• Journal of Drive and Control
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• v.14 no.1
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• pp.35-40
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• 2017

Whereas fuel economy of a vehicle is measured using a chassis dynamometer, that of construction machinery such as an excavator shall be presumably measured using simulated work cycle. In order to measure fuel consumption under a simulated work cycle, a measurement methodology, while excavator operates in dynamic(transient) motion, needs to be examined and developed. In this work, three methods (gravimetry, ECU CAN signal and mass flow meter) are studied and compared. This work reveals that when ECU CAN signal is properly calibrated and evaluated, compared to gravimetry or mass flowmeter, it could be used to measure fuel consumption with accuracy and thus for approval of the fuel economy of construction machinery.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• Bulletin of the Society of Naval Architects of Korea
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• v.23 no.2
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• pp.33-45
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• 1986

In the present paper, the nonlinear analysis of dynamic response of the jacket type offshore structures subject to nonlinear fluid force is performed. Furthermore, several analysis methods, such as quasi-static analysis, Newmark-$\beta$ method and state vector time integration technique, and described and compared with each others in order to investigate the efficiency numerical of the schemes for this kind of nonlinear structural analysis. In the problem formulation, various environmental forces acting on the jacket type offshore structure have been studied and calculated. Particularly, hydrodynamic forces are calculated by using the Morison type formula, which contains the interaction effect between the motion of the structure and the velocity of fluid particles. Also, Stokes' 5th order wave theory and Airy's linear wave theory are used to predict the velocity distribution of the fluid particles. Finally, the nonlinear equation of motion of the structure is obtained by using three-dimensional finite element formulation. Based on the above procedures, two examples, i.e. a single pile and a typical offshore jacket platform, are studied in details.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.6
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• pp.71-81
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• 2000

This paper describers a look ahead algorithm of PC-NC(personal computer numerical control). The algorithm is based on acceleration/deceleration before interpolation which doesn\`t include a command error and determines a feedrate value at the end point of each block(or start point of each block). The algorithm is represented as following; 1) calculating two maximum arrival feedrates(F$_1$,F$_2$) by an acceleration value, a command feedrate, and the distance of a NC block, 2) getting a tangent feedrate (F$_3$) of the adjacent blocks, 3) choosing a minimum value among these three feedrates, and 4) setting the value to a feedrate of a start point of the next block(or a end point of the previous block). The proposed look ahead algorithm was implemented and tested by using a commercial TROS(real time operation system) on the MS-Windows NT 4.0 in a PC platform. For interfacing to a machine, a counter board, a DAC board and a DIO board were used. The result of the algorithm increased a machining precision and a machining speed in many short blocks.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.8
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• pp.577-584
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• 2003

Traditional ankle rehabilitation procedures are tedious, repetitive, and require therapist's help. Therefore, they do not provide patients with good motivation to actively participate in the rehabilitation exercises. In addition, objective diagnosis and evaluation of the treatment progress have been difficult because records of exercise history are made by passive instruments from time to time. The virtual reality technology can make these procedures more fun so that patients can perform everyday rehabilitation exercises more actively. Moreover, haptics technology can give active resistance to the patients ankle motion to improve strength of muscles as well as can record ankle's motion and force histories for objective diagnosis and evaluation. This paper summarizes development of a virtual environment fur reforming the conventional ankle rehabilitation procedures. First of all, conventional rehabilitation procedures have been summarized. Secondly, haptic design and control, user interface design, virtual environment contents design are described. Lastly, mutual cooperation among many developers including medical doctors and therapists and future works are commented.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.543-547
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• 2009

This paper describes the design, simulation, development, and experiment of a six degree-of-freedom micropositioning parallel manipulator. A movable stage was supported with six links, each of which extends with a dc-servo micropositioning actuator. In case of parallel manipulator, while the solution of the inverse kinematics is easily found by the vectors of the links which are composed of the joint coordinates in base and platform, but forward kinematic is not easily solved because of the nonlinearity and complexity of the parallel manipulator's kinematic output equation with the multi-solutions. The movable range of the prototype was ${\pm}25mm$ in the x- and y-directions and ${\pm}12.5mm$ in the z-direction. The minimum incremental motion of the prototype was $1{\mu}m$ in the x- and y-directions and $0.5{\mu}m$ in the z-direction. The repeatability of the prototype was ${\pm}2{\mu}m$ in the x- and y-directions and ${\pm}1{\mu}m$ in the z-direction. The motion performance was also evaluated by not only the computer simulation of CAD model but also the experiment using a capacitive sensor system.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.86-93
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• 2021

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.

• The Journal of the Korea Contents Association
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• v.19 no.2
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• pp.469-476
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• 2019

Robotic motion is designed by the rotation and the translation of multiple joint coordinates in a three-dimensional space. Joint coordinates are generally modeled by homogeneous transform matrix. However, the complexity of three dimensional motions prefers the visualization methods based on simulation environments in which models and generated motions work properly. Many simulation environments have the limitations of usability and functional extension from platform dependency and interpretation of predefined commands. This paper proposes the web-based three dimensional simulation environment toward high user accessibility. Also, it covers the small size web server that is linked with Python script. The non linearities of robot control apply to verify the computing efficiency, the process management, and the extendability of user scripts.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.1
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• pp.34.3-34.3
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• 2019

We report our discovery of observational evidence for the coherence between galaxy rotation and the average motion of neighbors. Using the Calar Alto Legacy Integral Field Area (CALIFA) survey data analyzed with the Python CALIFA STARLIGHT Synthesis Organizer (PyCASSO) platform, and the NASA-Sloan Atlas (NSA) catalog, we estimate the angular momentum vectors of 445 CALIFA galaxies and build composite maps of their neighbor galaxies on the parameter space of velocity versus distance. The composite radial profiles of the luminosity-weighted mean velocity of neighbors show striking evidence for dynamical coherence between the rotational direction of the CALIFA galaxies and the average moving direction of their neighbor galaxies. The signal of such dynamical coherence is significant for the neighbors within 800 kpc distance from the CALIFA galaxies with a confidence level of $3.5{\sigma}$, when the angular momentum is measured at the outskirt ($Re<R{\leq}2Re$) of each CALIFA galaxy. We also find that faint or kinematically misaligned galaxies show stronger coherence with neighbor motions than bright or kinematically well-aligned galaxies do. Our results show that the rotation of a galaxy, particularly at its outskirt, may be significantly influenced by recent interactions with its neighbors.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.189-195
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• 2019

In this study, experiments with a floater using flapping foils were performed to develop a new station keeping system that can maintain its position in waves without mooring lines. The foils applied to this system generate thrust using wave energy. In this experiment, the motion of the floater was analyzed in three different wave periods. Sixteen foils were attached to the cylindrical floater. The thrust of each foil was controlled by changing its azimuth angle, and three cases were compared. Based on the previous data, we made more precise measurements and found an optimal model for stationkeeping under each wave condition. We verified the potential of this new stationkeeping system using flapping foils, and conclusions were drawn from the results.