• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1983-1989
• /
• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제3권3호
• /
• pp.174-180
• /
• 2011

This paper shows added mass and inertia can be acquired from the pure heaving motion and pure pitching motion respectively. A Vertical Planar Motion Mechanism (VPMM) test for the spheroid-type Unmanned Underwater Vehicle (UUV) was compared with a theoretical calculation and Computational Fluid Dynamics (CFD) analysis in this paper. The VPMM test has been carried out at a towing tank with specially manufactured equipment. The linear equations of motion on the vertical plane were considered for theoretical calculation, and CFD results were obtained by commercial CFD package. The VPMM test results show good agreement with theoretical calculations and the CFD results, so that the applicability of the VPMM equipment for an underwater vehicle can be verified with a sufficient accuracy.

• International Journal of Control, Automation, and Systems
• /
• 제4권4호
• /
• pp.456-465
• /
• 2006

The problem of recursive filtering far linear discrete-time systems with uncertainties is considered. A new suboptimal filtering algorithm is herein proposed. It is based on the fusion formula, which represents an optimal mean-square linear combination of local Kalman estimates with weights depending on cross-covariances between local filtering errors. In contrast to the optimal weights, the suboptimal weights do not depend on current measurements, and thus the proposed algorithm can easily be implemented in real-time. High accuracy and efficiency of the suboptimal filtering algorithm are demonstrated on the following examples: damper harmonic oscillator motion and vehicle motion constrained to a plane.

• 제어로봇시스템학회논문지
• /
• 제14권8호
• /
• pp.848-855
• /
• 2008

In this paper, we describe correspondence among multiple images taken by multiple cameras. The correspondence among multiple views is an interesting problem which often appears in the application like visual surveillance or gesture recognition system. We use the principal axis and the ground plane homography to estimate foot of human. The principal axis belongs to the subtracted silhouette-based region of human using subtraction of the predetermined multiple background models with current image which includes moving person. For the calculation of the ground plane homography, we use landmarks on the ground plane in 3D space. Thus the ground plane homography means the relation of two common points in different views. In the normal human being, the foot of human has an exactly same position in the 3D space and we represent it to the intersection in this paper. The intersection occurs when the principal axis in an image crosses to the transformed ground plane from other image. However the positions of the intersection are different depend on camera views. Therefore we construct the correspondence that means the relationship between the intersection in current image and the transformed intersection from other image by homography. Those correspondences should confirm within a short distance measuring in the top viewed plane. Thus, we track a person by these corresponding points on the ground plane. Experimental result shows the accuracy of the proposed algorithm has almost 90% of detecting person for tracking based on correspondence of intersections.

• 한국전산구조공학회논문집
• /
• 제20권4호
• /
• pp.417-425
• /
• 2007

곡선보(curved beam)의 회전관성(rotatory inertia) 및 전단변형(shear deformation)을 고려한 면외(out-of-plane) 자유진동을 해석하는데 미분구적법(DQM)을 이용하여 고정-고정 경계조건(boundary conditions)과 다양한 굽힘각(opening angles)에 따른 진동수(frequencies)를 계산하였다. DQM의 결과는 엄밀해(efact solution) 또는 다른 수치해석 결과와 비교하였으며, DQM은 적은 요소(grid points)를 사용하여 정확한 해석결과를 보여주었다.

• 한국산학기술학회논문지
• /
• 제7권5호
• /
• pp.793-800
• /
• 2006

곡선보(curved beam)의 회전관성(rotatory inertia) 및 전단변형(shear deformation)을 고려한 평면내(in-plane) 자유진동을 해석하는데 미분구적법(DQM)을 이용하여 고정-고정 경계조건(boundary conditions)과 다양한 굽힘각(opening angles)에 따른 진동수(frequencies)를 계산하였다. DQM의 결과는 엄밀해(exact solution) 또는 다른 수치해석(Rayleigh-Ritz, Galerkin 또는 FEM) 결과와 비교하였으며, DQM은 적은 요소(grid points)를 사용하여 정회한 해석결과를 보여주었다.

• 대한정형도수물리치료학회지
• /
• 제13권2호
• /
• pp.31-44
• /
• 2007

The purposes of this study were to examine the normal lumbar proprioception and identify the effect of vision and proprioception on lumbar movement accuracy through measuring a reposition error in visual and non-visual conditions and to provide the basic data for use of vision when rehabilitation program is applied. The subjects of this study were 39 healthy university students who have average physical activity level. They were measured the ability to reproduce the target position(50% of maximal range of motion) of flexion, extension, dominant and non-dominant side flexion in visual and non-visual conditions. Movement accuracy was assessed by reposition error(differences between intended and actual positions) that is calculated by the average of absolute value of 3 repeated measures at each directions. The data were analysed by paired samples t-test, independent samples t-test, and repeated measures ANOVA. The results were as follows : 1. Movement accuracy of flexion, extension, dominant side flexion, and non-dominant side flexion was increased in visual condition. 2. There were no differences in the lumbar movement accuracy between sexes in visual and non-visual conditions. 3. In non-visual condition, the movement in coronal plane(dominant and non dominant side flexion) is more accurate than that in sagittal plane(flexion and extension). 4. In non-visual condition, there were no differences in the lumbar movement accuracy between dominant and non-dominant side flexion. In conclusion, this study demonstrates that the movement is more accurate when the visual information input is available than proprioception is only available. When proprioception is decreased by injury or disease, it disturbs the control of posture and movement. In this case, human controls the posture and movement by using visual compensation. However it is impossible to prevent an injury or trauma because most of injuries occur in an unexpected situation. For this reason, it is important to improve the proprioception. Therefore, proprioceptive training or exercise which improve the ability to control of posture and movement is performed an appropriate control of permission or interception of the visual information input to prevent an excessive visual compensation.

• 한국멀티미디어학회논문지
• /
• 제11권11호
• /
• pp.1575-1591
• /
• 2008

본 논문에서는 스테레오 카메라로부터 신체 중 발의 3차원 가상 모델을 실시간으로 합성할 수 있도록 동작을 검출하는 새로운 방법을 제안한다. 발에 가상 모델을 같은 위치에 합성하려면 관절의 움직임을 일정하게 추적하는 움직임 검출 과정이 필수적이다. 복잡한 움직임 속에서의 정확한 정합 이 기술이 해결해야 할 가장 중요한 문제이다. 본 논문에서는 두 가지 형태의 마커 그룹을 사용한 동적 정합을 제안한다. 바닥의 평면 정보는 발과 3차원 가상 발 모델의 관계를 조정하고 발의 자세와 위치를 측정한다. 발의 회전은 발등의 중심 골격에 따라 부착한 두 개의 마커(Marker) 그룹을 사용하여 추정했다. 이 논문에서는 제안한 시스템을 직접 구현하고, 다양한 실험을 통해 시스템에 적용된 각 알고리즘의 정확도를 측정했다.

• 복식문화연구
• /
• 제22권4호
• /
• pp.632-639
• /
• 2014

The purpose of this study was to verify the effect of drive swing on multiple functional wear wearing in golf. The subjects were 6 men ($22.67{\pm}0.82$ yrs, $175.42{\pm}3.42cm$, $78.75{\pm}4.78kg$), who had career each with at least 8 yers golf experience with right-hander. For kinemetical analysis, this study used equipments with 7 motion capture cameras (300Hz) and analysis program (Nexus1.5). The total time of the club head, displacement magnitude of the COM and swing plane were compared of according to functional wear wearing and non-weraing during golf drive swing. The results of the study are as follows. The total time of the club on wearing ($2.18{\pm}0.06sec$) was faster than non-wearing ($2.52{\pm}0.15sec$). Displacement magnitude of the COM on wearing ($4.06{\pm}0.67cm$) was shorter than non-wearing ($5.79{\pm}0.72cm$). Also, swing plane was found to be significantly different of 3 phase excepted BST-DS (back swing top-down swing) phase. AD-BST (address-back swing top) phase on wearing ($13.86{\pm}3.08cm$) decrease more than non-wearing ($20.82{\pm}3.99cm$), DS-IP (down swing-impact) phase on wearing ($6.25{\pm}1.35cm$) decrease more than non-wearing ($7.18{\pm}1.52cm$) and IP-FT (impact-follow though) phase on wearing ($7.93{\pm}2.09cm$) decrease more than non-wearing($9.68{\pm}2.02cm$). The multiple functional wear wearing was contribution to come close for one-plane, a long with consistency and accuracy on golf drive swing.

• Advances in nano research
• /
• 제9권4호
• /
• pp.237-250
• /
• 2020

An accurate plate theory for assessing sandwich structures is of interest in order to provide precise results. Hence, this paper develops Layer-Wise (LW) theory for reaching precise results in terms of buckling and vibration behavior of Functionally Graded Carbon Nanotube-Reinforced Composite (FG-CNTRC) annular nanoplates. Furthermore, for simulating the structure much more realistic, its edges are elastically restrained against in-plane and transverse displacement. The nano structure is integrated with piezoelectric layers. Four distributions of Single-Walled Carbon Nanotubes (SWCNTs) along the thickness direction of the core layer are investigated. The Differential Quadrature Method (DQM) is utilized to solve the motion equations of nano structure subjected to the electric field. The influence of various parameters is depicted on both critical buckling load and frequency of the structure. The accuracy of solution procedure is demonstrated by comparing results with classical edge conditions. The results ascertain that the effects of different distributions of CNTs and their volume fraction are significant on the behavior of the system. Furthermore, the amount of in-plane and transverse spring coefficients plays an important role in the buckling and vibration behavior of the nano-structure and optimization of nano-structure design.