• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.933-938
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• 2001

In this paper, we describe a method for the mobile robot using images of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot`s position. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied to this method. Effectiveness of the proposed method is demonstrated by the simulation.

• 한국대기환경학회지
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• 제14권5호
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• pp.411-420
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• 1998

To estimate the dispersion coefficients in a coastal area with complex topography, several schemes using empirical equations expressed with and in lateral and vertical directions, respectively have been examined. Estimation results using these equations and meteorological data obtained from SODAR system were compared' with previously measured dispersion coefficients in other coastal areas. Validations of estimation results have been performed by comparing the measured concentrations with predicted ones empolying in Boryung coastal area. Important conclusions were drawn as follows; (1) Variations of lateral and vertical wind direction revealed different height dependency in upper and lower mixed boundary layer. (2) Because of turbulent constraint effect by large water body in a coastal region, the lateral and the vertical dispersion coefficients were smaller than those of P-G system. (3) As a result of examining the performance measure of these schemes through checking of coincidence between measured and predicted concentrations, vertical dispersion coefficients were smaller than those of P-G system, and the Cramer scheme was found to be more appropriate rather than others in the coastal area surrounding Boryung power plant.

• 한국농공학회지
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• 제36권4호
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• pp.56-63
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• 1994

The nondimensional differential equations governing the buckling loads of tapered columns and its houndarv conditions are derived, in which the effects of shear deformations are included. These equations are solved numerically using a numerical integration technique and a bracketing method to obtain the buckling loads of columns. Four types of cross-sectional shape with clamped-free end constraint are used in the numerical examples. The parametric studies of shear deformation effects on the buckling loads such as cross-sectional shape factor, shear coefficient, ratio of modulus of elasticity, slenderness ratio and section ratio are reported in tables and figures.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.81-84
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• 1996

We propose the robust nonlinear controller design methodology, the $H_{\infty}$ constrained quasi - linear quadratic Gaussian control (QLQG/ $H_{\infty}$), for the statistically-linearized multivariable system with hard nonlinearties such as Coulomb friction, deadzone, etc. The $H_{\infty}$ performance constraint is involved in the optimization process by replacing the covariance Lyapunov equation with the Riccati equation whose solution leads to an upper bound of the QLQG performance. Because of the system's nonlinearity, however, one equation among three Riccati equations contain the nonlinear correction terms that are very difficult to solve numerically. To treat this problem, we use simple algebraic techniques. With some analytic transformation for Riccati equations, the nonlinear correction terms can be so eliminated that the set of a linear controller to the different operating points are designed. Synthesizing these via inverse random input describing function (IRIDF) technique, the final nonlinear controller can be designed.

• Journal of information and communication convergence engineering
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• 제7권4호
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• pp.539-544
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• 2009

An estimation of 3D velocity field including occluded parts without maxing tracer to the fluid had not only never been proposed but also impossible by the conventional computer vision algorithm. In this paper, we propose a new method of three dimensional optical flow of the fluid based on physical model, where some boundary conditions are given from a priori knowledge of the flow configuration. Optical flow is obtained by minimizing the mean square errors of a basic constraint and the matching error terms with visual data using Euler equations. Here, Navier-Stokes motion equations and the differences between occluded data and observable data are employed as the basic constrains. we verify the effectiveness of our proposed method by applying our algorithm to simulated data with partly artificially deleted and recovering the lacking data. Next, applying our method to the fluid of observable surface data and the knowledge of boundary conditions, we demonstrate that 3D optical flow are obtained by proposed algorithm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.618-621
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• 2001

The proposed lever actuator has no friction and mass balance characteristics in motion, which are adapt to high-speed and high-density optical disk system. This paper discussed about the theoretical analysis of the lever structure. The modeling of the lever actuator is found. Using the Newton's method, the motion of equation is deduced through the constraint equations and equilibrium equations in three directions (focusing, tracking and tilting). From the above analysis, we know that the shape of the hinge is the very important parameter on determining the performance of the lever actuator, and the actuator has the 2nd order system characteristics. And the first resonant frequency in transmissibility is dependent to the rigidity of the lever while the first transmissibility resonance of conventional actuators is dependent to the first natural resonance of those actuators. This means that the lever actuator is more stable to the external vibration.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1961-1968
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• 2003

In this paper, an efficient numerical algorithm for the kinematic analysis of the standard MacPherson suspension system is presented. The kinematic analysis of the suspension mechanism is carried out in terms of the rectangular Cartesian coordinates of some defined points in the links and at the kinematic joints. Geometric constraints that fix the distances between the points belonging to the same rigid link are introduced. The nonlinear constraint equations are solved by iterative numerical methods. The corresponding linear equations of the velocity and acceleration are solved to yield the velocities and accelerations of the unknown points. The velocities and accelerations of other points of interest as well as the angular velocity and acceleration of any link in the mechanism can be calculated.

• 대한기계학회논문집A
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• 제33권1호
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• pp.89-97
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• 2009

In this paper, a computer software for dynamic analysis of a high mobility tracked vehicle with pre/post processor is developed. Model of a tracked vehicle is composed of chassis, turret, mount, gun, and road-wheel assembly. Track is modeled as an extensible cable and the track tensions are applied on the wheels as external forces. The system equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method. The pre and post processors are developed using the Visual C++.

• Structural Engineering and Mechanics
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• 제5권3호
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• pp.283-295
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• 1997

This paper presents a high precision integration method for the dynamic response analysis of structures with holonomic constraints. A detail recursive scheme suitable for algebraic and differential equations (ADEs) which incorporates generalized forces is established. The matrix exponential involved in the scheme is calculated precisely using $2^N$ algorithm. The Taylor expansions of the nonlinear term concerned with state variables of the structure and the generalized constraint forces of the ADEs are derived and consequently, their particular integrals are obtained. The accuracy and effectiveness of the present method is demonstrated by two numerical examples, a plane truss with circular slot at its tip point and a slewing flexible cantilever beam which is currently interesting in optimal control of robot manipulators.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.689-696
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• 2006

This paper deals with the geometrical non-linear analyses of the buckled columns. Differential equations governing elasticas of the buckled columns are derived, in which both effects of taper type and shear deformation are included. Three kinds of taper types such as breadth, depth and square tapers are considered. Differential equations are solved numerically to obtain the elasticas and buckling loads of such columns. End constraint of both clamped ends and both hinged ends are considered. The effects of shear deformation on the elastica of the buckled column and buckling load of column are investigated extensively. Experimental studies are presented that complement theoretical results of non-linear responses of the elasticas.