• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.113-118
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• 1999

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 n 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.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1922-1927
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• 2008

In the present study, deposition of discrete and small particles, which diameter is less than $1{\mu}m$, on a filter element was simulated by stochastic method. Trajectory of each particle was numerically solved by Langevin equation and Brownian random motion was treated by Brownian dynamics. Lattice Boltzmann method (LBM) was used to solve flow field around the filter collector and deposit layer. Interaction between flow field and deposit layer was obtained from a converged solution from an inner-loop calculation. Simulation method is properly validated and collection efficiency due to different filtration parameters are examined and discussed. Morphology of deposit layer and its evolution was visualized in terms of the particle size. The particle loaded effect on collection efficiency was also discussed.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.134-137
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• 2002

This paper presents a robot manipulator kinematic motion control scheme based on velocity feedback loop. The desired joint velocity is obtained by the feature-based visual servoing and is used in the joint velocity control loop system for trajectory control of the robot manipulator. The asymptotic stability of the closed loop system is shown by the Lyapunov method. Effectiveness of the proposed method is shown by simulation and experimental results on a robot manipulator with two degree of freedom.

• Journal of Powder Materials
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• v.4 no.1
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• pp.55-62
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• 1997

Flow and heat transfer characteristics of gas, and trajectories and cooling characteristics of droplets/particles in a gas atomizer were investigated by a numerical simulation using FLUENT code. Among several kinds of solution method, the k-$\varepsilon$ turbulent model, power-law scheme, SIMPLE algorithm is adopted in this study. Momentum and heat exchange between a continuous phase(gas) and a dispersed phase(particle) were taken into account. Particle trajectories are simulated using the Lagrangian method, and Rosin-Rammler formula is used for the particle size distribution. Streamlines, velocities and pressures of gas, and trajectories, velocities and cooling rates of particles have been investigated for the various gas inlet conditions. Small but very intensive recirculation is found just below the melt orifice, and this recirculation seems to cause the liquid metal to spread radially. Particle trajectory depends on the particle size, the location of particle formation and the turbulent motion of gas. Small particle cools down rapidly, while large diameter particles solidify slowly, and this is mainly due to the differences in thermal inertia.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.50-59
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• 2014

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. Through tracking road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. In order to classify the road sign, ORB(Oriented fast and Rotated BRIEF) features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization errors.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.61-71
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• 2005

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.47-54
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• 2009

A worm screw is widely used in a geared motor unit for motion conversion from rotation to linear. For mass production of a high quality worm, the current rolling process is substituted with the milling process. Since the milling process enables the integration of all operations of worm manufacturing on a CNC(Computer Numerical Control) lathe, productivity can be remarkably improved. In this study, the tooling system for planetary milling on a CNC lathe to improve machinability is developed. However, the cutting tool-workpiece interference is important factors to be considered for producing high quality worms. For adaptability of various worms machining, the tool-workpiece interference simulation system based on a tool-tip trajectory model is developed. The developed simulation system is verified through several kinds of worms and experimental results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.768-770
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• 2014

A shaft of a reciprocating compressor receives bending force by piston, which makes movement of the shaft. The movement of the shaft affects durability and becomes a source of noise. In this paper, a cylinder is modeled by considering motion of a suction and discharge valve. The journal bearing is modeled by Bernoulli's equation. The trajectory of shaft which is considered cylinder and journal bearing can be calculated by finite element method. It will help a design of shaft to increase durability and reduce noise.