• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.4
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• pp.80-90
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• 1994

Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.

• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.869-877
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• 2004

This paper deals with motion planning algorithm for kinematically redundant manipulators that are not fixed to the ground. Differently from usual redundant manipulators fixed to the ground, the stability issue should be taken into account to prevent the robot from falling down. The typical ZMP equation, which is employed in human walking, will be employed to evaluate the stability. This work proposes a feed forward ZMP planning algorithm. The algorithm embeds the 'ZMP equations' indirectly into the kinematics of the kinematic model of a manipulator via a ZMP stability index The kinematic self motion of the redundant manipulator drives the system in such a way to keep or plan the ZHP at the desired position of the footprint. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to enhance the performances of joint limit index and manipulability. In addition, the case exerted by external forces is taken into account. Through simulation for a 5 DOF redundant robot model, feasibility of the proposed algorithms is verified. Lastly, usual applications of the proposed kinematic model are discussed.

• Water for future
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• v.18 no.2
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• pp.175-185
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• 1985

This paper discusses the posibility of synthesizing flood hudrographs by the stroage function model. Eight small watersheds from Han, Gum, Nakdong, Youngsan river system were selected for this purpose. The optimum constants are computed from the chi square criterion by the SDFP methods Based on these constants, equations for the storage constant and Lag time are derived from the kinematic wave theory and storage function theory. These relations are examined by using optimum constants of the storage function model and assumptive constant of the kinematic wave model. Main results are sumarized as follows. 1. Constants of the storage function model are closely related to those of the kinematic wave model. The formula obtained theoretically is difficult to use practically because of the unclaified definition of factors. 2. In order to estimate constants of the storage function model for the practical purpose, new equations are also proposed for mountaneous area. 3. The verification of proposed equation is made for several recorded floods for mountaeous areas.

• Journal of Korea Water Resources Association
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• v.52 no.11
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• pp.887-894
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• 2019

We proposed a GPU (Grapic Processing Unit) accelerated kinematic wave model for rainfall runoff simulation and tested the accuracy and speed up performance of the proposed model. The governing equations are the kinematic wave equation for surface flow and the Green-Ampt model for infiltration. The kinematic wave equations were discretized using a finite volume method and CUDA fortran was used to implement the rainfall runoff model. Several numerical tests were conducted. The computed results of the GPU accelerated kinematic wave model were compared with several measured and other numerical results and reasonable agreements were observed from the comparisons. The speed up performance of the GPU accelerated model increased as the number of grids increased, achieving a maximum speed up of approximately 450 times compared to a CPU (Central Processing Unit) version, at least for the tested computing resources.

• Earthquakes and Structures
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• v.8 no.1
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• pp.101-132
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• 2015

This research formulates a closed-form equation to predict a glass panel cracking failure drift for several curtain wall and storefront systems. An evaluation of the ASCE 7-10 equation for Dclear, which is the drift corresponding to glass-to-frame contact, shows that the kinematic modeling assumed for formulation of the equation is sound. The equation proposed in this paper builds on the ASCE equation and offers a revision of that equation to predict drift corresponding to cracking failure by considering glazing characteristics such as glass type, glass panel configuration, and system type. The formulation of the proposed equation and corresponding analyses with the ASCE equation is based on compiled experimental data of twenty-two different glass systems configurations tested over the past decade. A final comparative analysis between the ASCE equation and the proposed equation shows that the latter can predict the drift corresponding to glass cracking failure more accurately.

• Journal of Korea Water Resources Association
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• v.33 no.2
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• pp.195-205
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• 2000

Many types of factors were devised to calculate time of concentration. Singh(976) derived time of concentration of overland flow using kinematic wave theory for plane, converging, and diverging geometric configurations. The present paper investigated the time of concentration for particularly plane geometric configuration. A theoretical equation of time of concentration is derived based on the assumption of impervious overland flow as in the open channel flow. The study characterized the overland flow by many types of characteristic flow such as rough turbulent flow, smooth turbulent flow, laminar flow, and then suggested a theoretical equation on each flow condition. The present paper further considered the rainfall intensity as a main factor and devised an approximate composite equation reflecting the effect of rainfall intensity given at various return periods.

• Journal of Korea Water Resources Association
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• v.37 no.10
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• pp.823-836
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• 2004

Using the simple geometry for the idealized catchment consisting of two plane surfaces and a stream between them, runoff was analysed for the moving storms based on the kinematic wave equation. The storm velocity applied in this study was 0.25∼2.0 m/s moving up, down and cross direction of catchment. Applied rainfall distribution types are uniform, advanced, delayed, intermediate type. The results indicate that the moving storms of cross direction generate the largest peak runoff, and the smallest runoff appears in the case of up stream direction. The sensitivity of runoff to rainfall distribution types decreases as storm velocity increases. It is clear that faster storm velocity generates faster peak time and becomes thin hydrographs rapidly.

• Journal of Sensor Science and Technology
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• v.28 no.2
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• pp.81-87
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• 2019

One of the major issues in inertial and magnetic measurement unit (IMMU)-based 3D orientation estimation is compensation for magnetic disturbances in magnetometer signals, as the magnetic disturbance is a major cause of inaccurate yaw estimation. In the proposed approach, a kinematic constraint is used to provide a measurement equation in addition to the accelerometer and magnetometer signals to mitigate the disturbance effect on the orientation estimation. Although a Kalman filter (KF) is the most popular framework for IMMU-based orientation estimation, a complementary filter (CF) has its own advantages over KF in terms of mathematical simplicity and ease of implementation. Accordingly, this paper introduces a quaternion-based CF with a constraint-combined correction equation. Furthermore, the weight of the constraint relative to the magnetometer signal is adjusted to adapt to magnetic environments to optimally deal with the magnetic disturbance. In the results of our validation experiments, the average and maximum of yaw errors were $1.17^{\circ}$ and $1.65^{\circ}$ from the proposed CF, respectively, and $8.88^{\circ}$ and $14.73^{\circ}$ from the conventional CF, respectively, showing the superiority of the proposed approach.