• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.44-44
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• 2000

Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

• Journal of Navigation and Port Research
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• v.45 no.6
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• pp.284-297
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• 2021

A simple kinematic model for the prediction of ship manoeuvres based on trial data is proposed in this study. The model consists of first order differential equations in surge, sway, and yaw directions which simulate the time series of each velocity component. Actually instead of sea trial data, dynamic model simulations are conducted with randomly varied control inputs such as propeller revolution rates and rudder angles. Based on learning of control inputs and velocity outputs of dynamic model simulations in sufficient time, kinematic model coefficients are optimized so that the kinematic model can be approximately reproduce the velocity outputs of dynamic model simulations with arbitrary control inputs. The resultant kinematic model is verified with new dynamic simulation sets.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.5-51
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• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.827-831
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• 2008

In this paper, kinematic analysis for a planar 3-DOF redundant stage which has four actuators is presented by using SimMechanics software package. SimMechanics is a block sets of the Matlab/Simulink package. The SimMechanics enables a simplified model for a complex kinematic mechanism, since kinematic relationship between joints and linkages for the kinematic chains are expressed as line vectors and block diagrams. Here, positional error and limit values of movement ranges of the stage are evaluated by using the SimMechanics. The validity of the kinematic characteristics model was compared with theoretical kinematic analyses for the 3-DOF stage.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.131-137
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• 1989

The effect of kinematic model choice on robot calibration is examined. This paper presents a complete formulation to identify the actual robot kinematic parameters directly from position data. The method presented in this paper applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joint.

• Water for future
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• v.18 no.2
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• pp.175-185
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• 1985

This paper discusses the posibility of synthesizing flood hudrographs by the stroage function model. Eight small watersheds from Han, Gum, Nakdong, Youngsan river system were selected for this purpose. The optimum constants are computed from the chi square criterion by the SDFP methods Based on these constants, equations for the storage constant and Lag time are derived from the kinematic wave theory and storage function theory. These relations are examined by using optimum constants of the storage function model and assumptive constant of the kinematic wave model. Main results are sumarized as follows. 1. Constants of the storage function model are closely related to those of the kinematic wave model. The formula obtained theoretically is difficult to use practically because of the unclaified definition of factors. 2. In order to estimate constants of the storage function model for the practical purpose, new equations are also proposed for mountaneous area. 3. The verification of proposed equation is made for several recorded floods for mountaeous areas.

• Journal of Korea Water Resources Association
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• v.52 no.11
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• pp.887-894
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• 2019

We proposed a GPU (Grapic Processing Unit) accelerated kinematic wave model for rainfall runoff simulation and tested the accuracy and speed up performance of the proposed model. The governing equations are the kinematic wave equation for surface flow and the Green-Ampt model for infiltration. The kinematic wave equations were discretized using a finite volume method and CUDA fortran was used to implement the rainfall runoff model. Several numerical tests were conducted. The computed results of the GPU accelerated kinematic wave model were compared with several measured and other numerical results and reasonable agreements were observed from the comparisons. The speed up performance of the GPU accelerated model increased as the number of grids increased, achieving a maximum speed up of approximately 450 times compared to a CPU (Central Processing Unit) version, at least for the tested computing resources.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.5-8
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• 1999

The main stream of researches on the mobile robot is planning motions of the mobile robot under nonholonomic constraints while only considering kinematic model of a mobile robot. These researches, however, assume that there is some kind of dynamic controller which can produce perfectly the same velocity that is necessary for the kinematic controller. Moreover, there are little results about the problem of integrating the nonholonomic kinematic controller and the dynamic controller for a mobile robot. Also the literature on the robustness of the controller in the presence of uncertainties or external disturbances in the dynamical model of a mobile robot is very few. Thus, in this paper, the robust adaptive controller which can achieve velocity tracking while considering not only kinematic model but also dynamic model of the mobile robot is proposed. The stability of the dynamic system will be shown through the Lyapunov method.

• Earthquakes and Structures
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• v.17 no.5
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• pp.489-499
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• 2019

Elastic-plastic behavior of nuclear power plant elbow piping under seismic loads has been conducted in this study. Finite element analyses are performed using classical Bilinear kinematic hardening model (BKIN) and Multilinear kinematic hardening model (MKIN) as well as a nonlinear kinematic hardening model (Chaboche model). The influence of internal pressure and seismic loading on ratcheting strain of elbow pipe is studied by means of the three models. The results found that the predicted results of Chaboche model is maximum, closely followed by the predicted results of MKIN model, and the minimum is the predicted results of BKIN model. Moreover, comparisons of analysis results for each plasticity model against predicted results for a equivalent cyclic loading elbow component and for a simplified piping system seismic test are presented in the paper.

• Korean Journal of Applied Biomechanics
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• v.27 no.1
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• pp.9-18
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• 2017

Objective: The purpose of this study was to identify kinematic variables that govern successful performance and judges' scores and to establish correlative relationships among those of Yurchenko layout with a full twist in female vaults. Method: Four video cameras with sampling rate of 60 Hz collected 32 motion data of Yurchenko vaults from twenty-two female participants (age: $18.6{\pm}3.6years$, height: $153.0{\pm}6.5cm$, mass: $44.7{\pm}7.3kg$) during national competition. Posting processing and calculations of kinematic variables were performed in Kwon 3D XP and $Matlab^{(R)}$ programs. Correlation and regression analyses were applied to find the relationships between the obtained scores and kinematic variables. Deterministic model (Hay & Reid, 1988) was used to investigate the strength of correlative relationships among kinematic variables. Results: The obtained scores from the judges' decision were mainly affected by post-flight peak height, horse contact time, knee angle at landing, and horse takeoff angle. Strong blocking during horse contact was required to get successful performance and obtain high scores. Modified deterministic model showed that round-off entrance and takeoff angles and resultant velocity of the center of mass (CM) during the roundoff phase were the starting variables affecting performance in the following kinematics. Knee angle at landing, a highly influential variable on the obtained point, was only determined by judges' decision without significant correlative relationship with previous kinematic variables. Conclusion: The obtained scores highly depended on kinematic variables of post-flight and horse contact phases that were affected by those from the previous phases including round-off postures and resultant velocity of the body center of mass.