• Water for future
• /
• v.22 no.4
• /
• pp.453-461
• /
• 1989

The analytical diffusion model is first formulated and its characteristics are critically reviewed. The flood events during the 1986-1988 flood seasons i the IHP Pyungchang Representative Basin are routed by this model and are compared with those by the kinematic wave model. The results showed that the analytical diffusion model simulates the observed flood events much better than the analytical kinematic wave model. The present model is proven to be an excellent means of taking the backwater effect due to lateral inflow or down river stage variations into consideration in channel routing of flood flows. It also requires much less effort and computing time at a desired station compared to any other reliable flood routing methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2057-2062
• /
• 2003

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

• The Journal of Korea Robotics Society
• /
• v.8 no.4
• /
• pp.292-297
• /
• 2013

This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.

• International Journal of Control, Automation, and Systems
• /
• v.3 no.3
• /
• pp.453-460
• /
• 2005

In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well­known circular test.

• Transactions of Materials Processing
• /
• v.22 no.6
• /
• pp.303-309
• /
• 2013

Spring-back of MS1470 steel sheets was numerically predicted using a non-linear kinematic hardening material behavior based on the Yoshida-Uemori model. From uniaxial tension and uniaxial tension-compression-tension data as well as the uniaxial tension-unloading-tension data, the parameters of the Yoshida-Uemori model were obtained. For the numerical simulations, the Yoshida-Uemori model was implemented into the commercial finite element program, ABAQUS/Explicit and ABAQUS/Standard using the user-defined material subroutines. The model performance was validated against the measured spring-back from the benchmark problems of NUMISHEET 2008 and NUMISHEET 2011, the 2-D draw bending test and the S-rail forming test, respectively.

• Journal of the Ergonomics Society of Korea
• /
• v.18 no.3
• /
• pp.141-152
• /
• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.271-272
• /
• 2012

• Journal of Korean Society on Water Environment
• /
• v.23 no.1
• /
• pp.38-45
• /
• 2007

A one-dimensional kinematic wave model was used to calculate temporal and spatial changes of the highway runoff. Infiltration into pavement was considered using Darcy's law, as a function of flow depth and pavement hydraulic conductivity ($K_p$). The model equation was calculated using the method of characteristics (MOC), which provided stable solutions for the model equation. 22 storm events monitored in a highway runoff monitoring site in west Los Angeles in the U.S. were used for the model calculation and evaluation. Using three different values of $K_p$ ($5{\times}10^{-6}$, $10^{-5}$, and $2{\times}10^{-5}cm/sec$), total runoff volume and peak flow rate were calculated and then compared with the measured data for each storm event. According to the calculation results, $10^{-5}cm/sec$ was considered a site representative value of $K_p$. The study suggested a one-dimensional method to predict hydrodynamic behavior of highway runoff, which is required for the water quality prediction.

• ETRI Journal
• /
• v.38 no.2
• /
• pp.337-346
• /
• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• Journal of Mechanical Science and Technology
• /
• v.17 no.1
• /
• pp.23-31
• /
• 2003

This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.