• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1500-1503
• /
• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.186-190
• /
• 2003

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• Advances in nano research
• /
• 제6권1호
• /
• pp.21-37
• /
• 2018

In the present article, wave dispersion behavior of a temperature-dependent functionally graded (FG) nanobeam undergoing rotation subjected to thermal loading is investigated according to nonlocal strain gradient theory, in which the stress numerates for both nonlocal stress field and the strain gradient stress field. The small size effects are taken into account by using the nonlocal strain gradient theory which contains two scale parameters. Mori-Tanaka distribution model is considered to express the gradually variation of material properties across the thickness. The governing equations are derived as a function of axial force due to centrifugal stiffening and displacements by applying Hamilton's principle according to Euler-Bernoulli beam theory. By applying an analytical solution, the dispersion relations of rotating FG nanobeam are obtained by solving an eigenvalue problem. Obviously, numerical results indicate that various parameters such as angular velocity, gradient index, temperature change, wave number and nonlocality parameter have significant influences on the wave characteristics of rotating FG nanobeams. Hence, the results of this research can provide useful information for the next generation studies and accurate deigns of nanomachines including nanoscale molecular bearings and nanogears, etc.

• Advances in aircraft and spacecraft science
• /
• 제5권4호
• /
• pp.459-475
• /
• 2018

In the field of aerospace engineering, accurate control of a spacecraft's orientation is often very important to mission success. Therefore, attitude control is a technically plentiful and extensively studied subject in controls literature during recent decades. This investigation of spacecraft attitude control is assumed to address two important aspects of the problem solutions. One sliding mode anti-disturbance control for utilization of faulty actuator components and another one disturbance observer based control to improve the pointing accuracy in the absence of anti-vibration equipment for the elastic appendages like a solar panel. Simultaneous occurrence of vibration due to flexible appendages and reaction degradation due to failure in attitude actuators complicates this case. The advantage of this method is acquisition proper control by the combination of disturbance observer and sliding mode compensation that form a fault tolerant control for the concerned satellite attitude control system. Furthermore, the proposed composite method indicates that occurrence the failure in actuators and even elastic solar panel vibration effect may be handled directly without reconfiguring the control components or providing piezoelectric devices. It's noteworthy, attitude quaternion and angular velocity commands are robustly tracked via controllers to become inclined to zero.

• 한국군사과학기술학회지
• /
• 제21권5호
• /
• pp.623-629
• /
• 2018

The acceleration and the angular velocity that include natural frequencies of a missile detected by Inertial Measurement Unit(IMU) are transmitted to the control loop of a missile. The control loop command that is calculated using above signals can cause the resonance of the missile while it flies. Hence it is common to adapt the filter and the control loop for attenuating or eliminating the undesired signals such as natural frequencies. This paper introduces the new test technique using a floating system for performance evaluation of the designed filter and the control loop prior to a flight test. The proposed scheme can check out the degradation property of vibration in the filter and the control loop, while the conventional hardware-in-the-loop simulation(HILS) scheme cannot.

• Advances in nano research
• /
• 제8권3호
• /
• pp.245-254
• /
• 2020

This work examines the fundamental vibrational characteristics of a spinning CNT-based nano-rotor assuming a nonlocal elasticity Euler-Bernoulli beam theory. The rotary inertia, gyroscopic, and rotor mass unbalance effects are all taken into consideration in the beam model. Assuming a nonlocal theory, two coupled 6th-order partial differential equations governing the vibration of the rotating SWCNT are first derived. In order to acquire the natural frequencies and dynamic response of the nano-rotor system, the nonlinear equations of motion are numerically solved. The nano-rotor system frequency spectrum is shown to exhibit two distinct frequencies: one positive and one negative. The positive frequency is known as to represent the forward whirling mode, whereas the negative characterizes the backward mode. First, the results obtained within the framework of this numerical study are compared with few existing data (i.e., molecular dynamics) and showed an overall acceptable agreement. Then, a thorough and detailed parametric study is carried out to study the effect of several parameters on the nano-rotor frequencies such as: the nanotube radius, the input angular velocity and the small scale parameters. It is shown that the vibration characteristics of a spinning SWCNT are significantly influenced when these parameters are changed.

• Transactions on Electrical and Electronic Materials
• /
• 제16권6호
• /
• pp.328-333
• /
• 2015

Squirrel cage induction motors have mostly been used for their small capacity because the starting torque is smaller than the starting current during start-up. However, as more and more mid-to-large capacity motors are developed, the demands for improvements in performance characteristics have also increased. In this study, the starting characteristics of squirrel cage induction motors were analyzed based on the rotor materials and shapes using a finite element method to provide design data suitable for different use purposes and capacities. We further completed analysis by combining electromagnetic equations deduced from Maxwell’s equations and the circuit equations of stators and rotors. A moving coordinator was introduced to rotate the rotor during the analysis, and the torques calculated via the finite element method were combined with the motion equations to calculate the position and angular velocity of the rotors at the next time, thereby analyzing the transient characteristics. The analysis results of the transient characteristics were applied to a 3-phase 4-pole 5-hp induction motor to calculate the starting torque, speed, and rotation angle of the rotors. In the reference model, the materials and shapes of the rotor slot were changed to copper and silicon copper and a deep slot, shallow slot, and long-neck-shaped slot.

• 대한기계학회논문집A
• /
• 제24권1호
• /
• pp.16-28
• /
• 2000

The steady rotating flows in eccentric annulus has been studied by a numerical method based on the spectral collocation method. The inner cylinder has a constant angular velocity while the outer on e is stationary. Flow between eccentric cylinders is of considerable technical importance as it occurs in journal bearings. In the present work, the governing equations for laminar flow are expressed as Navier-Stokes equations, including the non-linear convection terms. The solutions were utilized i, estimate the effects of the nonlinear terms on the load acting on the rotating cylinder. Based on the half and the full Sommerfeld methods, the load on the rotating cylinder is evaluated with eccentricity, by integrating the pressure and skin friction around the cylinder. The attitude angle and Sommerfeld reciprocal are calculated from the load. Also, the torque on the rotating inner cylinder was calculated. considering the skin friction. The attitude angle and Sommerfeld reciprocal are decreased with eccentricity. Viscous damping coefficient due to the skin friction becomes larger with decreasing the annular space. It is found the non-linear effects of the convection terms on the flow and the load are important. especially on the attitude angle, for relatively wide annular configurations however, the effects on those are minor for very narrow annular ones.

• 천문학회지
• /
• 제27권1호
• /
• pp.31-44
• /
• 1994

The 4.8GHz formaldehyde absorption line in the dark clouds in M17 and NGC 2024 regions has been mapped. In both nebulae, we detected two $H_2CO$ line components. In M17, the 24km $S^{-1}$ cloud is closely associated with the HII region located in front of the radio continuum source, and the 19km $S^{-1}$ cloud is associated with the visual dark clouds with a larger extent which are closer to us. The 19km $S^{-1}$ cloud has a mass motion approaching to the HII region. In both clouds, a velocity gradient from the north-east to the south-west directions is observed. The linewidth has no variation indicating no collapsing motion. In NGC 2024, the 9km $S^{-1}$ feature is extended along the dark bar in front of the bright nebula and a weak second component at 13km $S^{-1}$ is confined to the immediate vicinity of the radio source. Indications are that the 9km $S^{-1}$ cloud is physically associated with the dark bar and the 13km $S^{-1}$ cloud is located behind the radio source. The angular extent, the column density, and the total mass of the clouds are derived. The radial velocities of other molecular lines observed in these clouds are compared.

• Composites Research
• /
• 제13권1호
• /
• pp.61-68
• /
• 2000

이방성 적층 복합재 판의 과도적인 파동 해석을 위한 새로운 방법을 제시하였다. Gabor wavelet을 사용하는 wavelet 변환을 분산성 굽힘파의 시간-주파수 해석에 적용하였다. 시간-주파수 영역에서 wavelet 변환의 크기의 최대값은 군속도의 도달시간을 나타냄을 보였다. 음향방출원으로서 연필심 파단을 사용하여 준등방성 판과 일방향 보강 적층판에서 실험을 수행하였다. 굽힘파의 분산 예측을 위하여 Mindlin 판이론을 사용하였으며,주파수의 함수로 몇 개의 방향에 대해 측정한 군속도 실험 결과와 잘 일치하였다. 굽힘파의 주파수 의존 도달 시간과 같은 파의군속도 방향의존성을 이용하여 이방성 판에서의 파손 위치를 결정하였으며, 그 결과를 제시하였다.