• 제어로봇시스템학회논문지
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• 제9권3호
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• pp.236-241
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• 2003

This paper addresses the optimal design of dividing wall distillation column which is rapidly applied in a variety of chemical processes over recent several years because of its high energy saving efficiency. A general dividing wall column model which can cope with the heat transfer through the dividing wall is developed using rigorous computer simulation. Based on the simulation model, the effects of the internal recycle flow distribution around the dividing wall and the heat transfer across the dividing wall on overall system performance are investigated. An improved column design method is suggested to utilize the heat transfer through the wall. The suggested method is compared with the existing method via simulation study in which the proposed design shows improved energy saving result.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.38-44
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• 1998

The modified maximum likelihood estimation method is used to estimate the nondimensional aerodynamic derivatives of a single turbo-prop aircraft at a specified flight condition for the best deduction of the dynamic characteristics. In wind axes the six degree of freedom equations are algebraically linearized so that the linear state equation contains aerodynamic derivatives in a state-space form and is used in the maximum likelihood method. The simulated data added with the measurement noise is used as a flight test data which is necessary to the estimation of nondimensional aerodynamic derivatives. It is obtained by implementing the 6-DOF nonlinear flight simulation. In the flight simulation, the effects of several control input types, control deflection amplitudes, and the turbulence intensities on the statistical convergence criteria are also examined and quantitative analysis of the results is discussed.

• 제어로봇시스템학회논문지
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• 제3권6호
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• pp.632-638
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• 1997

The growing number of electronic components used in automobiles has given rise to problems concerning the increasing number, size and weight of the wiring harnesses. As an approach to resolve these problems, multiplexed wiring systems using automotive communication protocol such as Controller Area Network(CAN), Advanced PALMNET and J1850 have been developed by many automobile companies. In order to compare these protocols quantitatively, this paper presents the performance evaluation of CAN and Advanced PALMNET via discrete event simulation. Through numerous simulation experiments, several important quantitative performance factors such as the probability of a transmission failure, average system delay(data latency), and throughput have been evaluated.

• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1111-1118
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• 2006

This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.

• 로봇학회논문지
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• 제17권3호
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• pp.303-307
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• 2022

This paper proposes a method that can generate a smooth trajectory from the discontinuous trajectory in kinematic, dynamic, and task-space trajectory constraints. The problem is defined as the minimization of kinetic energy, and then the simulation is performed by using the MATLAB. Kinematic and inverse kinematic equations are derived for the simulation of the 6-DOF robotic arm. The simulation results showed that the trajectory of each joint is generated while satisfying the constraints without any discontinuity. There are small errors in the Cartesian trajectory, but unnecessary deceleration and acceleration can be eliminated. In addition, it is possible to quickly switch between the robotic tasks by applying the proposed method.

• 로봇학회논문지
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• 제18권1호
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• pp.53-58
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• 2023

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

• 로봇학회논문지
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• 제18권1호
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• pp.117-121
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• 2023

Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.

• 로봇학회논문지
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• 제18권4호
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• pp.481-486
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• 2023

The purpose of this study is to optimize parameters of a contact model to obtain similar ground contact force of human walking. Dynamic walking simulation considering ground contact is performed to determine load specifications when developing walking assist robots. Large contact forces that are not observed in actual experimental data occur during the simulation at the initial contact (e.g., heel contact). The large contact force generates unrealistic large joint torques. A lower exoskeleton robot with no ankles is developed with the Matlab simscape and the nonlinear hyper volumetric contact model is applied. Parameters of the nonlinear hyper volumetric model were optimized using actual walking contact force data. As a result of optimization, it was possible to obtain a contact force pattern similar to actual walking by removing the large contact force generated during initial contact.

• 로봇학회논문지
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• 제11권4호
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• pp.270-276
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• 2016

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.167-174
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• 1997

In this paper, the mathematical model of the hydraulic control valve is formulated, that is, this dynamic modeling which includes the motion equations and continuity equations can analyze the dynamic characteristics of the hydraulic control valve. The control valve for the transmission has the Over Speed Protection to protect a hydraulic travel motor. Therefore, this simulation shows the over speed protection and researches the main design parameters. The results of the computer simulation were assured through the experiment. From the comparison between both results, it is shown that this simulation program is useful and effective.