative position of the pin on the clearance circle. Also the vector representing the mechanical error of a coupler point makes, in general, an ellipse as the relative angle varies on the clearance circle. With these results we can better identify the characteristic of the mechanical errors in linkages.