• Title/Summary/Keyword: similar trajectory

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Experimental study on human arm motions in positioning

  • Shibata, S.;Ohba, K.;Inooka, H.
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.212-217
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    • 1993
  • In this paper, characteristics of the motions of a human arm are investigated experimentally. When the conditions of the target point are restricted, human adjusts its trajectory and velocity pattern of the arm to fit the conditions skillfully. The purpose of this work is to examine the characteristics of the trajectory, velocity pattern, and the size of the duration in the following cases. First, we examine the case of point-to-point motion. The results are consistent with the minimum jerk theory. However, individual differences in the length of the duration can be observed in the experiment. Second, we examine the case which requires accuracy of positioning at the target point. It is found that the velocity pattern differs from the bell shaped pattern explained by the minimum jerk theory, and has its peak in the first half of the duration. When higher accuracy of the positioning is required, learning effects can be observed. Finally, to examine the case which requires constraint of the arm posture at the target point, we conduct experiments of a human trying to grasp a cup. It is considered that this motion consists of two steps : one is the positioning motion of the person in order to start the grasping motion, the other is the grasping motion of the human's hand approaching toward the cup and grasping it. In addition, two representative velocity patterns are observed : one is the similar velocity pattern explained in the above experiment, the other is the velocity pattern which has its relative maximum in the latter half of the duration.

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A Image Feedback control of Mobile Robot for Target Tracking (모바일 로봇의 목표물 추적을 위한 이미지 궤환 제어)

  • Hwang, Won-Jun;Lee, Woo-Song
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.90-98
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    • 2015
  • This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

Fuzzy-Sliding Mode Control of a Polishing Robot Based on Genetic Algorithm

  • Go, Seok-Jo;Lee, Min-Cheol;Park, Min-Kyu
    • Journal of Mechanical Science and Technology
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    • v.15 no.5
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    • pp.580-591
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    • 2001
  • This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.

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Analysis on the PM10 Transportation Route in Gimhae Region Using the HYSPLIT Model (HYSPLIT 모델을 이용한 김해지역의 PM10 수송 경로 분석)

  • Jung, Woo-Sik;Park, Jong-Kil;Lee, Bo-Ram;Kim, Eun-Byul
    • Journal of Environmental Science International
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    • v.22 no.8
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    • pp.1043-1052
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    • 2013
  • This study was conducted to investigate the correlations between the $PM_{10}$ concentration trend and meteorological elements in the Gimhae region and analyze the transportation routes of air pollutants through back-trajectory analysis. Among the air quality measuring stations in the Gimhae regions, the $PM_{10}$ concentration of the Sambangdong station was higher than that of the Dongsangdong station. Also, an examination of the relationships between $PM_{10}$ concentration and meteorological elements showed that the greater the number of yellow dust occurrence days was and the lower the temperature and precipitation were, the higher the $PM_{10}$ concentration appeared. Furthermore, a cluster analysis through the HYSPLIT model showed that there were 4 clusters of trajectories that flowed into the Gimhae region and most of them originated in China. The meteorological characteristics of the four clusters were analyzed and they were similar to those of the air masses that influence South Korea. These analyses found that meteorological conditions affect the $PM_{10}$ concentration.

Image-based Visual Servoing for Automatic Recharging of Mobile Robot (이동로봇의 자동충전을 위한 영상기반 비쥬얼 서보잉 방법)

  • Song, Ho-Bum;Cho, Jae-Seung
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.664-670
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    • 2007
  • This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

THE MODEL PREDICTIVE CONTROLLER FOR THE FEEDWATER AND LEVEL CONTROL OF A NUCLEAR STEAM GENERATOR

  • Lee, Yoon Joon;Oh, Seung Jin;Chun, Wongee;Kim, Nam Jin
    • Nuclear Engineering and Technology
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    • v.44 no.8
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    • pp.911-918
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    • 2012
  • Steam generator level control at low power is difficult due to its adverse thermal hydraulic properties, and is usually conducted by an operator. The basic model predictive control (MPC) is similar to the action of an operator in that the operator knows the desired reference trajectory for a finite period of time and takes the necessary control actions needed to ensure the desired trajectory. An MPC is based on a model; the performance as well as the efficiency of the MPC depends heavily on the exactness of the model. In this study, steam generator models that can describe in detail its thermal hydraulic behaviors, particularly at low power, are used in the MPC design. The design scope is divided into two parts. First, the MPC feedwater controller of the feedwater station is determined, and then the MPC level controller for the overall system is designed. Because the dynamic properties of a steam generator change with the power levels, a realistic situation is simulated by changing the transfer functions of the steam generator at every time step. The resulting MPC controller shows good performance.

A study on equivalent control device model for power system reduction (전력 계통 축약을 위한 등가 제어기 모델에 관한 연구)

  • Lee, H.M.;Rho, K.M.;Jang, B.H.;Kwon, S.H.
    • Proceedings of the KIEE Conference
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    • 1999.11b
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    • pp.273-275
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    • 1999
  • This paper presents a dynamic equivalencing method in large electric power system for stability analysis. This method of modeling simplified equivalents for parts of the network outside the study area is to evaluate the stability of a study area modeled in detail. Generators are closely coupled in an electrical sense tend to swing together in groups during disturbances, and this behavior can be exploited to reduce the size of the power system model. The characteristics of generators swing together are referred to as coherency Coherency groups whose generators state trajectory are similar to the other generators state trajectory in the same coherency group by a certain disturbance. In this paper, procedures for forming dynamic equivalents of control devices of coherency-based generating units are proposed and the aggregation of the control devices such as excitation system and governor-turbine system is accomplished by this method. This method can deal with the aggregation of the same type of control devices and combination of hydro and steam unit or the many types of excitation systems. etc. This method is shown to be efficient in reducing the number of control device of generating units with small error in the study group by result of case study presented latter part of this paper.

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Computations of Droplet Impingement on Airfoils in Two-Phase Flow

  • Kim, Sang-Dug;Song, Dong-Joo
    • Journal of Mechanical Science and Technology
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    • v.19 no.12
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    • pp.2312-2320
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    • 2005
  • The aerodynamic effects of leading-edge accretion can raise important safety concerns since the formulation of ice causes severe degradation in aerodynamic performance as compared with the clean airfoil. The objective of this study is to develop a numerical simulation strategy for predicting the particle trajectory around an MS-0317 airfoil in the test section of the NASA Glenn Icing Research Tunnel and to investigate the impingement characteristics of droplets on the airfoil surface. In particular, predictions of the mean velocity and turbulence diffusion using turbulent flow solver and Continuous Random Walk method were desired throughout this flow domain in order to investigate droplet dispersion. The collection efficiency distributions over the airfoil surface in simulations with different numbers of droplets, various integration time-steps and particle sizes were compared with experimental data. The large droplet impingement data indicated the trends in impingement characteristics with respect to particle size ; the maximum collection efficiency located at the upper surface near the leading edge, and the maximum value and total collection efficiency were increased as the particle size was increased. The extent of the area impinged on by particles also increased with the increment of the particle size, which is similar as compared with experimental data.

Trajectory analysis of a CubeSat mission for the inspection of an orbiting vehicle

  • Corpino, Sabrina;Stesina, Fabrizio;Calvi, Daniele;Guerra, Luca
    • Advances in aircraft and spacecraft science
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    • v.7 no.3
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    • pp.271-290
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    • 2020
  • The paper describes the analysis of deployment strategies and trajectories design suitable for executing the inspection of an operative spacecraft in orbit through re-usable CubeSats. Similar missions have been though indeed, and one mission recently flew from the International Space Station. However, it is important to underline that the inspection of an operative spacecraft in orbit features some peculiar characteristics which have not been demonstrated by any mission flown to date. The most critical aspects of the CubeSat inspection mission stem from safety issues and technology availability in the following areas: trajectory design and motion control of the inspector relative to the target, communications architecture, deployment and retrieval of the inspector, and observation needs. The objectives of the present study are 1) the identification of requirements applicable to the deployment of a nanosatellite from the mother-craft, which is also the subject of the inspection, and 2) the identification of solutions for the trajectories to be flown along the mission phases. The mission for the in-situ observation of Space Rider is proposed as reference case, but the conclusions are applicable to other targets such as the ISS, and they might also be useful for missions targeted at debris inspection.

Gait Pattern Generation of S-link Biped Robot Based on Trajectory Images of Human's Center of Gravity (인간의 COG 궤적의 분석을 통한 5-link 이족 로봇의 보행 패턴 생성)

  • Kim, Byoung-Hyun;Han, Young-Joon;Hahn, Hern-Soo
    • Journal of KIISE:Software and Applications
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    • v.36 no.2
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    • pp.131-143
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    • 2009
  • Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.