• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.4 s.181
• /
• pp.75-82
• /
• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.3
• /
• pp.249-255
• /
• 2002

Since the stationary alignment process of the SDINS is not completely observable, some furls of the aided alignment have been applied. The purpose of this paper is to propose a new initial alignment algorithm, which utilizes the attitude output from the AGPS(Attitude Determination GPS) receiver and to demonstrate the feasibility of the proposed algorithm with several experimental results. A Kalman filter is designed for utilizing the attitude output as well as the zero velocity information. Also analyzed is the observability of the SDINS error model. To show the feasibility of the proposed scheme, we implement an alignment system where HG1700AE IMU (Inertial Measurement Unit) from Honeywell and an AGPS receiver designed at Chungnam National University are used. Test trials are done to evaluate the performance of the proposed alignment scheme. The proposed algorithm provides as good initial alignment performance as a high accurate navigation system, MAPS(Modular Azimuth Positioning System) INS.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.3
• /
• pp.733-740
• /
• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.22 no.12
• /
• pp.1726-1734
• /
• 1998

This paper focuses on the unsteady close-contact melting phenomenon occurring between a phase change material kept at its melting temperature and a flat surface on which constant heat flux is imposed. Based on the same simplifications and framework of analysis as the case of constant surface temperature, an approximate analytical solution which depends only on the liquid-to-solid density ratio is successfully derived. In order to keep consistency with the known solution procedure, both the dimensionless wall heat flux and the Stefan number are properly redefined. The obtained solution proves to agree quite well with the published numerical data and to be capable of resolving the fundamental features of unsteady close-contact melting, especially in the presence of the solid-liquid density difference. The density ratio directly affects the film growth rate and the initial value of solid descending velocity, thereby controlling the duration of unsteady process. The effects of other parameters can be evaluated readily from the steady solution which is implied in the normalized result. Since the dimensionless surface temperature for the present boundary condition increases from zero to unity along the evolution path of the liquid film thickness, the unsteady process lasts longer than that for the case of isothermal heating.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.759-764
• /
• 2003

Numerical simulations are conducted to investigate the mechanism of hovering flight by single flapping wing, and to examine the effect of the phase difference between the fore- and hindwings in hovering flight by two flapping wings. The numerical method used is based on an immersed boundary method in Cartesian coordinates. The Reynolds number considered is Re=150 based on the maximum translational velocity and chord length of the wing. For single flapping wing, the stroke plane angles are $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $75^{\circ}$ and $90^{\circ}$ and the downstroke angles of attack are varied for each stroke angle. Results show that for each stroke plane angle, there is an optimal angle of attack to maximize the vertical force. Below the stroke angle of $60^{\circ}$, wake capturing reduces the negative vertical force during the upstroke. For two flapping wings, The phase lags of the hindwing are $0^{\circ}$, $90^{\circ}$, $180^{\circ}$ and $270^{\circ}$. The amplitudes of the stroke are 2.5 and 4.0 times the chord length at each phase lag. The results show that maximum vertical force is generated when the phase lag is zero, and the amplitude of the vertical force is minimum at the phase lag of $180^{\circ}$.

• Korea-Australia Rheology Journal
• /
• v.13 no.1
• /
• pp.37-45
• /
• 2001

Numerical simulation of coextrusion process of viscoelastic fluids within a die has been carried out. In the coextrusion process velocity profile at the outflow boundary is not known a priori, which makes it difficult to impose the proper boundary condition at the outflow boundary. This difficulty has been avoided by using the open boundary condition (OBC) method. In this study, elastic viscous stress splitting (EVSS) formulation with streamline upwind (SU) method has been used in the finite element method. In order to test the validity of the OBC method, comparison between the results of fully developed condition at the outlet and those of OBC has been made for a Newtonian fluid. In the case of upper convected Maxwell (UCM) fluid, the effect of outflow boundary condition on the interface position has been investigated by using two meshes having different downstream lengths. In both cases, the results with the OBC method showed reasonable interface shape. In particular, for the UCM fluid the interface shape calculated with OBC was independent of the downstream length, while the results with the zero traction condition showed oscillation of interface position close to the outlet. Viscosity difference was found to be more important than elasticity difference in determining the final interface position. However, the overshoot of interface position near the con-fluent point increased with elasticity.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.26 no.1
• /
• pp.45-54
• /
• 2002

The breakup phenomena of a vertical laminar jet issuing from capillary tubes in a quiescent ambient air are investigated using a forced vibration analysis of the surface wave. Using a linear approach to the transient jet velocity, an approximate solution fur the longitudinal motion of a vertical liquid jet is theoretically derived, thus performing an instability analysis by a vibration method. The damping term of this equation is nonlinear as it depends on dimensionless parameters, a Weber number, and an Ohnesorge number. The instability condition is determined based on whether the coefficient of the damping term is less than zero or not. Uniform drop formation is dependent on the vibration frequency fur the forced vibration case.

• Proceedings of the KIEE Conference
• /
• 1998.07e
• /
• pp.1824-1827
• /
• 1998

A Laser Doppler Vibrometer(LDV) was developed using He-Ne laser as a light source. The heterodyne method was employed and its output signal was digitally processed with a $\mu$-processor and the result was displayed with LCD. The frequency shifted object beam(40 MHz) by a Bragg cell was focused on the surface of the moving target and the Doppler shifted reflected beam was recombined with reference beam at the fast photodetector to produce frequency modulated signal centered at 40 MHz. The signal from the detector was amplified and downconverted to intermediate frequency centered at 1 MHz after mixing process. The voltage output that was proportional to the velocity of the moving surface was obtained using PLL. With the same method, the fringe pattern signal of the moving surface is obtained. This fringe pattern signal is converted to TTL signal with ZCD(zero-crossing detector) and then counted to calculate the displacement due to the vibration, which is displayed with LCD. This LDV can be used to measure the resonant frequency of the electric equipments such as circuit breakers and transformers, of which resonant frequencies are changed when they are damaged.

• PNF and Movement
• /
• v.5 no.1
• /
• pp.49-56
• /
• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.12 no.1
• /
• pp.137-151
• /
• 1988

Thurbulent thermal convection between two plates, bottom plate is at higher temperature $T_{h}$ and the upper plate is at lower temperature $T_{i}$ is numerically investigated. Model equations are abridged Reynolds stress equations; full Reynolds stress equations are simplified to yield algebraic relations in case of mean square velocity fluctuations in vertical and horizontal directions. Boundary conditions for turbulent kinetic energy k and mean square temperature variance .thera.$^{2}$oner bar at the plate surfaces are set to be zero and those of dissipation rate of turbulent kinetic energy .epsilon. and dissipation rate of mean square temperature variance .epsilon.$_{\theta}$ are assumed at first grid point nearest to the boundary surfaces, whose values are approximated by inviscid estimates. Results show that temperature profiles are in good agreement with experimental data except transition region, in which temperature is over-predicted. Such discrepancy becomes larger as the Rayleigh number becomes smaller. Nusselt numbers, which are calculated from the temperature gradients at the boundary surfaces, are also in good agreement with experimental data.a.a.