• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.629-634
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• 2000

Generally, the accuracy of motion control systems is strongly influenced by both the mechanical characteristics and servo characteristics of feed drive systems. In the fed drive systems of machine tools that consist of mechanical parts and electrical parts, a torsional vibration is often generated because of its elastic elements in torque transmission. Especially, a torsional vibration caused by the elasticity of mechanical elements might deteriorate the quick movement of system and lead to shorten the life time of the mechanical transmission elements. So it is necessary to analyze the electromechanical system mathematically to optimize the dynamic characteristics of the feed drive system. In this paper, based on the simplifies feed drive system model, radius errors due to position gain mismatch and servo response characteristic have been developed and an optimal criterion for tuning the gain of speed controller is discussed. The proportional and integral parameter gain of the feed drive controller are optimal design variables for the gain tuning of PI speed controller. Through the optimization problem formulation, both proportional and integral parameter are optimally tuned so as to compensate the radius errors by using the genetic algorithm. As a result, higher performance on circular profile tests has been achieved than the one with standard parameters.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.405-410
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• 2001

In this paper, a new parametric curve interpolator is proposed based on a 3D(3-dimensional) NURBS curve. A free curve is generally divided into small linear segments or circular arcs in CNC machining. The method has caused to a command error, the limitation of machining speed, and the irregular machining surface. The proposed real-time 3D NURBS interpolator continuously generates a linear segment within the range of allowable acceleration/deceleration in the motion controller. Therefore, the algorithm calculates the curvature and the remained distance of a command curve for the smoothing machining. It is expected to attaining high speed and high precision machining in CNC Machine Tool.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.459-463
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• 1996

The lateral-shearing interferometer specially devised for production line inspection lenses is presented. The interferometer is composed with immersion oil and four prisms whose relative sliding motion provide lateral-shearing and phase-shifting. A special phase-measuring algorithm of a-bucket is adopted to compensate the phase-shifting error caused by the thickness reduction in the immersion oil Three different algorithm for determinating quantitative aberration of aspherical lenses are presented and compared with one another.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.962-969
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• 2007

In this paper, an approach is developed for relative state estimation of satellite formation flying. To estimate relative states of two satellites, the Extended Kalman Filter Algorithm is adopted with the relative distance and speed between two satellites and attitude of satellite for measurements. Numerical simulations are conducted under two circumstances. The first one presents both chief and deputy satellites are orbiting a circular reference orbit around a perfectly spherical Earth model with no disturbing acceleration, in which the elementary relative orbital motion is taken into account. In reality, however, the Earth is not a perfect sphere, but rather an oblate spheroid, and both satellites are under the effect of $J_2$ geopotential disturbance, which causes the relative distance between two satellites to be on the gradual increase. A near-Earth orbit decays as a result of atmospheric drag. In order to remove the modeling error, the second scenario incorporates the effect of the $J_2$ geopotential force, and the atmospheric drag, and the eccentricity in satellite orbit are also considered.

• 한국군사과학기술학회지
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• 제18권2호
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• pp.181-188
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• 2015

This paper present, the result of the guidance and control law for a course correction munitions(CCM) with 2sets of canards positioned in the rotating nose section. The nonlinear simulation model of the CCM was developed based on 7DOF equation of motion. The ability of correcting position was verified by open-loop control input with nonlinear model. The guidance and control command was constructed by reference trajectory which can be obtained with no control. Finally, the performance of the guidance and control law was evaluated through Monte-carlo simulation. The CEP(Circular Error Probability) was obtained by considering the errors in muzzle velocity, aerodynamic coefficient, wind, elevation and azimuth angle and density.

• Advances in robotics research
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• 제1권1호
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.158-161
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• 2003

Recently, the evolution in production techniques (e.g. high-speed milling), the complex shapes involved in modem production design, and the ever increasing pressure for higher productivity demand a drastic improvement of the dynamic behavior of the machine tool axes used in production machinery. And also machine tools of multi functional and minimized parts are increasingly required as demand of higher accurate in some fields such as electronic and optical components etc. The accuracy and the productivity of machined parts are natural to depend on the linear system of machine tools. The complex workpiece surfaces encountered in present-day products and generated by CAD systems are to be transformed into tool paths for machine tools. The more complex these tool paths and the higher the speed requirements, the higher the acceleration requirements are needed to the machine tool axes and the motion control system, and the more difficult it is to meet the requirements. The traditional indirect drive design for high speed machine tools, which consists of a rotary motor with a ball-screw transmission to the slide, is limited in speed, acceleration, and accuracy. The direct drive design of machine tool axes. which is based on linear motors and which recently appeared on the market. is a viable candidate to meet the ever increasing demands, because of these advantages such as no backlash, less friction, no mechanical limitations on acceleration and velocity and mechanical simplicity. Therefore performance tests were carried out to machine tool axes based on linear motor. Especially, dynamic characteristics were investigated through circular test.

• 대한조선학회논문집
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• 제54권4호
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• pp.329-334
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• 2017

As the motion response of heave for floating bodies on the water surface is relatively large near the natural frequency, it is necessary to predict its value accurately from the stage of initial design. Bodies accelerating in fluid experience force acted upon by the fluid, and this force is quantified by using the concept of added mass. For predicting the natural frequency of heave we need to know the added mass, which is given as a function of frequency, and hence the natural frequency can be obtained through only by iteration process, as was pointed out by Lee (2008). His method was applied to circular cylinders, and two dimensional cylinders of Lewis form by making use of the Ursell-Tasai method in the previous works, Lee and Lee (2013), Kim and Lee (2013), and Song and Lee (2015). In this work, a similar algorithm employing the concept of strip method is adopted for predicting the heave natural frequency of KCS(KRISO Container Ship), and the obtained computational result was compared with other existing experimental data, and the agreement seems reasonable. Furthermore, through the error analysis, it is shown that why the frequency corresponding to the local minimum of the added mass and the natural frequency are very close. And it seems probable that we can predict the heave natural frequency if we know only the local minimum of added mass and the corresponding frequency under a condition, which holds for ship-like bodies in general.

• 대한토목학회논문집
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• 제33권6호
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• pp.2267-2275
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• 2013

기존의 천수흐름 해석 상용모형에서는 내부 경계조건을 단순히 완전활동조건으로 가정하여 유체의 흐름을 해석함으로써 구조물 주위에서의 유속, 와도, 수위, 전단력의 분포, 항력 및 양력의 시간에 따른 변화 등을 올바르게 해석하지 못하였다. 본 연구에서는 구조물 주위에서의 흐름특성을 정확하게 예측할 수 있는 유한요소모형을 개발하고, 구조물에서의 경계조건을 활동길이를 이용한 부분활동조건으로 묘사하여 내부경계조건에 따른 원형 실린더 후면에서의 층류 흐름특성을 분석하였다. 종횡방향 유속 및 와도의 시간에 따른 변화, 후류길이, 활동길이에 따른 와류열의 변화와 질량보존율을 비교한 결과 완전활동조건을 부여한 경우에는 와류열이 전혀 형성되지 않고 완전한 층류흐름이 발생하였다. 부분활동조건을 입력한 경우 실린더 표면에서의 유속분포가 변화되어 전단력의 크기와 와도의 발생에 영향을 미치므로 무활조건을 부여한 경우에 비해 와류열의 발생 주기가 짧아졌다. 최대 질량보존 오차는 무활조건을 적용한 경우 0.73%로 나타났으며, 무활조건에 비해 부분활동조건을 부여한 경우의 오차율이 최대 0.21% 감소하였다.