• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.379-384
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• 2013

We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.224-229
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• 1997

This paper compares the control techniques for position control experiments of a fixible robot moving in a vertical plane. The flexible manipulator is modeled as an Euler-beroulli beam. Elastic deformantion is representedusing the assumed model method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. Control schemes are developed using PID control,pole placement control and discrete Linear Quadratic Regulater(LQQ). The effectiveness of the developed control schems are compared using computer simulation in view of practical experiment. The simulation results show that PID control is very effective in practical implementation.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.2
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• pp.185-197
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• 1999

Heat transfer and solidification of liquid silicon in von-$K{\acute{a}}rm{\acute{a}}n$ swirling flow is investigated. The moving boundary is fixed for all times by a coordinate transformation, and finite difference method Is used to obtain the instantaneous location of the solid-liquid Interface and the heat transfer from the surfaces of solid and liquid. For small Stefan number or low wall temperature, the transient heat transfer from the surface of solid(QS(t)) is much larger than that from the liquid side of solid-liquid interface(QL(t)) and QL(t) reaches its quasi-steady-state value much faster than QS(t).

• 한국전산유체공학회:학술대회논문집
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• 2007.10a
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• pp.258-263
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• 2007

A particle method recognized as one of the gridless methods has been developed to investigate the nonlinear free-surface motions interacting to the structures. The method is more feasible and effective than convectional grid methods for solving the non-linear free-surface motion with complicated boundary shapes. The right-handed side of the governing equations for incompressible fluid, which includes gradient, viscous and external force terms, can be replaced by the particle interaction models. In the present study, the developed method is applied to the dam-broken problem on dried- and wet-floor and its adequacy will be discussed by the comparison with the experimental results.

• 한국전산유체공학회:학술대회논문집
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• 2007.10a
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• pp.77-81
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• 2007

In this paper, helicopter aerodynamics is simulated in hovering and forwarding flighst. The governing equation is the unsteady Euler equation. To consider the blade motion and moving effects, an overset grid technique is applied in this simulation. At the boundary, the Riemann invariants condition is used for inflow and outflow. To validate this method, the result is compared with Caradonna-Tung's experimental data.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.99-102
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• 2010

In the present study, a three-dimensional numerical simulation was performed in a paint drying system of vehicle assembly line. In the drying system hot air and cool air are blown in turn from the nozzles to dry the trim of vehicle. Inlet boundary condition using user subroutine code is adopted to consider the moving motion of the vehicle. The present paper aims to improve the performance of the drying system. The transient distribution of temperature and velocity at the surface of the vehicle were predicted numerically. From these results, optimal operating condition of the drying system are to be suggested.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.6
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• pp.1082-1091
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• 1989

본 논문에서는 응고계면을 기준으로 하여 액상역, 고상역 및 로울등을 각각 계산 가능한 영역으로 좌표변환하는 경계공정법을 사용하여 로울두께 방향의 온도분 포와 고상역과 액상역의 속도 분포를 고려한 2차원 응고해석을 하여 모델재료를 이용 한 실험결과와 비교 검토하여 이론해석의 타당성을 검정한다. 그리고 열전도율이 연 강보다 적어 박판제조가 어려운 재료인 스테인리스강을 용탕으로부터 직접 생산하기 위한 압연조건을 정량적으로 제시하며, 압연로울의 냉각특성을 밝힌다.

• Journal of Mechanical Science and Technology
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• v.17 no.1
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• pp.64-76
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• 2003

In this work, a new penalty formulation is proposed for the analysis of Mindlin-Reissner plates by using the element-free Galerkin method. A penalized weak form for the Mindlin-Reissner Plates is constructed through the exterior penalty method to enforce the essential boundary conditions of rotations as well as transverse displacements. In the numerical examples, some typical problems of Mindlin-Reissner plates are analyzed, and parametric studies on the order of integration and the size of influence domain are also carried out. The effect of the types of background cells on the accuracy of numerical solutions is observed and a proper type of background cell for obtaining optimal accuracy is suggested. Further, optimal order of integration and basis order of Moving Least Squares approximation are suggested to efficiently handle the irregularly distributed nodes through the triangular type of background cells. From the numerical tests, it is identified that unlike the finite element method, the proposed element-free Galerkin method with penalty technique gives highly accurate solution without shear locking in dealing with Mindlin-Reissner plates.

• Proceedings of the KSME Conference
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• 2000.11b
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• pp.745-750
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• 2000

A numerical code which can simulate unsteady, incompressible and 3-dimensional flows in an engine cylinder has been developed. The governing equations based on the cylindrical coordinate are discretized by the finite volume method with staggered variable arrangements. A geometric conservation rule is also incorporated into the simulation code in order to deal with a moving boundary problem. For the unsteady simulation, a fractional step method is adopted. The law of wall is applied to the wall boundaries and standard $k-\;{\varepsilon}$ model is used to describe the in-cylinder turbulent flow. The model cylinder has one eccentric port, flat piston and flat cylinder-head. The comparisons with experimental data show fairly well qualitative agreement.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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• pp.85-86
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• 2006

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled voiding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.