• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Bulletin of the Korean Chemical Society
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• v.18 no.12
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• pp.1274-1280
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• 1997

The photodissociation dynamics of CH2I2 has been studied at 304 nm by state-selective photofragment translational spectroscopy. Velocity distributions, anisotropy parameters, and relative quantum yields are obtained for the ground I(2P3/2) and spin-orbit excited state I*(2P1/2) iodine atoms, which are produced from photodissociation of CH2I2 at this wavelength. These processes are found to occur via B1 ← A1 type electronic transitions. The quantum yield of I*(2P1/2) is determined to be 0.25, indicating that the formation of ground state iodine is clearly the favored dissociation channel in the 304 nm wavelength region. From the angular distribution of dissociation products, the anisotropy parameters are determined to be β(I)=0.4 for the I(2P3/2) and β(I*)=0.55 for the I*(2P1/2) which substantially differ from the limiting value of 1.13. The positive values of anisotropy parameter, however, show that the primary processes for I and I* formation channels proceed dominantly via a transition which is parallel to I-I axis. The above results are interpreted in terms of dual path formation of iodine atoms from two different excited states, i.e., a direct and an indirect dissociation via curve crossing between these states. The translational energy distributions of recoil fragments reveal that a large fraction of the available energy goes into the internal excitation of the CH2I photofragment; < Eint > /Eavl=0.80 and 0.82 for the I and I* formation channels, respectively. The quantitative analysis for the energy partitioning of available energy into the photofragments is used to compare the experimental results with the prediction of direct impulsive model for photodissociation dynamics.

• Smart Structures and Systems
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• v.32 no.1
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• pp.1-7
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• 2023

In modal analysis, the mode shape reflects the vibration characteristics of the structure, and thus it is widely performed for finite element model updating and structural health monitoring. Generally, the acceleration-based mode shape is suitable to express the characteristics of structures for the translational vibration; however, it is difficult to represent the rotational mode at boundary conditions. A tilt sensor and gyroscope capable of measuring rotational mode are used to analyze the overall behavior of the structure, but extracting its mode shape is the major challenge under the small vibration always. Herein, we conducted a feasibility study on a multi-mode shape estimating approach utilizing a single physical quantity signal. The basic concept of the proposed method is to receive multi-metric dynamic responses from two sensors and obtain mode shapes through bridge loading test with relatively large deformation. In addition, the linear transformation matrix for estimating two mode shapes is derived, and the mode shape based on the gyro sensor data is obtained by acceleration response using ambient vibration. Because the structure's behavior with respect to translational and rotational mode can be confirmed, the proposed method can obtain the total response of the structure considering boundary conditions. To verify the feasibility of the proposed method, we pre-measured dynamic data acquired from five accelerometers and five gyro sensors in a lab-scale test considering bridge structures, and obtained a linear transformation matrix for estimating the multi-mode shapes. In addition, the mode shapes for two physical quantities could be extracted by using only the acceleration data. Finally, the mode shapes estimated by the proposed method were compared with the mode shapes obtained from the two sensors. This study confirmed the applicability of the multi-mode shape estimation approach for accurate damage assessment using multi-dimensional mode shapes of bridge structures, and can be used to evaluate the behavior of structures under ambient vibration.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.624-631
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• 2008

This paper presents a method for a mobile robot to follow a moving object in real time. The robot follows a target object keeping the facing angle toward the target and the distance to the target to given value. The method consists of two procedures: first, the detection of target position in the robot coordinate system, and the second, the calculation of translational velocity and rotational velocity to follow the object:. To detect the target location, range sensor data is represented in histogram. Based on the real time calculation of the location of the target relative to the robot, translational velocity and rotational velocity to follow the target are calculated. The velocities make the heading angle and the distance to target converge toward the desired ones. The performance of the method is tested through simulation. In the simulation, the target moves with three different trajectories, straight line trajectory, rectangular trajectory, and circular trajectory. As shown in the results, it is inevitable to lose track temporarily of the target when the target suddenly changes its motion direction. Nevertheless, the robot speeds up to catch up and finally succeeds to follow the target as soon as possible even in this case. The proposed method can also be utilized to coordinate the motion of multiple robots to keep their formation as well as to follow a target.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.2
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• pp.203-211
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• 2012

The main object of this experiment is to estimate the hydrodynamic forces acting on a submerged streamlined body placed in a one-end-opened cylindrical tube moving with certain translational velocity. The best experimental design for this object is mimicking real situation, however sizes of model body and cylinder tube are just the same as those of real, for avoiding scale effects, mimicking real situation is not realizable. Hence, in this experiment, target body and cylindrical tube were designed to be towed with varying body position relative to cylindrical tube. For measuring hydrodynamic forces and flow velocity in the cylindrical tube, six one-component load cells and several one-hole Pitot tubes were used. Several conditions were checked with various end-plates those had different opening areas. Experiment results show that forces and flow velocity had different tendency with those expected, and the presence of a end-plate slows down the flow velocity in the cylindrical tube and affects pressure field in the tube to push the model submerged body forward of the tube. This tendency grows with decreasing opened area.

• Nuclear Engineering and Technology
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• v.33 no.6
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• pp.619-625
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• 2001

An axial-flow-induced vibration model was proposed for a rod supported by two translational springs at both ends. For developing the model, a one-mode approximation was made based on the assumption that the first mode was dominant in vibration behavior of the single span rod. The first natural frequency and mode shape functions for the flow-induced vibration, called the FIV model were derived by using Lagrange＇s method. The vibration displacements at reactor conditions were calculated by the proposed model for the spring-supported rod and by the previous model for the simple-supported(55) rod. As a result, the vibration displacement for the spring-supported rod was larger than that of the 55 rod, and the discrepancy between both displacements became much larger as flow velocity increased. The vibration displacement for the spring-supported rod appeared to decrease with the increase of the spring constant. AS flow velocity increased, the increase rate of vibration displacement was calculated to go linearly up, and that of the rod having the short span length was larger than that of the rod having the long span length although the displacement value itself of the long span rod was larger than that of the short one.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.20-23
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• 1996

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.4
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.