• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1419-1423
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• 2004

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.186-190
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• 2003

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.531-536
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• 2006

In four cylinder engine, the second order inertia force occurs due to the reciprocating parts of the cylinder. Because the magnitude of the inertia force is proportional to a square of the angular velocity of crank shaft, engine gets suffered from vibration excited by unbalanced inertia force in high speed. This vibration excited by the unbalanced inertia force can be canceled by applying a balance shaft. Balance shaft has one or more unbalance mass and rotates twice quickly than the crank shaft. In this paper, an unbalanced force caused by the rotating of unbalance mass of balance shafts was calculated. The directional equivalent stiffness and damping coefficients of the journal bearing of balance shafts was calculated. Equations of rotational vibration modes were derived using directional stiffness and damping coefficients. The dynamic stability of balance shafts was analyzed and evaluated for two type models using the equivalent stiffness and damping coefficients. An efficient procedure to he able to evaluate dynamic stability and design optimal balance shaft was proposed.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.741-748
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• 2001

In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.

• Journal of Advanced Marine Engineering and Technology
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• 제40권8호
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• pp.704-709
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• 2016

Wave energy generation systems can be divided into oscillating water chamber type, over topping device type and wave activating body type. The wave activating body type converts wave energy to kinetic energy, and the power generation amount increases as the motion of an activating body increases. In this paper, the wave energy convertor consists of a main body, which has an H-shape, and the activating body. These are connected by a bar-type bridge. By the incident wave, when the activating body moves with vertical motion this motion is consequently converted into rotational motion. The twisting moment and angular velocity at a shaft of convertor are calculated according to various conditions of the incident wave and the shape of the activating body. This can be used as a basic idea for determining the design of wave activating body type convertor.

• Steel and Composite Structures
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• 제22권5호
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• pp.1193-1214
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• 2016

In this paper, the 3D stress state and inter-laminar stresses in a rotating thin laminated cylinder shell are studied. The thickness of the cylinder is supposed to be thin and it is made of laminated composite material and can have general layer stacking. The governing equations of the cylindrical shell are obtained by employing the Layerwise theory (LWT). The effect of rotation is considered as rotational body force which is induced due to the rotation of the cylinder about its axis. The Layerwise theory (LWT), is used to discrete the partial differential equations of the problem to ordinary ones, in terms of the displacements of the mathematical layers. By applying the Free boundary conditions the solution of the governing equations is completed and the stress state, the inter-laminar stresses, and the edge effect in the rotating cylindrical shells are investigated in the numerical results. To verify the results, LWT solution is compared with the results of the FEM solution and good agreements are achieved. The inter-laminar normal and shear stresses in rotating cylinder are studied and effects of layer stacking and angular velocity is investigated in the numerical results.

• 한국운동역학회지
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• 제17권4호
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• pp.73-82
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• 2007

The purpose of this study was to qualitatively analyze coordination pattern of joints and segments during Dwichagi in Taekwondo and present a point of difference as compared with the previous study on Dolryeochagi in Taekwondo. By the utilization of three-dimensional cinematography, the angles of individual joints and segments of six male Taekwondo experts during Dwichagi were calculated by using Euler's angle. The used coordination variables were angle vs. angle plots between adjacent joints and segments and angle vs. angular velocity plots of individual joints and segments, respectively. It was observed during Dwichagi that in-phase coordination and spring-like rotational control mechanism of the lower and upper trunk were transferred into straight spring-like control mechanism of lower leg passing through flexion-extension and the fixation of degree-of-freedom of lower trunk and hip joint alternatively. This comparative study that coordination variables were used seems to be more useful research direction to deeply understand basic control mechanisms of Taekwondo kicking techniques when compared with the previous studies that defined Dwichagi as a thrust movement pattern merely based on biomechanical variables of a kicking leg.

• 한국정밀공학회지
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• 제29권6호
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• pp.632-639
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• 2012

A fully coupled thermo-mechanical model is adopted to study the temperature distribution and the material deformation in friction stir welding(FSW) process. Rotational speed is most important parameters in this research. Three dimension results under different process parameters were presented. Result indicate that the maximum temperature is lower than the melting point of the welding material. The higher temperature gradient occurs in the leading side of the workpiece. The maximum temperature can be increased with increasing the tool angular velocity, rpm in the current numerical modeling. In this research ABAQUS Ver.6.7 is to analyze a fully coupled thermo-mechanical model. ALE(Arbitrary Lagrangian-Eulerian) finite element formulation is used for the large deformation in FSW process and using the Mass scaling for the analysis time efficiency.

• 한국전산구조공학회논문집
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• 제21권5호
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• pp.475-482
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• 2008

본 논문은 로터 시스템의 디스크 회전운동을 표현하는데 있어 운동방정식을 통합하는 과정에서 기존 연구자들이 채택한 오일러 각 사용법이 일관성이 없음을 지적하였다. 기존 연구자들은 오일러 각 순서가 달라서 속도와 운동에너지도 달리 산정하였음은 물론, 운동방정식은 오직 선형 시스템만 취급해 왔다 이러한 오일러 각 사용법의 단점을 극복하기 위하여 회전운동을 더욱 단순하게 매개화할 수 있는 4원법(quaternion)과 구 좌표계를 적용하여 비선형 시스템을 도출하였다. 이를 바탕으로 수치해석을 통하여 기존 방법과 비교하여 제안한 방법의 신뢰성과 우수성을 보였다.

• 전자공학회논문지SC
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• 제46권6호
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• pp.9-13
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• 2009

반작용과 자이로를 사용하는 저궤도 위성체의 3축 제어에서 반작용휠은 휠 속도나 운동량으로 제어토크를 만들고 자이로는 자세각과 자세각속도를 측정한다. 본 논문에서 저궤도 위성체의 다이나믹 모델링은 기본적인 본체만을 고려한 강체에 태양전지판 등을 고려한 연성체의 회전운동방정식과 반작용휠로 구성된다. 강인제어기$(H_\infty)$는 외란에 의한 모델이 가변될 수 있는 강체 및 연성체를 포함한 플랜트를 안정화시키기 위해 적용하였으며, 기존 저궤도 위성체를 안정화시키기 위해 사용된 PI 제어기와 성능을 비교하여 자세제어에 필요한 위상제어의 우수성을 보여주는데 있다.