• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.1
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• pp.35-46
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• 2018

In this paper, safety analysis of the process of installing offshore structures such as manifolds and jacket-type substructures using floating cranes and barges in waves is performed. The safety analysis consists of three components. First, the dynamic responses of the offshore structure, cranes, and barge, all of which are moored and connected using wire ropes, are analyzed. Second, tensions in the wire ropes connecting the cranes and the offshore structures are calculated. Finally, any collision between the offshore structure and the cranes or the barge that transports the offshore structure is detected. Equations of motion of the offshore structure, cranes, and barge are formulated based on multibody dynamics, as well as considering the hydrostatic, hydrodynamic, and mooring forces. Additionally, proportional-derivative control of the tagline between the cranes and the offshore structure is performed to verify the safety of the installation process, as well as for reducing the dynamic response and collisions among them.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2601-2610
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• 1993

A numerical study on the melting process inside an isothermal spherical capsule is made. It is assumed that the phase change medium of its solid phase is heavier than the liquid phase and therefore the unmelted solid core is continuously moving downward on account of gravity forces. Such a gravity-assisted melting is commonly characterized by the existence of a thin liquid film below the solid core. The present study is motivated to present a full-equation-based analysis of the influences of the initial subcooling and the natural convection on the fluid flow and heat transfer characteristics associated with the gravity-assisted melting. In the light of the solution strategy, the present study is substantially distinguished from the existing works in that the complete set of governing equations in both the melted and unmelted regions are resolved without subdivision of the solution domains. For example, the liquid film region and the upper melted region are treated here as one domain and thus obviating laborious efforts to couple them. Numerical results are obtained by varying the Rayleigh numbers and the degree of subcooling. For the range of parameters examined, the presence of subcooling was found to impede the melting rate. The dropping velocity of the unmelted solid core was observed to affect the natural convection in the liquid significantly. When compared with the available experimental data, much improved prediction was achieved.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1259-1264
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• 2011

This paper suggests a new film-type haptic actuator based on cellulose acetate electro-active paper. Conventional tiny haptic actuators in mobile devices can create vibrotactile sensation at only near resonant frequency. The strategy of operating near the resonant frequency, however, brought a new issue for creating vibrotactile sensation which can be strong enough to feel in arbitrary frequency. Another problem is that the size of the conventional actuator is not small enough to be embedded into slim mobile devices. In order to achieve these issues, we propose a thin and tiny actuator based on a cellulose acetate material charged with an electric potential. The motion of the actuator can be a concave or a convex by controlling a polarity of both charged membranes and the actuator performance can be modulated by increasing level of biased electric potential.

• Structural Engineering and Mechanics
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• v.62 no.3
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• pp.345-355
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• 2017

The aim of the present study is to develop an elemental approach based on the differential quadrature method for free vibration analysis of cracked thin plate structures. For this purpose, the equations of motion are established using the classical plate theory. The well-known Generalized Differential Quadrature Method (GDQM) is utilized to discretize the governing equations on each computational subdomain or element. In this method, the differential terms of a quantity field at a specific computational point should be expressed in a series form of the related quantity at all other sampling points along the domain. However, the existence of any geometric discontinuity, such as a crack, in a computational domain causes some problems in the calculation of differential terms. In order to resolve this problem, the multi-block or elemental strategy is implemented to divide such geometry into several subdomains. By constructing the appropriate continuity conditions at each interface between adjacent elements and a crack tip, the whole discretized governing equations of the structure can be established. Therefore, the free vibration analysis of a cracked thin plate will be provided via the achieved eigenvalue problem. The obtained results show a good agreement in comparison with those found by finite element method.

• Smart Structures and Systems
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• v.1 no.1
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• pp.13-27
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• 2005

Simultaneous precision positioning and vibration suppression of a reciprocating flexible manipulator is investigated in this paper. The flexible manipulator is driven by a multifunctional active strut with fuzzy logic controllers. The multifunctional active strut is a combination of a motor assembly and a piezoelectric stack actuator to simultaneously provide precision positioning and wide frequency bandwidth vibration suppression capabilities. First, the multifunctional active strut and the flexible manipulator are introduced, and their dynamic models are derived. A control strategy is then proposed, which includes a position controller and a vibration controller to achieve simultaneous precision positioning and vibration suppression of the flexible manipulator. Next, fuzzy logic control approach is presented to design a fuzzy logic position controller and a fuzzy logic vibration controller. Finally, experiments are conducted for the fuzzy logic controllers and the experimental results are compared with those from a PID control scheme consisting of a PID position controller and a PID vibration control. The comparison indicates that the fuzzy logic controller can easily handle the non-linearity in the strut and provide higher position accuracy and better vibration reduction with less control power consumption.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.05a
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• pp.33-38
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• 1999

Muscle based face image synthesis is one of the most realistic approach to realize life-like agent in computer. Facial muscle model is composed of facial tissue elements and muscles. In this model, forces are calculated effecting facial tissue element by contraction of each muscle strength, so the combination of each muscle parameter decide a specific facial expression. Now each muscle parameter is decided on trial and error procedure comparing the sample photograph and generated image using our Muscle-Editor to generate a specific race image. In this paper, we propose the strategy of automatic estimation of facial muscle parameters from 2D marker movement using neural network. This also 3D motion estimation from 2D point or flow information in captered image under restriction of physics based fare model.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.