• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.445-450
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• 2000

In this paper, a numerical method is proposed for cam synthesis. kinematics of closed loop system with cam and follower is presented using relative coordinates. The system is transformed into an open loop system by cutting fictitiously higher-pair contact of cam and follower and envelope constraint equations are derived. Follower constraint equations are derived from the motion of the follower ends. The joint variables and follower profile parameters are calculated from the envelope constraint equations and follower constraint equations by using the Newton - Raphson iterative method. Algorithms for cam synthesis are presented and simulations are done to verify the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.84-86
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• 2001

A new navigation method is developed and implemented for mobile robot. The mobile robot navigation problem has traditionally been decomposed into the path planning and path following. Unlike tracking-based system, which minimize intercept time and moved mobile robot distance for optimal rendezvous point selection. To research of random moving object uses algorithm of Adaptive Control using Auto-regressive Model. A fine motion tracking object's trajectory is predicted of Auto-regressive Algorithm. Thus, the mobile robot can travel faster than the target wi thin the robot's workspace. The can select optimal rendezvous point of various intercept time.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2004년도 추계학술대회 논문집 Vol.17
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• pp.404-407
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• 2004

Linear ultrasonic motor by bimorph. Transducer for linear ultrasonic motor with symmetric and anti-symmetric modes was studied. The transducer was composed of two piezoelectric ceramic that cross at right angles with each other at tip. In order to exist length vibration mode two piezoelectric ceramics must have 90-degree phase difference with each other. As a result, tip of transducer moves in elliptical motion. Elliptical trajectory of transducer was analyzed by employing the (mite element method(FEM). From the result, the linear ultrasonic motor was measured for characteristics. In this paper, vibration shape of transducer was simulated and the resonant frequency, stabilization frequency and maximum displacement were calculated using the FEA.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.85.3-85
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• 2002

In this study, we tried to investigate the impedance characteristic of human arm in a cooperative task. Human arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameter was estimated from the position and torque data obtained from the experiment and based on the "Estimation of Parametric Model". It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high...

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
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• pp.313-316
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• 2003

This paper proposes a new measurement method of face region size for real-time serveillance systems. The proposed method consists of three steps. In the first step, it detects global face area based on the block-based difference images. In the second step, it measures the face region size using face color information. In the third step, it estimates the face position in the next input image using the trajectory of face regions. The experimental results have shown that the proposed algorithm measures the face size within 20％ relative error on average, which is a]towable for most surveillance systems.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1961-1965
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• 2003

The flow analysis is needed to verify the physical phenomena through interruption processes for improving the capacity and the reliability of gas circuit breakers. Moreover the small current interruption performance of GCBs could be predicted by coupling the flow characteristics with the electric field one. In this paper, the unsteady flow characteristics and the traveling trajectory are depicted with a commercial CFD code, PHOENICS, programmed for moving motion of objects. In order to validate computational results, the measured pressure data in cylinder and in front of arcing contact are compared with the test results of small current interruption.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.255-260
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2002년도 학술대회지
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• pp.697-698
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• 2002

The dispersion of an aerosol bolus in acinus is analyzed numerically. Model geometry is a straight duct surrounded by an axisymmetric semicircular annulus which is expanding or contracting with breathing. Unsteady Wavier-Stokes equation is solved by CFX-F3D, an FVM commercial code and the trajectory of massless particle Is computed by Lagrangian method. For steady flow with no wall motion, mean velocity of aerosol bolus in alveolated duct is a little smaller than that in straight duct and dispersion in alveolated duct is comparable with the dispersion in straight tube. For expanding duct mean velocity of aerosol bolus approaches half of that in straight tube and effective diffusivity is smaller than that of straight tube. For contracting duct mean velocity of aerosol bolus becomes slightly larger than that in straight tube and effective diffusivity is comparable with the case of straight tube.

• Journal of Advanced Marine Engineering and Technology
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• 제39권5호
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• pp.554-562
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• 2015

This paper describes an analysis of an architecture and control system of a firefighting cannon manipulator (FCM) composed of two joint axes and one water-shooting actuator. Because the orienting FCM motion is disturbed by the reaction force from water shooting, the water shooting force has been modeled for robust control. The dynamics model of the manipulator has been set up including the external force of water-shooting reaction on the manipulator. A PD Controller and Sliding Mode Controller have been designed and their performance been tested through simulation to track a desired trajectory under the disturbance of a water-shooting reaction. The simulation shows that the performance of the Sliding Mode Controller is better than that of the PD controller.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.133-137
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have bevome increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking arre indispensable capabilities for their versatile application. the need to meet demanding control requirement in increasingly complex dynamical control systems under sygnificant uncertainties leads toward design of implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme the ntworks intrduced are neural nets with dynamic neurouns whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure fast in computation and suitable for implementation of real-time control, Performance of the neural controller is illustrated by simulation and experimental results for a SCAEA robot.