• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.12
• /
• pp.1-12
• /
• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• Journal of Magnetics
• /
• v.20 no.4
• /
• pp.432-438
• /
• 2015

This paper presents an electromagnetic analysis of a tubular linear machine with axially magnetized permanent magnets using improved analytical techniques. Based on the magnetic vector potential and a two-dimensional polar-coordinate system, the magnetic field and armature reaction field can be derived. Using these, equivalent circuit parameters, such as the electromotive force and inductance, can be obtained analytically. Finally, the generating characteristics are derived with the equivalent circuit method. In this study, the finite element method was employed to provide a comparative evaluation, and experiments were conducted to validate the results of the analytical analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1992.04a
• /
• pp.127-132
• /
• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.727-728
• /
• 2008

This paper deals with characteristic analysis of permanent magnet synchronous motor with full-ring magnet. The modeling of magnetic circuit is performed analytically. And then, analytical solution for open-circuit field distribution due to permanent magnet, back-EMF and torque are derived in terms of magnetic vector potential and two-dimensional polar coordinate system. The analytical results are validated extensively by finite element analyses. Finally, we performed experiments of permanent magnet synchronous motor with full-ring magnet.

• Proceedings of the KIEE Conference
• /
• 2008.10c
• /
• pp.50-52
• /
• 2008

This paper deals with design and characteristics analysis of 600HP class high_speed Permanent synchronous motor. The field equations due to magnet and stator windings are established in terms of vector potential and 2-d polar coordinate system. Back-emf and torque are then derived. The results compared with finite element method and show in good conformity with those obtained from finite element method.

• Proceedings of the KIEE Conference
• /
• 1997.07c
• /
• pp.1118-1120
• /
• 1997

This paper presents a simple method for evaluating of voltage stability using the line flow equation. Line flow equations ($P_{ij}$, $Q_{ij}$) are comprised of state variable, $V_i$, ${\delta}_i$, $V_j$ and ${\delta}_j$, and line parameter, r and x. Using the feature of polar coordinate, these becomes one equation with two variables, $V_i$ and $V_j$. Moreover, if bus j is slack or generater bus, which is specified voltage magnitude, it becomes one equation with one variable $V_i$, that is, may be formulated with the second-order equation for $V_i^2$. Therefore, multiple load flow solutions may be obtained with simple computation, and the formulated equation used for approximately evaluating of voltage stability limit considering line flow sensitivity. The proposed method was validated to 2-bus and IEEE 6-bus system.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2006.11a
• /
• pp.295-298
• /
• 2006

본 논문에서는 극 좌표계에서의 벡터 표현 방식을 이용한 per-pixel displacement mapping 방법을 제시한다. per-pixel displacement mapping은 triangle mesh의 처리 방식에 상관없이 변위매핑을 수행할 수 있도록 한 것으로, 2차원 screen space로 projection 된 triangle의 각 pixel의 위치를 객체 표면 정보에 따라 displacement 해주는 방법이다. 이는 기 검증된 범프매칭 하드웨어에 약간의 하드웨어를 추가함으로써 변위매핑을 수행할 수 있도록 한 효과적인 구조이다. 제안 방식에 의해 생성된 영상과 기존 방식에 의해 생성된 영상을 비교해본 결과, 시각적으로 거의 차이가 없음을 알 수 있다.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.11
• /
• pp.1551-1557
• /
• 2015

Magnetic coupling is used where required high reliability. because magnetic coupling's durability is stronger than mechanical coupling's durability. This paper shows the characteristics of radially magnetized tubular type magnetic coupling by using Analytical method such as space harmonic method. Analytical method was used, to find force characteristics. First, on the basis of the magnetic vector potential and two-dimensional(2-D) polar-coordinate system, the magnetic field solutions of the radially magnetized permanent magnet are obtained. And we obtain the analytical solutions for the flux density produced by permanent magnet. Finally, we can calculate the force by using the Maxwell stress tensor. And then, Finite element method(FEM) is used to validate force characteristics.

• Structural Engineering and Mechanics
• /
• v.20 no.4
• /
• pp.405-420
• /
• 2005

In this paper, a hybrid/mixed nonlinear shell element is developed in polar coordinate system based on Hellinger/Reissner variational principle and the large-deflection theory of plate. A numerical solution scheme is formulated using the hybrid/mixed finite element method (HMFEM), in which the nodal values of bending moments and the deflection are the unknown discrete parameters. Stability of the present element is studied. The large-deflection analyses are performed for simple supported and clamped circular plates under uniformly distributed and concentrated loads using HMFEM and the traditional displacement finite element method. A parametric study is also conducted in the research. The accuracy of the shell element is investigated using numerical computations. Comparisons of numerical solutions are made with theoretical results, finite element analysis and the available numerical results. Excellent agreements are shown.

• Structural Engineering and Mechanics
• /
• v.83 no.6
• /
• pp.825-834
• /
• 2022

The effectiveness and accuracy of the strain-based approach applied for analysis of two kinds of heterogeneous hollow cylinders subjected to thermal and mechanical loads are examined in this study. One is a multilayer cylinder in which the material in each layer is assumed to be linearly elastic, homogeneous and isotropic. Another is a hollow cylinder made of functionally graded materials with arbitrary gradient. The steady state condition without heat generation is considered. A sector in-plane finite element in the polar coordinate system based on strain approach is used. This element has only three degrees of freedom at each corner node. Analytical solutions available in the literature are presented to illustrate the accuracy of the sector element used. The obtained results for displacements and stresses are shown to be in good agreement with the analytical solutions.