• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Environmental Engineering Research
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• 제11권5호
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• pp.241-249
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• 2006

A mathematical model is described for the prediction of convective upward transport of an organic solvent driven by evaporation at the surface, which is known as the major transport mechanism in the in-situ photolysis of a soil contaminated with 2,3,7,8-tetrachlorodibenzo-p-dioxin(TCDD). A finite-element model was proposed to incorporate the effects of multiphase flow on the distribution of each fluid, gravity as a driving force, and the use of hysteretic models for more accurate description of k-S-p relations. Extensive numerical calculations were performed to study fluid flow through three types of soils under different water table conditions. Predictions of relative permeability-saturation-pressure (k-S-p) relations and fluids distribution for an illustrative soil indicate that hysteresis effects may be quite substantial. This result emphasizes the need to use hysteretic models in performing flow simulations including reversals of flow paths. Results of additional calculations accounting for hysteresis on the one-dimensional unsaturated soil columns show that gravity affects significantly on the flow of each fluid during gravity drainage, solvent injection, and evaporation, especially for highly permeable soils. The rate and duration of solvent injection also have a profound influence on the fluid saturation profile and the amount of evaporated solvent. Key factors influencing water drainage and solvent evaporation in soils also include hydraulic conductivity and water table configuration.

• 한국결정성장학회지
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• 제19권4호
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• pp.172-183
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• 2009

For the effects of the nonlinear temperature profiles and reduced-gravity conditions we conduct a two-dimensional numerical modeling and simulations on the physical vapor transport processes of $Hg_2Cl_2-Xe$ system in the horizontal orientation position. Our results reveal that: (1) A decrease in aspect ratio from 5 to 2 leads to an increasingly nonuniform interfacial distribution and enhances the growth rate by one-order magnitude for normal gravity and linear wall temperature conditions. (2) Increasing the molecular weight of component B, Xenon results in a reduction in the effect of solutal convection. (3) The effect of aspect ratio affects the interfacial growth rates significantly under normal gravity condition rather than under reduced gravitational environments. (4) The transition from the convection-dominated regime to the diffusion-dominated regime ranges arises near at 0.1g$_0$ for operation conditions under consideration in this study.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.69-74
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• 2012

본 논문에서는 무게중심 변동이 존재하는 차륜형 역진자가 경사면을 주행하는 경우에 대한 일반적인 운동방정식이 유도되었고 기존 역진자와의 차별점들이 고찰되었다. 차륜형 역진자는 점유면적이 작은 특성 때문에 협소한 장소에서 운용되는 다양한 분야에서 이동 플랫폼으로 채용되고 있다. 차륜형 역진자는 기존 역진자의 불안정한 특성을 그대로 계승하고 있으며, 넘어지지 않고 직립하게 위해서 지속적인 제어가 실행되어야 한다. 차륜형 역진자용 고성능 제어기를 설계하기 위해서는 다양한 환경과 운용조건에서 동작하는 차륜형 역진자를 대상으로 하는 운동방정식과 그 특성을 고려하는 것은 필수적이다.

• 한국지구과학회지
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• 제23권1호
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• pp.15-29
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• 2002

Bayesian inversion for gravity and resistivity data was performed to investigate the cavity structure appearing as a lava tunnel in Cheju Island, Korea. Dipole-dipole DC resistivity data were proposed for a prior information of gravity data and we applied the geostatistical techniques such as kriging and simulation algorithms to provide a prior model information and covariance matrix in data domain. The inverted resistivity section gave the indicator variogram modeling for each threshold and it provided spatial uncertainty to give a prior PDF by sequential indicator simulations. We also presented a more objective way to make data covariance matrix that reflects the state of the achieved field data by geostatistical technique, cross-validation. Then Gaussian approximation was adopted for the inference of characteristics of the marginal distributions of model parameters and Broyden update for simple calculation of sensitivity matrix and SVD was applied. Generally cavity investigation by geophysical exploration is difficult and success is hard to be achieved. However, this exotic multiple interpretations showed remarkable improvement and stability for interpretation when compared to data-fit alone results, and suggested the possibility of diverse application for Bayesian inversion in geophysical inverse problem.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1057-1062
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• 2007

The purpose of this study is to find out design parameters of vibrating screen, such as particles motion, specific gravity, shape, and kinetic friction. In order to approach this problem, four materials of construction wastes, wood, styrofoam, concrete, and sand are used for dynamic modeling. To present friction between the particles material and tilt plates material, these particles model is applied in order to verify effectively. Generally, the vibrating screen is composed of three assemblies such as screen, wastes guide, supported of screen. This model regards vibrator as system of screen fixed tilt plates. The model is analyzed to present what kind of particles motion while the system is vibrating. and this vibration system has been implemented in a ADAMS dynamaic program. This modeling is consist of dynamic model separation state on particle size. This study make good technique to verify in theory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.120.3-120
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• 2002

1. Introduction $\textbullet$ Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and etc. Immune algorithm is the modeling of this system's response that has adaptation and reliableness when disturbance occur. $\textbullet$ In this paper, Immune algorithm is applied to the Steering Controller of AGV in container yard. $\textbullet$ And then the computer simulation result from the viewpoint of yaw rate and lateral displacement is analyzed and compared with result of conventional PID controller. 2. Dynamic Modeling of AGV $\textbullet$ Dynamic modeling has high degree of freedom. But, basic assumptions of this model are that the center of gravity(CG)...

• 한국컴퓨터그래픽스학회논문지
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• 제10권2호
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• pp.10-16
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• 2004

This paper presents an interactive technique that produces static human hairstyles by generating individual hair strands of the desired shape and color, subject to the presence of gravity and collisions. A variety of human hairstyles can be generated by supplying a few parameters to the modeling core, which consists of the wisp generator and hair deformation solver. Wisps are generated employing statistical approaches. As for hair deformation, a method that is not physically-based is proposed to efficiently account for the effects of gravity and collisions. The technique produces various hairstyles much faster than previously proposed methods, and the styles generated by this technique are remarkably realistic.

• International Journal of Air-Conditioning and Refrigeration
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• 제13권4호
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• pp.206-216
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• 2005

Numerical analysis has been carried out to investigate laminar convective heat transfer at zero gravity in a tube for supercritical water near the thermodynamic critical point. Fluid flow and heat transfer are strongly coupled due to large variation of thermodynamic and transport properties such as density, specific heat, viscosity, and thermal conductivity near the critical point. Heat transfer characteristics in the developing region of the tube show transition behavior between liquid-like and gas-like phases with a peak in heat transfer coefficient distribution near the pseudo critical point. The peak of the heat transfer coefficient depends on pressure and wall heat flux rather than inlet temperature and Reynolds number. Results of the modeling provide convective heat transfer characteristics including velocity vectors, temperature, and the properties as well as the heat transfer coefficient. The effect of proximity on the critical point is considered and a heat transfer correlation is suggested for the peak of Nusselt number in the tube.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2006년도 하계학술발표대회 논문집
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• pp.194-198
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• 2006

In this study, numerical modeling was performed to analyze air flow including radiation heat transfer inside a small chamber. Characteristics of heat transfer between source plate and target through glass are investigated for various surface temperature of heat source plate with buoyancy effect due to gravity force. Conduction heat transfer through the glass is considered and heat source plate is assumed to be a black body. Target surface temperature is largely affected by the radiation heat transfer. It can also be seen that as the source temperature increases target surface is dominated by radiation rather than convective heat transfer by air.