• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.647-652
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• 2000

This paper presents a study on the position tracking control of robot system on the uncertain elastic base. The elastic base is modeled as a virtual robot which has passive joints and the control strategy is using approximate Jacobian operators. Jacobian operators represent the overall robot system including base movement. However, because we don't know the base movement we can't estimate the jacobian operators directly. The control algorithm is proposed which uses only Jacobian operators of a real robot as approximate Jacobian operators. The measured errors from external sensor are compensated by approximate Jacobian operators. The simulation results of a single-axis robot system show that the control strategy can be used for position tracking.

• The Journal of the Acoustical Society of Korea
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• v.14 no.6
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• pp.74-79
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• 1995

This paper proposes the stereo LVFC-Robot which Imitates eyes and arms of man. we derived linear approximation equation between visual space and joint space by minimum square method and then applied it to the proposed stereo LVFC-Robot. As a result of a simulation, its efficency is verified. Compared with the stereo VFC, the stereo LVFC Robot don't need the Image Jacobian and the Robot Jacobian. Thus it is possible to control Robot in real time.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.559-563
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• 2000

In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1086-1092
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• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• 한국전산유체공학회:학술대회논문집
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• 1999.11a
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• pp.59-64
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• 1999

The Equations of Chemical kinetics ate very stiff, which forces the use of an implicit scheme. The problem of implicit scheme, however, is that the jacobian must be solved at each time step. In this paper, we examined the approximate chemical jacobian methods such as Gauss-Seidel, Jacobi partial jacobian and diagonalized jacobian that can be stable without full jacobian, We show that Gauss-Seidel jacobian method is stable and accurate as well as full jacobian and that this is more efficient in supersonic combustion problem about $20\%$ than the full jacobian method with same accuracy,

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1997.11a
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• pp.17-17
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• 1997

극초음속 여객기와 군사용 항공기에 대한 수요가 증가함에 따라서 새로운 개념의 다양한 추진기관이 연구가 진행되고 개발되어 왔다. 초음속 항공기의 속도 영역은 마하 10-20 정도가 되는데 이 속도 한계를 극복하기 위하여 초음속 연소 램제트 엔진(SCRamjet; Supersonic Combustion Ramjet)이 제안되었다. 스크램 제트를 개발하기 위해서는 연료와 산화제의 혼합 효율 문제, 화염의 안정화 문제, 벽면의 냉각에 관한 문제 등 몇 가지 기본적인 문제들을 해결해야 한다. Univ of Michigan에서 실험한 연소기를 모델로 본 연구에서는 연료와 공기의 혼합에 관한 수치 연구를 수행하였다. 다원 혼합기체에 관한 축대칭 Navier-Stokes 방정식을 지배 방정식을 이용하였고 비평형 화학반응식을 고려하였다. 공간 차분에는 유한 체적법을 이용하였다. 대류 플럭스 항은 Roe의 Upwind FDS 기법을 사용하여 차분하였고 점성항에는 중심 차분법을 이용하였다. 시간 적분법으로는 근사 자코비안과 LU분할 기법을 이용한 완전 내재적 방법이 쓰였다. 난류 모델로는 Mentor에 의해 제안된 2 방정식 k-$\varepsilon$/k-$\omega$ 혼합모델을 사용하였다. 유동장이 실험에서의 찍은 사진과 유사한 모습의 충격파 간섭을 수치 모사하였고 수소가 확산되는 모습과 함께 노즐 lip 주위의 재순환 영역에 대해서 살펴볼 수 있었다.

• Geophysics and Geophysical Exploration
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• v.6 no.2
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• pp.95-100
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• 2003

In this study, we developed reflection tomography inversion algorithm using Straight Ray Technique (SRT) which can calculate travel time easily and fast for complex geological structure. The inversion process begins by setting the initial velocity model as a constant velocity model that hat only impedance boundaries. The inversion process searches a layer-interface structure model that is able to explain the given data satisfactorily by inverting to minimize data misfit. For getting optimal solution, we used Gauss-Newton method that needed constructing the approximate Hessian matrix. We also applied the Marquart-Levenberg regularization method to this inversion process to prevent solution diverging. The ability of the method to resolve typical target structures was tested in a synthetic salt dome inversion. Using the inverted velocity model, we obtained the migration image close to that of the true velocity model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.3
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• pp.183-195
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• 2007

Comprehensive mathematical comparison of numerical dissipation vector was made for a compressible and the preconditioned version Roe's Riemann solvers. Choi and Merkle type preconditioning method was selected from the investigation of the convergence characteristics of the various preconditioning methods for the flows over a two-dimensional bump. The investigation suggests a way of migration from a compressible code to a preconditioning code with a minor changes in Eigenvalues while maintaining the same code structure. Von Neumann stability condition and viscous Jacobian were considered additionally to improve the stability and accuracy for the viscous flow analysis. The developed code was validated through the applications to the standard validation problems.

• Geophysics and Geophysical Exploration
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• v.19 no.3
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• pp.111-120
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• 2016

In order to enhance the connectivity of fracture network as fluid path in enhanced/engineered geothermal system (EGS), the exact locating of hydraulic fractured zone is very important. Hydraulic fractures can be tracked by locating of microseismic events which are occurred during hydraulic fracture stimulation at each stage. However, since the subsurface velocity is changed due to hydraulic fracturing at each stage, in order to find out the exact location of microseismic events, we have to consider the velocity change due to hydraulic fracturing at previous stage when we perform the mapping of microseimic events at the next stage. In this study, we have modified 3D locating algorithm of microseismic data which was developed by Kim et al. (2015) and have developed 3D velocity update algorithm using occurred microseismic data. Eikonal equation which can efficiently calculate traveltime for complex velocity model at anywhere without shadow zone is used as forward engine in our inversion. Computational cost is dramatically reduced by using Fresnel volume approach to construct Jacobian matrix in velocity inversion. Through the numerical test which simulates the geothermal survey geometry, we demonstrated that the initial velocity model was updated by using microseismic data. In addition, we confirmed that relocation results of microseismic events by using updated velocity model became closer to true locations.