• Title/Summary/Keyword: Grasping Control

Search Result 213, Processing Time 0.031 seconds

The Analysis of MOUs and their Activities Related to Port State Control

  • Min, Byung-Sun;Kim, Soon-Kap;Kong, Gil-Young;Kim, Chol-Seong;Lee, Yoon-Sok;Kim, Jung-Man;Lee, Chung-Ro
    • Journal of Navigation and Port Research
    • /
    • v.27 no.3
    • /
    • pp.321-327
    • /
    • 2003
  • The Memorandum of Understanding (MOU) is the document of intent signed between the Port States Control(PSC) to undertake a uniform as agreed. Though the MOU is not a legally binding, in case where the agreed items are violated without a just cause, the denunciation will follow. International Maritime Organization (IMO) and regional MOUs have been making amendments and reinforcing the relevant requirements, so that port State Authorities can effectively eradicate the substandard vessels. However, the various problems have arisen due to the existence of different requirements of each MOU, the lack of information exchange between each MOU, the lack of uniform PSC implementation within the same MOU and the lack of adequate system due to the short history of MOUs. In this paper, the MOU records for three years (1999∼2001) were analyzed according to each MOU, type of ship, deficiency code, classification society, the number of inspected ships and the number of detained ships to assess the problems (Statistics during 2002 will be published after August 2003). The purpose of this study is to help better understand the PSC activities within each MOU and to establish effective countermeasures by grasping the problems that exist in the PSC at present.

The Development of Optimal Design and Control System for Ultra-Precision Positioning on Single Plane X-Y Stage (평면 X-Y 스테이지의 초정밀 위치결정을 위한 최적 설계 및 제어시스템 개발)

  • 한재호;김재열;심재기;김창현;조영태;김항우
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 2002.05a
    • /
    • pp.348-352
    • /
    • 2002
  • a basis such as IT(Information Technology), NT(Nano Technology) and BT(Bio Technology). Recently, NT is applied to various fields that are composed of science, industry, media and semiconductor-micro technology. It has need of IT that is ultra-precision positioning technology with strokes of many hundreds mm and maintenance of nm precision in fields of ultra micro process, ultra precision measurement, photo communication part and photo magnetic memory. This thesis represents optimal design on ultra-precision positioning with single plane X-Y stage and development of artificial control system for adequacy of industrial demand. Also, dynamic simulation on global stage is performed by using ADAMS (Automated Dynamic Analysis of Mechanical System) for the purpose of grasping dynamic characteristic on user designed X-Y global stage. The error between displacements from micro stage and from FEM(Finite Element Method) is 3.53% by verifications of stability on micro stage and control performance. As maximum Von-mises stress on hinge of micro stage is 5.981kg/mm$^2$ that is 1.5% of yield stress, stability on hinge is secured. Preparing previous results, optimal design of micro stage can be possible, and reliance of results with FEM can be secured.

  • PDF

A Study on the Analysis and Improvement of STANAG 4586 / MAVLink Protocol for Interoperability Improvement of UAS (UAS 상호운용성 향상을 위한 STANAG 4586과 MAVLink 프로토콜 비교분석 및 개선방안 연구)

  • Nam, Gyeongrae;Go, Jeonghwan;Kwon, Cheolhee;Jeong, Soyoung
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.23 no.6
    • /
    • pp.618-638
    • /
    • 2020
  • An unmanned aerial vehicle(UAV) refers to an aircraft that has all or part of its functions to autonomously fly by grasping the surrounding environment by remote control on the ground without a pilot on board. With the development of unmanned aerial technology, civil/military forces are developing unmanned aerial vehicles for various purposes. In order to control unmanned aerial vehicles from the ground, communication protocols between unmanned aerial vehicles and ground control equipment are required, and civil/military forces have developed and used a photocall for different purposes. In this study, the characteristics of the MAVLink protocol used in the private sector and the STANAG 4586 protocol used in the military are compared/analyzed in detail to find elements to complement each other and to draw improvement measures for protocol unification.

Analysis of Simulation of Daylight and Experiment for Determining on Effective Dimming Ratio (효과적인 조광제어시스템 적용을 위한 주광시뮬레이션과 실험데이터 분석)

  • Kim, Ga-Young;Kim, Yu-Sin;Choi, An-Seop
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
    • /
    • v.21 no.1
    • /
    • pp.1-9
    • /
    • 2007
  • This study proposes to increase the energy-saving effects by reducing excessive intensity of radiation of artificial lighting through analyzing daylight incident. A photosensor sends amounts of detected luminous flux to digital control unit(DCU) as a signal and then, it can decide dimming ratios, received a proper dimming signal from DCU. Generally it is effective to control artificial lighting with the different control ratio of each zone by setting a photosensor as same number and rows as artificial lighting. However, it is ineffective to do in initial costs of systems aspect in offices. As a result of grasping the distribution of daylight previously and analyzing daylight and dimming data, we can dim different dimming ratios to each zone of artificial lighting by a single photosensor.

A Ship Motion Control System for Autonomous Navigation (지능형 자율운항제어를 위한 선박운동제어시스템)

  • 이원호;김창민;최중락;김용기
    • Journal of KIISE:Computing Practices and Letters
    • /
    • v.9 no.6
    • /
    • pp.674-682
    • /
    • 2003
  • Ship autonomous navigation is designated as what computerizes mental faculties possessed of navigation experts, which are building navigation plans, grasping the situation, forecasting the fluctuation, and coping with the situation. An autonomous navigation system, which consists of several subsystems such as navigation system, a collision avoidance system, several data fusion systems, and a motion control system, is based on an intelligent control architecture for the sake of integrating the systems. The motion control system, which is one of the most essential system in autonomous navigation system, controls its propulsion and steering gears to move the ship satisfying its hydrodynamic characteristics. This paper is the study on the ship movement control system and its implementation which are totally developed and run on virtual-world system. Receiving the high-level control values such as a waypoint presented from the collision avoidance system, the motion control system generates them to low-level control values for propulsion and steering devices. In the paper, we develop a ship motion controller using Oldenburger's theory based on mathematical fundamentals, and simulate it with various scenarios in order to verify its performance.

Effect of Self-help Tai Chi for Arthritis on the Quality of Life, Health Perception, Joint Flexibility, Grasping Power, and Balance (자조타이치 프로그램이 삶의 질, 건강지각, 관절 유연성, 악력 및 균형감에 미치는 효과)

  • Lee, Eun-Hee;Lee, Kyung-Sook;So, Ae-Young;Choi, Jung-Sook;Lee, In-Oak;Lee, Jun-Dong
    • Journal of muscle and joint health
    • /
    • v.14 no.2
    • /
    • pp.127-136
    • /
    • 2007
  • Purpose: There has been a need to integrating the self-help program for arthritis with the TaiChi for arthritis patient. The purpose of this study was to develop and to examine the effect of the Self-help and Tai Chi for arthritis (SHTCA) program for arthritis. Method: This study was designed non equivalent control group pre-post test, quasi-experimental design. A total 40 participants were recruited in W-city, 29 participants(14-experimental group and 15-control group) completed post test. The experimental group participated in the SHTCA once a week for 8 weeks. SHTCA program was consisted of understanding of the arthritis, contracting of the promise, exercise for muscle strength and joint flexibility and 8 movements of Tai Chi exercise. Coloring plus program to cellular phone was used to encourage the exercise and participation by the KT-SHUT twice a week. Measures used to examine the effect of the SHTCA were EQ-5D standardized five dimensions(mobility, self-care, usual activities, pain & discomfort, and anxiety & depression), and health perception, joint flexibility, grasping power, and balance. Collected data was analyzed by SPSS WIN 14.0. Results: The experimental group had significantly increased the EQ-mobility(p=.033), health perception(p=.000), right shoulder flexibility(p=.007), and left shoulder flexibility(p=.002) compared to the control group. In addition, pain was decreased(p=.052) and right grip was increased(p=.052) after 8 weeks program in the experimental group. Conclusion: This SHTCA using coloring plus program was found partially effective and satisfactory. We recommended further research on the effect of this SHTCA effects.

  • PDF

Development of the Intelligent Gripper Using Two 3-axis Force Sensor (3 축 힘센서를 이용한 지능형 그리퍼 개발)

  • Kim, Gab-Soon
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.24 no.3 s.192
    • /
    • pp.47-54
    • /
    • 2007
  • This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

Evaluation of dynamical performance of 3 dimensional multi-arm robot (3차원 다중 로봇의 동적 성능 평가)

  • 김기갑;김충영
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1997.10a
    • /
    • pp.756-759
    • /
    • 1997
  • Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

  • PDF

Visual Servoing of manipulator using feature points (특징점을 이용한 매니퓰래이터 자세 시각 제어)

  • 박성태;이민철
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 2004.10a
    • /
    • pp.1087-1090
    • /
    • 2004
  • stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

  • PDF

RTP based Multicast Transmission Technique of Video Stream for Real-Time Multimedia Transmission (실시간 멀티미디어 전송을 위한 RTP 기반 비디오 스트림의 멀티캐스트 전송 기법)

  • 정규수;양종운;나인호
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.5 no.6
    • /
    • pp.1104-1109
    • /
    • 2001
  • In this paper, we describe a method for real-time transmitting video streams based on RTP. In order to guarantee synchronous video streams, we propose a method to grasp network situations by analyzing end-to-end network traffic. In addition, we present an algorithm for satisfying QoS requirements of real-time multimedia transmission and maintaining continuity of transmission. It describes a buffering method for overcoming bandwidth limitations and an analyzing method based on RTCP for grasping network traffic situation to resolve the problem of real-time transmission of video streams.

  • PDF