• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1527-1533
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• 2002

When a mechanism transfers a motion to an intersected shaft, a cylindrical cam mechanism may be the best choice among the mechanisms. The cylindrical cam with a roller follower provides to transfer the motions to the intersect shafts simply without other connecting equipments of the intersect shafts. Typical example may be a roller-gear-cam mechanism. But the shape of the cam must be exactly defined in order to satisfy the conditions for the prescribed motion of the follower. This paper proposes a new method for the shape design of the cylindrical cams and also a CAD program is developed by using the proposed method. The relative velocity method calculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematic constraints. The constraint used in the relative velocity method is that the relative velocity must be parallel to a common tangent line at the contact point of two independent bodies, i. e. the cam and the follower. Then, the shape of the cam is defined by the coordinate transformation of the trace of the contact points. Finally, this paper presents an example in order to prove the accuracy of the proposed methods in this paper and the application of the CAD program"CamDesign".

• 연구논문집
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• s.33
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• pp.89-97
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• 2003

A barrel cam is used as a very important part of an index drive unit. The index drive unit must have an intermittent-rotational motion. The barrel typed cam and roller gear mechanism has the advantages of high reliability to perform a prescribed motion of a follower. This paper proposes a new method for the shape design of the barrel cam and also a CAD program is developed by using the proposed method. As defined in this paper, the relative velocity method for the shape design calculates the relative velocity of the follower versus cam at a center of roller, and then detemines a contact point by using the geometric relationships and the kinematic constraints, where the direction of the relative velocity must be parallel to a common tangential line at the contact point of two independent bodies, i.e. the cam and the follower. Then, the shape of the cam is defined by the coordinate transformation of the trace of the contact points. This paper presents shape design of the barrel cam in order to prove the accuracy of the proposed methods

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.4
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• pp.223-232
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal location, velocity, and position of the robot and the velocity and position of the .other robots. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.4
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• pp.357-366
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• 2020

This paper addressed a relative navigation method for autonomous rendezvous and docking of cube-satellites using single frequency Differential GPS (DGPS) under the intermittent communication between satellites. Since the ionospheric error of GPS measurement is variable depending on the visible satellites, a few meters error of relative navigation is occurred in the Low-Earth Orbit (LEO) environment. Therefore, it is essential to remove the ionospheric error to perform relative navigation. Besides, an intermittent communication period for receiving GPS measurements of the target satellite is limited for getting information every sampling time. To solve this problem, a method combining range domain DGPS and orbit propagation is proposed in this paper. The proposed method improves the performance of DGPS by using Hatch filter and solves an intermittent communication problem by estimating the relative position and velocity using Hill-Clohessy-Wiltshire Equation. Through the simulation, it is verified that the suggested algorithm provides the relative position error within RMS 0.5 m and the relative velocity error within RMS 3 cm/s. Furthermore, it has the advantage that it is suitable for real-time implementation using single-frequency GPS measurements and is computationally efficient.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.920-924
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• 2002

This paper presents the reverse design of a cam mechanism using NURBS(Nonuniform Rational B-spline curve). Cam is very difficult to make the accurate shape on the design and the manufacture. Because the cam shape is commonly made in order to move in special functions. The reverse design can be used to check accuracy between the designed data and the manufactured data of the cam shape and also reproduce the cam without the design data. The reverse design procedures consist of motion analysis and curve fitting. The motion analysis is used the central difference method and the relative velocity method to find the displacement and velocity. The curve fitting is used NURBS to develope the whole curve. The central difference method is derived in the 3 dimensional space.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2483-2490
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• 1993

This paper presents a systematic formulation for the kinematic and dynamic analysis of flexible multibody systems. The system equations of motion are derived in terms of relative and elastic coordinates using velocity transformation technique. The position transformation equations that relate the relative and elastic coordinates to the Cartesian coordinates for the two contiguous flexible bodies are derived. The velocity transformation matrix is derived systematically corresponding to the type of kinematic joints connecting the bodies and system path matrix. This matrix is employed to represent the equations of motion in relative coordinate space. Two examples are taken to test the method developed here.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.6
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• pp.503-509
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• 2014

This paper describes the time-domain numerical method for prediction of slamming loads on a ship in waves using the strip theory. The slamming loads was calculated considering the relative vertical velocity between the instantaneous ship motion and wave elevation. For applying the slamming force on a ship section, the momentum slamming theory and the empirical formula-based bottom slamming force were used corresponding to the vertical location of wetted body surface. Using the developed method, the vertical bending moments, relative vertical velocities, and impact forces of S175 containership were compared in the time series for various section locations and wave conditions.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.109-118
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• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of field test results and simulation results of the ADAMS/Car demonstrates the validity of the proposed functional suspension modeling method. This model is suitable for real-time vehicle dynamics analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.225-225
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• 2003

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.170-184
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• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.