• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.445-450
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• 2000

In this paper, a numerical method is proposed for cam synthesis. kinematics of closed loop system with cam and follower is presented using relative coordinates. The system is transformed into an open loop system by cutting fictitiously higher-pair contact of cam and follower and envelope constraint equations are derived. Follower constraint equations are derived from the motion of the follower ends. The joint variables and follower profile parameters are calculated from the envelope constraint equations and follower constraint equations by using the Newton - Raphson iterative method. Algorithms for cam synthesis are presented and simulations are done to verify the effectiveness of the proposed method.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.32.1-32.1
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• 2016

Early-type galaxies (ETGs) are supposed to follow the virial relation M ~ sigma^2 * R_e, with M being the galaxy mass, sigma being the stellar velocity dispersion, and R_e being the (2D) effective radius. I apply this relation to (a) the ATLAS3D sample and (b) the sample of Saglia et al. (2016). The two datasets reveal a statistically significant tilt of the empirical relation relative to the theoretical virial relation such that M ~ (sigma^2 * R_e)^0.92 with zero intrinsic scatter. This tilt disappears when replacing R_e with the semi-major axis of the projected half-light ellipse, a. Accordingly, a, not R_e, is the correct proxy for the scale radius of ETGs. By geometry, this implies that early-type galaxies are axisymmetric and oblate in general, in agreement with recent results from modeling based on kinematics and light distributions.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1995.10a
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• pp.68-75
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• 1995

The milling process is one of the most important metal removal processes in industry. Due to the complexities inherent to the cutter insert geometry and the milling cutter kinematics, these processes leave an analytically difficult to predict texture on the machined surface's hills and valleys. The instantaneous uncut chip cross sectional area may be estimated by the relative position between the workpiece and the cutter inserts. furthermore, since the cutting forces are proportional to the instantaneous uncut chip cross sectional area, the cutting forces in face milling operations can not be estimated easily. A new simulation program which is based upon the numerical method has been proposed to estimate the cutting force components, with the ability to predict the machined surface texture left by the face milling operation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.4 no.4
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• pp.16-24
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• 1995

The milling process is one of the most important metal removal processes in industry. due to the complexities inherent to the cutter insert geometry and the milling cutter kinematics, these processes leave an analytically difficult to predict texture on the machined surface's hills and valleys. The instantaneous uncut chip cross sectional area may be estimated by the relative position between the workpiece and the cutter inserts. Furthermore, since the cutting forces are proportional to the instantaneous uncut chip cross sectional area, the cutting forces in face milling operations can not be estimated easily. A new simulation program which is based upon the numerical method has been proposed to estimate the cutting force components, with the ability to predict the machined surface texture left by the face milling.

• Earthquakes and Structures
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• v.1 no.3
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• pp.253-267
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• 2010

A novel simple approach is presented for the seismic analysis of continuous buried pipelines subject to fault ruptures. The method is based on the minimization of the total dissipated energy during faulting, taking into account the basic factors that affect the problem, namely: a) the pipe yielding under axial and bending load, through the formation of plastic hinges and axial slip; b) the longitudinal friction across the pipe-soil interface; c) the lateral resistance of soil. The advantages and drawbacks of the proposed method are highlighted through a comparison with previous approaches, as well as with finite element calculations accounting for the 3D kinematics of the pipe-soil-fault systems under large deformations. Parametric analyses are also provided to assess the relative influence of the various parameters affecting the problem.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.7
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• pp.1309-1313
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• 2010

In this paper, we propose a novel guidance law for controlling an UAV(Unmanned Air-Vehicle) to follow a reference line in vertical plane. A kinematics model representing the relative motion of the UAV to the reference line is derived. And then LQR(Linear Quadratic Regulator) theory is applied to the model to derive the VLFG(Vertical Line Following Guidance) law. The resultant guidance law forms a gain-scheduling controller scheduled by a simple parameter $\sigma$ which is a function of the UAV's velocity, axial acceleration, gravity, and the slope of the reference line. Also derived is a stability condition for the $\sigma$ variation based on Lyapunov theory. Simulation results show that the proposed guidance law can be applied effectively to UAV guidance algorithm design.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.5
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• pp.206-213
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• 2002

This paper proposes a vehicle trajectory prediction method for application to vehicle-to-vehicle distance control. This method is based on 2-dimensional kinematics and a Kalman filter has been used to estimate acceleration of the object vehicle. The simulation results using the proposed control method show that the relative distance characteristics can be improved via the trajectory prediction method compared to the customary vehicle stop and go cruise control systems which makes the vehicle remain at a safe distance from a preceding vehicle according to the driver's preference, automatically slow down and come to a full stop behind a preceding vehicle.