• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.639-647
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• 2011

In this paper, we have designed the Anti-Aircraft Artillery(AAA) model for the surface-to-air virtual engagement. The AAA model for the virtual combat simulation needs to detect the present target and estimate the target flight trajectory to find the aiming point. To find collision point of projectile fired from the artillery with the moving air target, we have presented the estimating technique for artillery aiming point. And we have analyzed the target probability of kill using Calton Hit function. Anti-air threat envelops are presented when the target velocity, position and the arrangement of four AAA are varying. Then we have compared the analyzed result using developed model with AEM model of MSA program.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.816-821
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• 2003

The pumping characteristics of a disk-type drag pump (DTDP) from free molecular flow region to the slip flow region are calculated by the direct simulation Monte Carlo (DSMC) method. In this study, the pumping performance is studied numerically for several channel depths. The interaction between molecules is modeled by variable hard-sphere (VHS). The no time counter method is used as a collision sampling technique. The clearance between rotor and stator is considered an effect on performance. Spiral channels are cut on both upper and lower sides of rotating disks, and stationary disks are planar. A three-dimensional DSMC method for the analysis of steady rarefied flows in a single-stage DTDP has been developed. Velocity and density fields were obtained by the DSMC simulation in the rotor. The present experimental data in the outlet pressure range of $7.5{\times}10^{-3}{\sim}4$ Torr were compared with the DSMC results in the single-stage DTDP. Comparison between the experimental data and DSMC results showed good agreement.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.1
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• pp.16-22
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• 2008

The effect of two-phase spray injected into subsonic cross-flow was studied experimentally. External-mixing of two-phase spray from orifice nozzle with L/d of 3 was tested with various air-liquid ratio that ranges from 0 to 59.4%. Trajectory of spray and breakup phenomena were investigated by shadowgraph photography. Detailed spray structure was characterized in terms of SMD, droplet velocity, and volume flux using PDPA. Experimental results indicate that penetration length was increased and collision point of liquid jets approached to nozzle exit and distributions of mist-like spray were obtained by increasing air-liquid ratio.

• Journal of Welding and Joining
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• v.20 no.6
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• pp.78-78
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• 2002

Front-side members are structures with the greatest energy absorbing capability in a front-end collision of vehicles. This paper was performed to analyze initial collapse characteristics of spot welded hat and double hat-shaped section members, which are basic shape of side members, on the shift of flange weld pitches. The impact collapse tests were carried out by using home-made vertical air compression impact testing machine, and impact velocity of hat-shaped section members is 4.17m/sec and that of double hat-shaped section members is 6.54m/sec. In impact collapse tests, the collapsed length of hat-shaped section members was about 45mm and that of double hat-shaped section members was about 50mm. In consideration of these condition, axial static collapse tests(0.00017m/sec) of hat and double hat-shaped section members were carried out by using UTM which was limited displacement, about 50mm. As the experimental results, to obtain the best initial collapse characteristics, it is important that stiffness of vehicle members increases as section shapes change and the progressively folding mode induces by flange welding pitch.

• Journal of Welding and Joining
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• v.20 no.6
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• pp.802-808
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• 2002

Front-side members are structures with the greatest energy absorbing capability in a front-end collision of vehicles. This paper was performed to analyze initial collapse characteristics of spot welded hat and double hat-shaped section members, which are basic shape of side members, on the shift of flange weld pitches. The impact collapse tests were carried out by using home-made vertical air compression impact testing machine, and impact velocity of hat-shaped section members is 4.17m/sec and that of double hat-shaped section members is 6.54m/sec. In impact collapse tests, the collapsed length of hat-shaped section members was about 45mm and that of double hat-shaped section members was about 50mm. In consideration of these condition, axial static collapse tests(0.00017m/sec) of hat and double hat-shaped section members were carried out by using UTM which was limited displacement, about 50mm. As the experimental results, to obtain the best initial collapse characteristics, it is important that stiffness of vehicle members increases as section shapes change and the progressively folding mode induces by flange welding pitch.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.55-57
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• 2015

The tracking system plays a key role in accurate estimation and prediction of maneuvering vessel's position and velocity in a bid to enhance safety by taking avoiding action against collision. Therefore, in order to achieve this, many ocean- going vessels are equipped with radar and the ARPA system. However, the accuracy of prediction highly depends on the choice of the gain parameters, ${\alpha}$, ${\beta}$ and ${\gamma}$ employed in the tracking filter. P revious research of this paper was based on theoretically developing an algorithm for a tracking module. This research paper is hence a continuation by the authors to determine the optimal values of the gain parameters used in the tracking module. A tracking algorithm is developed using the ${\alpha}-{\beta}-{\gamma}$ filter to carry out prediction and smoothing of the positions and velocities. Numerical simulations are then performed to evaluate the optimal values of the smoothing parameters that will improve the performance of the tracking module and reduce measurement noise. The twice distance root mean square (2drms) is then calculated to determine error variation.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.31-39
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• 2014

Recently, as Intelligent Transportation System (ITS) and self-driving system become influential in the ground transportation system, automotive radar systems have been actively studied among the various radar systems to implement the vehicle collision detection system and distance measurement system between vehicles. Most of the automotive radars are Frequency Modulated Continuous Wave (FMCW) radar type which can calculate distance and velocity of target by estimating the frequency difference between the transmitted signal and received signal. Therefore, accurate frequency estimation is very important in the FMCW radar system. For this reason, to improve the measurement accuracy of the FMCW radar, Reverse Directional FRI (RD-FRI) Super-Resolution technique which has high frequency estimation accuracy is applied to the FMCW radar system. The feasibility of the proposed technique is evaluated with simulation results and compared with FFT and conventional Super-Resolution techniques. The simulation results show that the proposed technique estimates the frequency with high accuracy and the distance with centimeter accuracy.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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• pp.358-363
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• 2008

The spray cross-section characteristics of two-phase spray that using external-mixing nozzle injected into a subsonic cross flow were experimentally studied with various ALR ratio that is $0{\sim}59.4%$. Suction type wind tunnel was used and experiments were conducted to ambient environment. Several plain orifice nozzles with L/d of 30 and orifice diameter of 0.5 mm and orifice length 1.5 mm were tested. Free stream velocity profiles at the injection location were measured using hot wire. Spray images were captured to study collision point and column trajectory. Phase Doppler particle analyzer(PDPA) was utilized to quantitatively measuring droplet SMD, volume flux. Measuring probe of PDPA positions was moved 3-way transverse machine. SMD distributions were layered structure and peaked at the top of the spray plume and low value at bottom of the spray. Volume flux of spray was distributed to the two side region and volume flux quantity decreased when ALR ratio increased. It was found that the perpendicularly injected two-phase spray jet of external mixing into a cross flow showing that mistlike spray moved away from the test section bottom region.