• 제어로봇시스템학회논문지
• /
• 제16권2호
• /
• pp.120-125
• /
• 2010

This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.

• 한국정밀공학회지
• /
• 제21권3호
• /
• pp.132-138
• /
• 2004

In a vacuum circuit breaker mechanism, a spring-actuated linkage system is used to satisfy the desired opening and closing characteristics of electric contacts. If the type and structure of the linkage system required to the circuit breaker is predetermined, the stiffness, free length and attachment points of a spring become the important design parameters. In this paper, based on the energy conservation that the total system energy is constant throughout the operating range of the mechanism, a systematic procedure for optimizing the spring design parameters is developed and applied to the simplified mechanism of a circuit breaker. Then, in order to consider the complex dynamics of the circuit breaker mechanism rather well, the developed procedure is converted to the environment of a multi-body dynamics program ADAMS.

• 천문학회보
• /
• 제39권2호
• /
• pp.83.1-83.1
• /
• 2014

Kepler-47 is the first multi-body circumbinary planetary system detected by the Kepler space telescope. The two planets were detected by the transit method. In the discovery paper the authors report about the presence of an additional transit-like signal in their dataset which cannot be explained by a four-body (binary + 2 planets) system. Therefore it is likely that the unexplained signal could be due to a third planet. In this talk I will present recent results from a dynamical investigation of the five-body system (binary + 3 planets). We have applied the MEGNO technique to detect regions of quasi- or near quasi-periodic orbits of a hypothetical third planet. Quasi-periodic regions exists for a third planet and the long-term stability has been tested. Although the existence of a third planet is most likely to be confirmed from transit photometry we calculate transit-timing variation (TTV) signals due to the third planet which also can be used to infer its presence.

• 천문학회보
• /
• 제39권1호
• /
• pp.81.1-81.1
• /
• 2014

Kepler-47 is the first multi-body circumbinary planetary system detected by the Kepler space telescope. The two planets were detected by the transit method. In the discovery paper the authors report about the presence of an additional transit-like signal in their dataset which cannot be explained by a four-body (binary + 2 planets) system. Therefore it is likely that the unexplained signal could be due to a third planet. In this talk I will present recent results from a dynamical investigation of the five-body system (binary + 3 planets). We have applied the MEGNO technique to detect regions of quasi- or near quasi-periodic orbits of a hypothetical third planet. Quasi-periodic regions exists for a third planet and the long-term stability has been tested. Although the existence of a third planet is most likely to be confirmed from transit photometry we calculate transit-timing variation (TTV) signals due to the third planet which also can be used to infer its presence.

• 대한기계학회논문집A
• /
• 제29권2호
• /
• pp.270-276
• /
• 2005

This paper develops the flexible computational model of a heavy truck by interfacing the frame modeled as a flexible body to the heavy truck's computational model composed of rigid bodies. The frame is modeled by the finite element method. Three torsional modes and three bending modes of the frame are considered for the interface of the heavy truck's computational model. The actual vehicle test is conducted off road with a velocity of 20km/h. The vertical accelerations at the cab and front axle are measured in the test. For the verification of the developed computational model, the measured vertical acceleration profiles are compared with the simulation results of the heavy truck's flexible computational model. E grade irregular road profile of ISO is used as an excitation input in the simulation. The verified flexible computational model is used to compare the vibration characteristics of a front suspension system having a multi-leaf spring and that having a tapered leaf spring. The comparison results show that the front suspension having a tapered leaf spring has a higher vertical acceleration at the front axle but a lower vertical acceleration at the cab than the suspension system having a multi-leaf spring.

• 한국인터넷방송통신학회논문지
• /
• 제12권6호
• /
• pp.141-146
• /
• 2012

본 논문에서는 영상 기반 자동 착륙 시스템 개발과 이 시스템을 사용하는 멀티로터 플랫폼 개발에 대해서 소개 한다. 멀티로터 플랫폼은 뉴턴 오일러 개념을 근간으로 하는 강체 운동 모델링을 하였고, LQR 제어 기법을 통한 제어기 튜닝 및 시뮬레이션을 하였다. 영상기반 자동 착륙 시스템은 멀터로터 시스템에 탑재된 단일 카메라를 사용하여 추가적인 임무장비 없이 증강 현실 알고리즘을 사용하여 마커를 탐지하고 정밀한 착륙을 유도하도록 GCS와 연동 코드를 구현 하였다.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2012년도 춘계학술대회
• /
• pp.901-904
• /
• 2012

본 논문에서는 실외의 영상을 감지하는 시스템의 과도한 영상정보를 줄이기 위해 멀티 센서들을 이용하여 물체정보를 판단하고 영상정보를 전송하기 위한 상황인지 시스템을 제안한다. 제안하는 상황인지 시스템은 멀티센서 보드에 부착된 인체감지센서와 4개의 초음파 센서를 이용하여 물체의 크기 및 이동속도를 측정하여 인체의 정보를 판단한 후 영상을 전송하게 된다. 멀티센서기반의 상황인지 시스템의 성능을 평가하기 위해 영상을 감지하는 시스템만 사용했을 경우와 인체감지센서만을 이용하여 영상을 감지했을 때와 본 논문에서 제안한 시스템에 대해서 비교하였다. 그 결과, 인체감지센서를 이용하여 영상정보를 취득할 때보다 높은 신뢰성을 가지며, 센서를 부착하지 않은 상태에서 영상정보를 서버로 전송하는 것보다 효율적으로 데이터를 전송할 수 있음을 확인하였다.

• 동력기계공학회지
• /
• 제7권3호
• /
• pp.48-53
• /
• 2003

This paper deals with the control of a horizontally placed flexible rotor levitated by electromagnets in a multi-input/multi-output (MIMO) active magnetic bearing(AMB) system. AMB is a kind of novel high performance bearing which can suspend the rotor by magnetic force. Its contact-free manner between the rotor and stator results in it being able to operate under much higher speed than conventional rolling bearings with relatively low power losses, as well as being environmental-friendly technology for AMB system having no wear and no lubrication requirements. In this MIMO AMB system, the rotor is a complex mechanical system, it not only has rigid body characteristics such as translational and slope motion but also bends as a flexible body. Reduced order nominal model is computed by consideration of the first 3 mode shapes of rotor dynamics. Then, the $H_{\infty}$ control strategy is applied to get robust controller. Such robustness of the control system as the ability of disturbance rejection and modeling error is guaranteed by using $H_{\infty}$ control strategy. Simulation results show the validation of the designed control system and the modeling method to the rotor.

• Journal of Astronomy and Space Sciences
• /
• 제31권3호
• /
• pp.187-197
• /
• 2014

We have investigated the dynamical stability of the proposed companions orbiting the Algol type short-period eclipsing binary SW Lyncis (Kim et al. 2010). The two candidate companions are of stellar to substellar nature, and were inferred from timing measurements of the system's primary and secondary eclipses. We applied well-tested numerical techniques to accurately integrate the orbits of the two companions and to test for chaotic dynamical behavior. We carried out the stability analysis within a systematic parameter survey varying both the geometries and orientation of the orbits of the companions, as well as their masses. In all our numerical integrations we found that the proposed SW Lyn multi-body system is highly unstable on time-scales on the order of 1000 years. Our results cast doubt on the interpretation that the timing variations are caused by two companions. This work demonstrates that a straightforward dynamical analysis can help to test whether a best-fit companion-based model is a physically viable explanation for measured eclipse timing variations. We conclude that dynamical considerations reveal that the proposed SW Lyncis multi-body system most likely does not exist or the companions have significantly different orbital properties from those conjectured in Kim et al. (2010).

• 한국의류산업학회지
• /
• 제14권4호
• /
• pp.597-606
• /
• 2012

To increase the productivity and product quality of customized baseball jerseys, this study developed a multi-variable system for a production process that efficiently controls diverse production management factors. The working time was measured through the establishment of a standard process where skilled workers and Chinese factory workers manufactured 5 sets of the same basic design jerseys. Based on the measured working time (1,136 seconds/per unit), the multi-variable process control system was developed, where hourly production management is possible according to the involved workers and equipment types. Each process was assigned accoding to the production management factors for a total of 28 standard processes. The processes were developed based on consideration of work characteristics according to the order of needlework of open-type set baseball jerseys with sleeves(the basic design of baseball jerseys)to result in a customized production system structure that could be set up with multi-variables. As a result, a total 12 types of systems were developed in consideration of the personnel involved and the number of equipments. The optimal production management system (with the highest efficiency compared to the number of workers)was A-2, B-1, C-1. D-2, E-2, F-1, and G-1. This system had extremely high efficiency and showed 99% assignment efficiency for the 7-person team. Though not optimal, possible process assignment for each working personnel is proposed as a reserve process in case work modification is inevitable due to malfunctions and the absence of equipments.