• 제목/요약/키워드: attached-type

검색결과 1,068건 처리시간 0.027초

Inverse Kinematic and Dynamic Analyses of 6-DOF PUS Type parallel Manipulators

  • Kim, Jong-Phil;Jeha Ryu
    • Journal of Mechanical Science and Technology
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    • 제16권1호
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    • pp.13-23
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    • 2002
  • This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

스터테반트 공기분급기의 분리효율에 대한 연구 (A Study on the Grade Efficiency of Sturtevant Type Air Classifier)

  • 정인기;박시우
    • Journal of Advanced Marine Engineering and Technology
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    • 제28권5호
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    • pp.773-781
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    • 2004
  • This research was Performed to raise grade efficiency of Sturtevant type air classifier. to treat powder less than $74\mu\textrm{m}$ particle produced at the crushing process of the dry aggregates manufacturing system or concrete wastes recycling system. The experimental conditions were in the ranges. 0.85 to 5.15 $m^3$/s of primary air flow rate. 0.005 to 0.015 $m^3$/s of secondary air flow rate $30^{\circ}$ to $70^{\circ}$ of auxiliary blades angle. respectively. for 1.7~3.3 kg/min of the powder feed rate. It was found that the grade efficiency of the air classifier was increased as the baffle plate was attached at the expansion region. and the optimal operating conditions of the air flow rates and the blade angle were obtained. The fractional recovery curves from the experiments were well agreement with the theoretical one of Molerus model.

강성 베어링형 밸런실 장치의 개발 (Development of a hard bearing type balancing machine)

  • 권이석;이동환;박중윤;홍성욱
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1994년도 추계학술대회 논문집
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    • pp.773-777
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    • 1994
  • This paper is devoted to the development and performance evaluation of a hard bearing type balancing machine for rigid rotors. The pedestals of the balancing machine are designed to be rigid to be rigid enough to enable the balancing to operate far below the fundamental critical speed. The force measuring method is implemented to the balancing machine. The forces due to unbalance are measured through load cell that are attached to the pedestals. A helical coupling is used for transmitting the driving force from an AC servo motor to the rotor to be balanced. The experimental results show that the current hard bearing type balancing machine can indicate the presence of unbalance beyond 1 .mu. m in specific unbalance unit. The limitation of the current balancing machine is due to the coupling that is likely to make inconsistent offset errors everytime the rotor is connected to the machine.

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정전용량형 센서를 이용한 기상계측시스템의 개발 (Development of On-machine Measurement System utilizing a Capacitive-type Sensor)

  • 김건희;박순섭;박원규;원종호
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2002년도 추계학술대회 논문집
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    • pp.391-395
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    • 2002
  • This paper described about the ultra-precision profile measurement of aspheric surfaces using contact probing technique. A contact probe has been designed as a sensing device to obtain measuring resolutions in nanometer regime utilizing a leaf spring mechanism and a capacitive-type sensor. The contact probe is attached on the z-axis during measurement while aspheric objects are supported on the single point diamond turning machine(SPDTM). The machine xz-axis motions are monitored by a set of two orthogonal plane mirror type laser interferometers. Experimental results show that the contact probing technique developed of On-machine Measurement System in this investigation is capable of providing a repeatability of 20 nanometers with a $\pm$20 uncertainty of 300 nanometers.

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이미지 트레이닝을 위한 바이오 피드백 컨트롤러 (A Bio-Feedback Controller for Image Training)

  • 안진호;문명집;김호룡;김경식
    • 정보통신설비학회논문지
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    • 제10권3호
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    • pp.92-97
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    • 2011
  • In this paper, a controller recognizing human gestures using EMG signal is shown. The tiny and band-type controller is developed for image training to excercise the specific area in the body, and uses a dry-type silver fiber electrode easy to be attached or detached itself to a skin. The captured EMG signals are converted to 10-bit digital values via amplification and frequency filtering processes within the controller, and are transmitted to the server by wireless. As the gesture recognition ratio using the proposed controller on biceps is up to 80%, we expect the practical potential of the controller is very promising.

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Performance analysis of a horn-type rudder implementing the Coanda effect

  • Seo, Dae-Won;Oh, Jungkeun;Jang, Jinho
    • International Journal of Naval Architecture and Ocean Engineering
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    • 제9권2호
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    • pp.177-184
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    • 2017
  • The Coanda effect is the phenomenon of a fluid jet to stay attached to a curved surface; when a jet stream is applied tangentially to a convex surface, lift force is generated by increase in the circulation. The Coanda effect has great potential to be applied practically applied to marine hydrodynamics where various lifting surfaces are being widely used to control the behavior of ships and offshore structures. In the present study, Numerical simulations and corresponding experiments were performed to ascertain the applicability of the Coanda effect to a horn-type rudder. It was found that the Coanda jet increases the lift coefficient of the rudder by as much as 52% at a jet momentum coefficient of 0.1 and rudder angle of $10^{\circ}$.

Prefilter 형태의 카오틱 신경망 속도보상기를 이용한 로봇 제어기 설계 (Prefilter Type Velocity Compensating Robot Controller Design using Modified Chaotic Neural Networks)

  • 홍수동;최운하;김상희
    • 대한전기학회논문지:시스템및제어부문D
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    • 제50권4호
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    • pp.184-191
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    • 2001
  • This paper proposes a prefilter type velocity compensating control system using modified chaotic neural networks for the trajectory control of robotic manipulator. Since the structure of modified chaotic neural networks(MCNN) and neurons have highly nonlinear dynamic characteristics, MCNN can show the robust characteristics for controlling highly nonlinear dynamics like robotic manipulators. For its application, the trajectory controller of the three-axis robot manipulator is designed by MCNN. The MCNN controller acts as the compensator of the PD controller. Simulation results show that learning error decrease drastically via on-line learning and the performance is excellent. The MCNN controller showed much better control performance and shorter calculation time compared to the RNN controller, Another advantage of the proposed controller could by attached to conventional robot controller without hardware changes.

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회전형 속도검출기를 사용한 철도차량에서 공전, 활주의 검출방법 (Slip/Slide Detection Method for the Railway Vehicles using Rotary Type Speed Sensor)

  • 이을재;김영석;윤용기;이재호;류상환;정락교
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 추계학술대회 논문집 학회본부 B
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    • pp.405-407
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    • 2000
  • The most generally implemented method to detect the ground speed of the railway vehicles is to use the rotary type speed sensor attached to wheel axle. The Slip or sliding phenomenon on the railway vehicles occurs frequently caused by the weak viscosity of the wheel. Thus, precisely to control the car, the slip/sliding detection system is required. In this paper we proposed for the speed data management system, which uses rotary type speed sensor. Proposed speed management system can detect the slip/sliding with wheel axle as well as correct the generated speed error during in error time, to provide accurate speed and precise location data. The effectiveness for adapting to the railway system is clarified by the computer simulation.

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SIMPLE ZEROS OF L-FUNCTIONS AND THE WEYL-TYPE SUBCONVEXITY

  • Peter Jaehyun Cho;Gyeongwon Oh
    • 대한수학회지
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    • 제60권1호
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    • pp.167-193
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    • 2023
  • Let f be a self-dual primitive Maass or modular forms for level 4. For such a form f, we define Nsf(T):=|{ρ ∈ ℂ : |𝕵(ρ)| ≤ T, ρ is a non-trivial simple zero of Lf(s)}|.. We establish an omega result for Nsf(T), which is $N^s_f(T) = \Omega(T^{\frac{1}{6}-{\epsilon}})$ for any ∊ > 0. For this purpose, we need to establish the Weyl-type subconvexity for L-functions attached to primitive Maass forms by following a recent work of Aggarwal, Holowinsky, Lin, and Qi.

도심지역 내 중·소하천 수질 개선을 위한 가압부상 및 관로형 미생물 부착 공정 적용에 관한 연구 (Improvement of Medium and Small Urban Stream Water Quality and Applicability of Design Factor Using Biological and Physicochemical Processing)

  • 김문기;최정수;김삼주;김현구
    • 대한환경공학회지
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    • 제35권7호
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    • pp.509-517
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    • 2013
  • 본 연구의 목적은 도심지역 중소하천의 효율적인 수질정화를 위해 물리화학적, 생물학적 처리공정을 결합한 장치형 하천수질정화공법의 적용성을 평가하는데 있다. 본 연구의 하천정화시설은 TSS 및 TP 제거를 위한 가압부상(Micro Bubble Process, MBP)공정과, BOD 제거를 위한 관로형 미생물 부착(Attached Microbial Pipe System, AMPS)공정으로 구성하였다. 각 장치의 실험 조건은 MBP 공정의 부상조 체류시간 및 초미세기포 주입량 변화와 AMPS 공정의 체류시간의 변화를 설정하였다. 또한 계절 변화에 따른 각 공정의 오염원 제거효율을 평가하였다. 각 공정의 연속운전 결과 MBP 공정에서는 최대 TSS 83.69%, TP 95.15%의 처리효율을 나타냈으며, AMPS 공정의 TBOD5 제거효율은 최대 53.0%를 나타냈다. 또한 각 공정의 순환운전 결과 MBP 공정에 의해 최대 TSS 69.75%, TP 70.17%의 처리효율을 나타냈으며, AMPS 공정에 의해 TBOD5 제거효율은 최대 68.58%를 나타냈다. 따라서 본 하천정화시설은 도심지역 내 오염된 하천의 수질을 개선하는데 효과적이라고 사료된다.