• Title/Summary/Keyword: mechatronics

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Examples of Art Performing with Industrial Dual-arm Robots (산업용 양팔로봇을 이용한 공연 예술 구현 사례)

  • Choi, Taeyong;Do, Hyunmin;Park, Dongil;Park, Chanhun;Kyung, Jinho;Kim, Doohyung
    • The Journal of Korea Robotics Society
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    • v.11 no.4
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    • pp.293-299
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    • 2016
  • In this article art performing applications of industrial dual-arm robots are introduced. It was real collaboration among robot researchers and artist. Artist designed the performance to use dual-arm robot. Robot researchers collaborated with artist by providing robotic constraints and configuring robot motion. Two art performances were configured with two industrial dual-arm robots. In both performance robots carry objects to be used as moving screens. Both performances rely on the high power and high precision of robots. In addition human-like appearance make those performances be familiar to public.

The Effects of Design Parameters on the Mechanical Precision of an End Effector on a Parallel Kinematic Robot (병렬로봇의 설계공차 설정에 따른 기계적 정밀도의 영향 분석)

  • Park, Chanhun;Kim, Doohyung;Do, Hyunmin;Choi, Taeyong;Park, Dongil;Kim, Byungin
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.10
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    • pp.847-852
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    • 2016
  • In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.

Implementation of PLC Device by Roll to Roll Process (RTR 공정에 의한 PLC 광통신 소자 구현 기술)

  • Kim, Jung Hoon;Kim, So Hee;Kang, Ho Ju;Cho, Sang-Uk;Lee, Tae Ho;Jeong, Myung Yung
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.6
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    • pp.469-475
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    • 2014
  • The roll to roll (RTR) imprint process is an integrated imprinting process where steps ranging from assignment of a function to a flexible rolled substrate to rewinding of the same substrate in a roll are performed. RTR imprint is a green, low-cost technology without limitations. In RTR imprint, it is important to manufacture the mold precisely and maintain uniform process condition. To this, process conditions have to include precision tension control, optimization of process parameters. We introduced RTR imprint to fabricate planar lightwave circuit (PLC) device for communication, by new schematic design and process optimization, we fabricated successfully optical device. The fabricated optical device showed the optical performance which was satisfied to meet international standard.

A Study on a Nonlinear Control Algorithm for the Automatic Berthing of Ships (선박 자동 이접안을 위한 비선형 제어알고리즘 연구)

  • Won, Moon-Cheol;Hong, Seong-Kuk;Jung, Yun-Ha;Kim, Sun-Young;Son, Nam-Sun;Yoon, Hyun-Gyu
    • Journal of Ocean Engineering and Technology
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    • v.22 no.3
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    • pp.34-40
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    • 2008
  • his study discusses the design of an automatic berthing control algorithm for ships with a haw thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showed good tracking performance.

A Study on the Design of Electronic Control Unit for Antilock Brake System (전자제어식 미끄럼 방지 제동장치의 제어기 설계에 관한 연구)

  • Ha, Yeon-Chul;Cho, Jeong-Mok;Shin, Byung-Chul;Hwang, Don-Ha;Park, Doh-Young;Kim, Yong-Joo
    • Proceedings of the KIEE Conference
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    • 2000.07d
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    • pp.2345-2347
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    • 2000
  • ABS(Antilock Brake System) prevents the wheels from "locking" and improve "handling" during braking. Currently, safety and environmental issues are a major concern in the automotive industry. ABS has become the vital brake system. ABS is composed of sensors for wheel speed, a pressure modulator for controlling the brake pressures in the wheel brake cylinders, and an electronic control unit(ECU) which evaluates the signals from the wheel speed sensors and converts these to commands to control the pressure of modulator. In this paper, ECU developed for commercial vehicles is described. Detection of wheel slip, control algorithms of ABS, and diagnosis method of ECU are presented.

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The Absolute Position Recognition Using the Map in Space for Navigation of a Mobile Robot (초음파센서를 가진 이동로봇의 주행을 위한 지도를 이용한 공간상의 절대위치 인식 실현)

  • Jeong, Joon-Young;Kim, Yong-Yil;Kim, Ji-Hyun;Han, Seok-Jin;Kim, Sang-Gweon;Kim, Pan-Dol;Lee, Hong-Won
    • Proceedings of the KIEE Conference
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    • 1994.11a
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    • pp.302-304
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    • 1994
  • In this paper, we introduce the current implementation status of the absolute position recognition technique using sonars for the navigation of a mobile robot. Using this technique, we have developed the supervisory controller of the autonomous vacuum cleaning robot which can recognize the user-specified origin, moves its body to the origin, and follow the specified trajectory starting from the origin. With the satisfactory results, we expect the autonomous cleaning robot to be commercialized in a very near future.

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The Shape Optimization of PM Excited Transverse Flux Linear Motor for Compressor to Minimize Detent Force and Maximize Thrust force (Detent force를 최소화 하면서 추력을 최대화하기 위한 압축기용 영구자석 여자 횡자속 선형전동기의 형상최적설계)

  • Hong, D.K.;Woo, B.C.;Kang, D.H.;Jang, J.W.;Kim, J.M.;Jeong, D.H.
    • Proceedings of the KIEE Conference
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    • 2005.10c
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    • pp.147-149
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    • 2005
  • On this study, we optimized maximizing thrust force of weight ratio and minimizing detent force of weight ratio at the TFLM(Transverse Flux Linear Motor) using design of experiments by the table of orthogonal array, characteristic function and analysis of means(ANOM), For two functions or more, the effectiveness of design change can be evaluated in accordance with change in design parameters. Also, The stator and mover weight of TFLM is reduced by up to 20 percent while its thrust force of weight ratio and detent force of weight improved. From now on, we are going to apply the required technique to design various uses and shares of the TFLM.

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The Ka-band Low Noise and Stable Receiver Design of Digital Correlation Radiometer for High Spatial Resolution

  • Choi, Jun-Ho;Kim, Sung-Hyun;Kang, Gum-Sil;Park, Hyuk;Choi, Seh-Wan;Jiang, Jing-Shan;Kim, Yong-Hoon
    • Proceedings of the KSRS Conference
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    • 2002.10a
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    • pp.297-302
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    • 2002
  • The subsystems of two channel correlation radiometer such as RF front-end, IF and LF unit, LO unit, software based I/Q demodulator and complex correlator are characterized and their performance is analyzed in this paper. The limited hardware calibration method and receiver design consideration are discussed. The receiver architecture of 37GHz correlation radiometer is integrated. The designed radiometer employs a single-sideband superheterodyne receiver. The center frequency of the radiometer is 37 GHz and IF center frequency is 1.95 GHz with the equivalent noise bandwidth of 79.6 MHz. The receiver has less than 4.2 dB noise figure which is calculated by the Y-factor method and its gain can be adjusted from 60 dB to 80 dB.

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Dynamic Soap Film Model based on Discrete Differential Geometry (이산미분기하 기반의 동적 비누막 모델)

  • Park, Min Ki;Kim, Hyun Soo;Choi, Han Kyun;Lee, Seung Joo;Ko, Kwang Hee;Lee, Kwan H.
    • Proceedings of the Korea Information Processing Society Conference
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    • 2010.04a
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    • pp.523-526
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    • 2010
  • 주어진 경계선에 대해 비누막이 생성하는 표면 모델링 및 시간에 따른 변형 시뮬레이션은 컴퓨터 그래픽스 응용 프로그램의 한 분야이다. 이 문제에 대한 이전의 연구들은 주로 기하적인 방법들을 이용하였기 때문에 물리적으로 정확한 변형을 다루지 못하였다. 본 연구에서는 정확한 기하를 바탕으로 물리기반 변형을 다루기 위해 이산미분기하학으로부터 비누막의 동적인 모델을 제안한다. 우선, 비누 성분의 물리적인 특성들을 고려한 에너지 모델을 정의하고, 이를 이산 영역에서 나타내기 위해 이산미분기하 및 이산화 기법들을 이용한다. 제안하는 모델은 평형 상태에서의 비누막 형상뿐만 아니라 외력에 대한 표면의 변형까지 정확하게 나타내며, 실시간 시뮬레이션이 가능하여 게임, 애니메이션 목적으로 활용될 수 있다.

Development of algorithm for Maintaining indoor altitude of drone using image-based deep learning (영상기반의 딥러닝을 활용한 드론-실내고도유지 알고리즘 개발)

  • Kim, Jae-Woo;Lee, Dong-Goo;Kim, Tae-Jung;Lee, Jung-Ho;Kim, Sun-Jung;Choi, Sun;Hwang, Heon
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 2017.04a
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    • pp.173-173
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    • 2017
  • 드론의 시장규모가 커짐에 따라 초창기 군사 목적에서 현재 민간부문으로 확대되고 있다. 현재 드론은 실외에서 사용될 목적으로 제작된 것이 많으나 실내에서도 드론의 활용 여부가 증가할 것으로 예상된다. 본 연구에서는 실외에서만 사용 가능한 GPS를 대신하여 영상 촬영으로 획득한 이미지를 CNN으로 학습을 시켜 자율고도제어비행을 하도록 한다. 첫 번째로 수동 조작하는 드론에 IMU센서를 부착하여 획득한 고도 데이터를 표로 제시함으로써 GPS를 사용하지 않는 드론의 실내주행에서 일정한 고도 유지는 다소 무리가 있음을 보여준다. 두 번째로 드론의 수동 조작은 일정하지 않은 고도 때문에 CNN의 학습할 영상 획득이 어렵다. 일정한 고도의 영상 획득을 위한 실험용 높이 조절 Base를 제작하여 고도별 영상을 획득한다. 획득한 영상을 통해 얻은 이미지를 CNN 학습을 시킨 후, 학습에 사용되지 않은 이미지를 사용하여 고도 판별을 확인한다. 대조군으로 실내장소를 바꾸어 미리 학습된 CNN으로 고도 판별을 확인한다. 학습에 사용된 이미지의 환경(생명공학관)과 대조군(제 2 공학관)이 촬영된 장소의 환경요소의 차이로 오차가 발생한다. 오차는 실내 장소의 총 높이의 차이 및 서로 상이한 천장 구조물에 따른 것으로 사료되며 Data crop을 통해 획득한 이미지의 천정 부분을 제거하여 노이즈를 줄여 고도 판별의 정확도를 높일 수 있을 것으로 예상한다. 세 번째, CNN으로 학습을 통해 Model을 도출하여 자율 고도 제어 프로세스를 제시한다. 그리고 해당 프로세스를 이용한 자율고도제어 주행과 수동조작을 통한 주행에서의 Z축 가속도 데이터의 표준편차를 비교하여 본 연구의 실효성을 보여준다

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