• 한국산업융합학회 논문집
• /
• 제18권3호
• /
• pp.139-149
• /
• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• 한국산업융합학회 논문집
• /
• 제21권2호
• /
• pp.53-62
• /
• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• 한국정밀공학회지
• /
• 제34권1호
• /
• pp.35-39
• /
• 2017

We used a construction method using a CNC milling machine, where free-formed molds were made by cutting EPS (Expanded PolyStyrene) foam with the CNC machine, to build free-formed buildings. CNC milling is off-the-shelf technology that can easily cut EPS foam; however its production cost is too high and the time to manufacture an EPS mold is too long. This paper proposes a novel cutting machine with a fast and cost effective mechanism to manufacture EPS concrete molds. Our machine comprises a cutter and Cartesian coordinate type moving mechanism, where the cutter cuts EPS foam using a hotwire in the shape of '$\sqcap$' and is capable of adjusting its cutting angle in real-time while keeping its cutting width. We proved through cutting experiments on the CNC machine that cutting time was greatly shortened compared to the conventional method and that the resulting concrete mold satisfied manufacturing precision.

• 천문학회보
• /
• 제42권1호
• /
• pp.52.2-53
• /
• 2017

We develop a methodology to use the redshift dependence of the galaxy 2-point correlation function (2pCF) as a probe of cosmological parameters. The positions of galaxies in comoving Cartesian space varies under different cosmological parameter choices, inducing a redshift-dependent scaling in the galaxy distribution. This geometrical distortion can be observed as a redshift-dependent rescaling in the measured 2pCF. The shape of the 2pCF exhibits a significant redshift evolution when the galaxy sample is analyzed under a cosmology differing from the true, simulated one. Other contributions, including the gravitational growth of structure, galaxy bias, and the redshift space distortions, do not produce large redshift evolution in the shape. We show that one can make use of this geometrical distortion to constrain the values of cosmological parameters governing the expansion history of the universe. This method could be applicable to future large scale structure surveys, especially photometric surveys such as DES, LSST, to derive tight cosmological constraints. This work is a continuation of our previous works as a strategy to constrain cosmological parameters using redshift-invariant physical quantities.

• 제어로봇시스템학회논문지
• /
• 제19권6호
• /
• pp.540-546
• /
• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• 제어로봇시스템학회논문지
• /
• 제19권6호
• /
• pp.495-500
• /
• 2013

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

• 한국전산유체공학회지
• /
• 제19권2호
• /
• pp.72-78
• /
• 2014

A hybrid particle-mesh method as the combination between the Vortex-In-Cell (VIC) method and penalization method has been achieved in recent years. The VIC method, which is based on the vorticity-velocity formulation, offers particle-mesh algorithms to numerically simulate flows past a solid body. The penalization method is used to enforce boundary conditions at a body surface with a decoupling between body boundaries and computational grids. The main advantage of the hybrid particle-mesh method is an efficient implementation for solid boundaries of arbitrary complexity on Cartesian grids. However, a numerical simulation of flows in large domains is still not too easy. In this study, a multi-domain approach is thus proposed to further reduce computation cost and easily implement it. We validate the implementation by numerical simulations of an incompressible viscous flow around an impulsively started circular cylinder.

• 한국전산유체공학회지
• /
• 제22권1호
• /
• pp.81-87
• /
• 2017

The characteristics of flow past a square cylinder submerged under the free surface have been numerically studied. An immersed boundary method was adopted for implementation of the cylinder cross-section in a Cartesian grid system. Also, a level-set method was used to capture the interface of the two fluids. The case for Reynolds number 150 was examined. At the specific Reynolds number, by varying the gap ratio(0.25, 0.40, 0.55, 0.70, 1.00, 1.50, 2.50, 5.00) the effects of the free surface on the force coefficients and Strouhal number of vortex shedding were identified. The presence of the free surface very close to the cylinder significantly affects the shedding pattern, resulting in considerable deviation of the force coefficients and Strouhal number from those of the single-phase flow. In addition, the influence of Froude number was considered in this study. By increasing Froude number(0.2-0.4), flow topology change was identified at the specific gap ratios(0.40, 0.70, 1.50, 5.00).

• Journal of Mechanical Science and Technology
• /
• 제18권1호
• /
• pp.92-105
• /
• 2004

A new algorithm for planning a collision-free path based on algebraic curve is developed and the concept of collision-free Path Space (PS) is introduced. This paper presents a Geometry Mapping (GM) based on two straight curves in which the intermediate connection point is organized in elliptic locus ($\delta$, $\theta$). The GM produces two-dimensional PS that is used to create the shortest collision-free path. The elliptic locus of intermediate connection point has a special property in that the total distance between the focus points through a point on ellipse is the same regardless of the location of the intermediate connection point on the ellipse. Since the radial distance, a, represents the total length of the path, the collision-free path can be found as the GM proceeds from $\delta$=0 (the direct path) to $\delta$=$\delta$$\_$max/(the longest path) resulting in the minimum time search. The GM of elliptic workspace (EWS) requires calculation of interference in circumferential direction only. The procedure for GM includes categorization of obstacles to .educe necessary calculation. A GM based on rectangular workspace (RWS) using Cartesian coordinate is also considered to show yet another possible GM. The transformations of PS among Circular Workspace Geometry Mapping (CWS GM) , Elliptic Workspace Geometry Mapping (EWS GM) , and Rectangular Workspace Geometry Mapping (RWS GM), are also considered. The simulations for the EWS GM on various computer systems are carried out to measure performance of algorithm and the results are presented.

• 대한기계학회논문집B
• /
• 제24권8호
• /
• pp.1046-1055
• /
• 2000

The flow and thermal phenomena in flat tubes of radiator are analyzed numerically. To predict the characteristics of heat transfer and pressure drop, the flow analysis program for three-dimensional complex geometry is developed, which adopted an non-staggered grid system and Cartesian velocities as dependent variables of the momentum equations. Using the developed program, the effect of tube specifications on the heat transfer characteristics is investigated for various flat tubes. From this study, the following results are obtained; (1) For the same hydraulic diameter($D_h{\doteq}5.2$mm), the Nusselt numbers of three basic modeis(D, J, and H-model) are 8.71, 8.92, and 10.58, respectively, and the pressure drops of D-, J-, and H-model are predicted as $-3.08{\times}10^{-2}\;Pa,\;-3.12{\times}10^{-2}\;Pa,\;and\; -3.98{\times}10^{-2}$ Pa, (2) In case of the same flat tube specification, the fins must be brazed at upper tube surface because the heat is more vividly transferred. Therefore, it is found that the H- model is the most effective tube as a heat exchanger and these results are used as a fundamental data for the design of tube.