• 한국정밀공학회지
• /
• 제19권5호
• /
• pp.118-125
• /
• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.894-897
• /
• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.

• International Journal of Aeronautical and Space Sciences
• /
• 제15권2호
• /
• pp.153-162
• /
• 2014

A novel robust $H_{\infty}$ switching tracking control design method with disturbance observer is proposed for the near space interceptor (NSI) with aerodynamic fins and reaction jets. Initially, the flight envelop of the NSI is divided into small subregions, and a slow-fast loop polytopic linear parameter varying (LPV) model is proposed, to approximate the nonlinear dynamic of the NSI, based on the Jacobian linearization and Tensor-Product (T-P) model transformation approach. A disturbance observer is then constructed, to estimate the modeled disturbance. Subsequently, based on the descriptor system method, a robust switching controller is developed, to ensure that the closed-loop descriptor system is stable with a desired $H_{\infty}$ disturbance attenuation level. Furthermore, the outcome of the proposed switching tracking control problem is formulated as a set of linear matrix inequalities (LMIs). Finally, simulation results demonstrate the effectiveness of the proposed design method.

• 산업기술연구
• /
• 제15권
• /
• pp.203-208
• /
• 1995

This paper suggests the three dimensional steady state searching techniques of hard disk/head system, which has some skew angle with flexure. In order to analyze the steady state behaviors of magnetic head slider, the localized Knudsen number and the localized bearing numbers are sued. For finding the steady state of magnetic head slider under the pre-loaded condition, I proposed multi-dimensional Newton-Raphson method which traces the equilibrium position of magnetic head slider, which has 3-degrees of freedom, using Jacobian matrix. The multi-dimensional Newton-Raphson method is very efficient technique for finding the steady state position of magnetic head slider because it approaches to the equilibrium position with changing three parameters simultaneously.

• 대한전기학회논문지
• /
• 제33권10호
• /
• pp.410-422
• /
• 1984

This paper presents a new practical method for optimal active and reactive power control for the economic operation in electrical power system, and the programs are developed for digital computer solution. The major features and techniques of this paper are as follows: 1) The method is presented for finding the equivalent active power balance equation applying the sparse Jacobian matrix of power flow equation instead of using B constant as active power balance equation considering transmission loss, and thus for determining directly optimal active power allocation berween generator unitw satisfying the equality and inequality constraints. 2) The method is proposed for solving directly the optimum economim dispatch problem without using gradient method and penalty function for both active and reactive power control. As a result, the computing time are reduced and convergence characteristic is remarkably improved. 3) Unlike most of conventional methods which adopt the transmission loss as a objective function for reactive power control, the total fuel cost of themal power plant is adopted as objective function for both active and reactive power control. consequently, more reasonable and economic profit can be achieved.

• 대한전기학회논문지:전력기술부문A
• /
• 제50권4호
• /
• pp.166-171
• /
• 2001

Object-oriented programming is a solution for problems in the development, maintenance, and update of large software such as power system analysis software. However, many applications in the electrical industry critically depend on the computational efficiency of the implementation. In order to be flexible and reduce the computation time, this paper represents an efficient method for constructing a Jacobian matrix and for factorizing it, and designs the class hierarchy for power system. This method is applied to four different power systems for load flow calculation. The performance of the object-oriented program developed in C++ is assessed in computer simulation.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 C
• /
• pp.1049-1053
• /
• 1999

It is important to measuring and monitoring about state vectors of power system for precise operation control. All state vectors cannot be measured because it is economically disadvantageous, so that some state vectors are determined using state estimator. Determination of observability is a important precondition of power system state estimation because state estimation can be performed when given power system is observable. Recently as time-synchronization technique progress, using the PMU(Phasor Measurement Unit), state vector can be measured directly so that voltage phasor and current phasor measurements can be used for power system estimation. In this paper, observability algorithm is proposed to determinate the observability with real/reactive injection power measurements and real/reactive lineflow power measurements of existing measurement system and with phasor measurements of PMU. The jacobian matrix is newly composed for state estimation with measurements of added PMU, and state estimation is performed with least square estimatior. Comparison between state estimation result of existing measurement system and that of measurement system added PMU is presented.

• 대한수학회지
• /
• 제52권3호
• /
• pp.469-487
• /
• 2015

We consider a model of HIV infection with various compartments, including target cells, infected cells, viral loads and immune effector cells, to describe HIV type 1 infection. We show that the proposed model has one uninfected steady state and several infected steady states and investigate their local stability by using a Jacobian matrix method. We obtain equations for adjoint variables and characterize an optimal control by applying Pontryagin's Maximum Principle in a linear control problem. In addition, we apply techniques and ideas from linear optimal control theory in conjunction with a direct search approach to derive on-off HIV therapy strategies. The results of numerical simulations indicate that hybrid on-off therapy protocols can move the model system to a "healthy" steady state in which the immune response is dominant in controlling HIV after the discontinuation of the therapy.

• 대한기계학회논문집A
• /
• 제33권2호
• /
• pp.135-144
• /
• 2009

In this present work, spline FEA for the trimmed NURBS surface of the 2D linear elasticity problem is presented. The main benefit of the proposed method is that no additional efforts for modeling of trimmed NURBS surfaces are needed and the information of the trimming curves and trimmed surfaces exported from the CAD system can be directly used for analysis. For this, trimmed elements are searched by using NURBS projection scheme. The integration of the trimmed elements is performed by using the NURBS-enhanced integration scheme. The formulation of constructing stiffness matrix of trimmed elements is presented. In this formulation, the information of the trimming curve is used for calculating the Jacobian as well as for obtaining integration points. The robustness and effectiveness of the proposed method are investigated through various numerical examples.

• 대한전기학회논문지
• /
• 제35권5호
• /
• pp.177-184
• /
• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.