• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회B
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• pp.3015-3020
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• 2007

An experimental study of the dynamic characteristics of the free rising oblate spherical bubble is investigated. As noted by Saffman, the characteristics of the spiral motion are defined with parameters of the spiral frequency, spiral radius, and rising velocity. High speed camera recorded every detail information of free rising bubble. The spiral number, the bubble rise velocity, and the angular velocities were measured for the bubble size between 1.0mm to 20.0mm in diameter. In order to make clear trajectory, we employed the Fast Fourier Transformation for the normal digital camera data to synchronize with the high speed camera data. It was found that the spiral number suggested here was monotonically decreased as the bubble size increases. The present observation, however tells us that previous Saffman's formulation shows a good agreement with the trend, but over estimated spiral number. Therefore, it is recommended that Saffman's theoretical study is needed to be improved.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.446-453
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• 1999

An athlete motion during weightlifting is analyzed based on robotic manipulability, which shows dexterities by changing the position and orientation of the end-effector of robot manipulators arbitrary or along a specified direction. The athlete body is modeled as a highly redundant robot manipulator. The motion of weightlifting is analyzed based on the selected model with a power manipulability. Power manipulability and its geometric characteristics are derived by combining kinematic manipulability and dynamic manipulability. Also, manipulability-based optimal trajectory of weightlifter for given body structure of weightlifter derived through genetic algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.753-757
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• 2004

This paper describes a PC-based distributed multi-rate realtime control system using USB protocol, which is developed as a general motion controller. The control system consists of two control programs: one running at 1 kHz sampling rate on a PC with Linux and another running at 10 kHz sampling rate on a remotely located motion control card called RASID (remote axis serial interface device). Two programs communicates through USB at every 1 msec. A USB communication driver is developed to ensured the 1 msec desired communication time. The main program running on the PC generates reference trajectory at 1 kHz and send it to the RASID through USB and RASIDs located near the motors gather the sensor information and execute the low-level control at 10 kHz. The USB-based connectivity reduces the wiring harness and eventually the manufacturing cost of the machine. The multi-rate nature of the developed system improves the control capability. The effect of sampling rate is analyzed and simulated.

• 소성∙가공
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• 제18권2호
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• pp.172-176
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• 2009

In this paper, new aspherical surface polishing mechanism is suggested to polish aspherical glass lens mold by both airbag polishing tool and reverse-rotational eccentric motion. Up to now, conventional aspherical lens polishing method by the small tool polishing uses the aspherical surface profile and the trajectory of the polishing tool is also controlled. However, full contact concept by airbag polishing tool and no position control make the easy polishing setup and does not need aspherical design profile. An aspherical lens polishing machine was made for this study and a tool mark removal experiment fur the fine-grounded lens mold was successfully performed.

• 대한인간공학회지
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• 제16권3호
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• pp.71-75
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• 1997

This paper presents the development of videobased 3-dimensional tracking system. Measurement of human motion is important in the application of ertonomics. The system uses advanced direct video measurement technology. Passive retro-reflecting markers are attached to a subject and movements of markers are observed by two CCD cameras. Infrared light emitted near the CCD cameras is reflected by the markers and is detected by the cameras. The images are captured by Samsung MVB302 board and the centers of markers are calculated by DSP program. The positions of markers are transferred from MVB02 board to the computer through AT bus. The computer then tracks the position of each marker and saves the data. This system has dynamic accuracy with 0.7% average error and 4.2% maximum error, and the sampling rate to 6 .approx. 10 Hz, and this system can analyse the trajectory and speed of the marker. The results of this study can be used for operator's motion analysis, task analysis, and hand movement characteristic analysis.

• 한국정보통신학회논문지
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• 제15권12호
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• pp.2626-2631
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• 2011

CST(C-shape sharp turn)는 물고기가 유영 시 빠른 방향 전환을 위해 물고기 꼬리 부분을 빠르게 C-형태로 구부려 빠르게 방향 전환을 하는 모션을 나타낸다. 그러나 CST와 관련된 모션 궤적 함수는 아직 일반화된 함수가 없다. 본 연구에서는 생물학자들이 실제 물고기의 관측으로부터 나온 순차적인 물고기의 모션 기록을 통하여 CST룰 위한 매우 단순한 모션 함수를 제안하였다. 그리고 이를 모의실험을 통하여 제안된 함수의 유용성을 확인하였다.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.735-742
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• 2001

This paper reports on the dynamics and friction characteristics of piston skirt with consideration of mixed lubrication. Piston skirt is an important part of the engine that transforms fuel into mechanical energy. The durability and low friction characteristics are important recent issues in piston skirt design. In this paper, the piston skirt motion is analyzed with consideration of mixed lubrication and piston skirt tilting motion. The entire trajectory of piston motion is obtained by using transient numerical method. Also various parameter studies are performed for piston skirt design and the development of lower frictional engine.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• 상하수도학회지
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• 제9권3호
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• pp.65-77
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• 1995

The kinetics of flocculation of heterodisperse suspension like those in water treatment plants and natural water system are usually described by the Smoluchowski equation, which incorporates collision frequency functions for particle collisions by Brownian motion, fluid shear, and differential sedimentation. These collisionfrequeney functions have been based on a rectilinear view of collisions, i.e., one that ignores short-range forces and changes in fluid motion as particles approach one another. In this research, a curvilinear approach, i.e., one that accounts for hydrodynamic forces and particle interaction in the collision of two different size particles is developed. Collision efficiency factors of each mechanism can be calculated by trajectory analysis (fluid shear and differential sedimentation) or the solution of diffusion equation (Brownian motion). The results are presented as a set of corrections to the rectilinear collision frequency functions for each mechanism.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.