• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.85.4-85
• /
• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• 한국전산유체공학회:학술대회논문집
• /
• 2010.05a
• /
• pp.575-580
• /
• 2010

In this work, the electrophoretic motion of dsDNA molecule represented by a polymer through an artificial nano-pore in a membrane is simulated using the numerical method combining the lattice Boltzmann and Langevin molecular dynamic method. The polymer motion is represented by Langevin molecular dynamics technique while the fluid flow is taken into account by fluctuating lattice-Boltzmann method. The hydrodynamic interactions between the polymer and solvent in a confined space with a membrane having a hole are considered explicitly through the frictional and the random forces. The electric field intensity over the space is obtained from a finite difference method. Initially, the polymer is placed at one side of the space, and an electric field is applied to drive the polymer to the other side of the space through the nano-pore. In future, we plan to study the effect of the polymer size and the electric field on the electrophoretic velocity.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.12
• /
• pp.3253-3269
• /
• 1994

In this paper a new concept, named the Extended Operational Space Formulation, has been proposed for the effective analysis and real-time control of the robot manipulators with kinematic redundancy. The extended operational space consists of operational space and optimal null space. The operational space is used to describe robot end-effector motion; whereas the optimal null space, defined as the target space of the self motion manifold, is used to express the self motion for the secondary tasks. Based upon the proposed formulation, the kinematics, statics, and dynamics of redundant robots have been analyzed, and an efficient control algorithm has been proposed. Using this algorithm, one can optimize a performance measure while tracking a desired end-effector trajectory with a better computational efficiency than the conventional methods. The effective ness of the proposed method has been demonstrated with simulations.

• Steel and Composite Structures
• /
• v.9 no.2
• /
• pp.119-130
• /
• 2009

This paper reports results of the structural response of empty steel tanks under vertical ground motions. The tanks are modeled using a finite element discretization using shell elements, and the vertical motion is applied and analyzed using nonlinear dynamics. Several excitation frequencies are considered, with emphasis on those that may lead to resonance of the roof. The computational results illustrate that as the base motion frequency is tuned with the frequency of the first roof-mode of the tank, the system displays large-amplitude displacements. For frequencies away from such mode, small amplitude displacements are obtained. The effect of the height of the cylinder on the dynamic response of the tank to vertical ground motion has also been investigated. The vertical acceleration of the ground motion that induces significant changes in the stiffness of the tank was found to be almost constant regardless of the height of the cylinder.

• Journal of Theoretical and Applied Mechanics
• /
• v.2 no.1
• /
• pp.51-70
• /
• 1996

This study is generalization of the study of Miles[Physica 11D, 1984, pp.309-323]on the resonant motion of a spherical pendulum, which is equivalent to a particle on a spherical container subject to a linear, horizontal excitation. This study covers an arbitrary shape of container and a more general excitation (horizontal but elliptic motion). The averaging method is applied to reduce the governing equations to an autonomous system with cubic nonlinear terms, under the assumption of small amplitude of the container motion. It is shown that both the container shape and the excitation pattern affect the particle dynamics. Under the linear excitation, the anharmonic motion of the particle is possible only for a certain finite range of the parameter a controling the container shape. Stability of the particle's harmonic motion is also influenced by the excitation pattern; as the excitation trajectory becomes closer to a circle, the particle's motion has a stronger tendency to become stable and to follow the rotational direction of the excitation. Under a circular excitation, the motion is always stable and circular with the same rotational direction as the excitation. Analogy between the present model and that of the surface wave inside a circular is studied quantitatively.

• International Journal of Automotive Technology
• /
• v.6 no.2
• /
• pp.183-190
• /
• 2005

During normal operating conditions, a motor vehicle is constantly subjected to a variety of forces, which can adversely affect its straight-ahead motion performance. These forces can originate both from external sources such as wind and road and from on-board sources such as tires, suspension, and chassis configuration. One of the effects of these disturbances is the phenomenon of vehicle lateral-drift during straight-ahead motion. This paper examines the effects of road crown, tires, and suspension on vehicle straight-ahead motion. The results of experimental studies into the effects of these on-board and external disturbances are extremely sensitive to small changes in test conditions and are therefore difficult to guarantee repeatability. This study was therefore conducted by means of computer simulation using a full vehicle model. The purpose of this paper is to gain further understanding of the straight-ahead maneuver from simulation results, some aspects of which may not be obtainable from experimental study. This paper also aims to clarify some of the disputable arguments on the theories of vehicle straight-ahead motion found in the literature. Tire residual aligning torque, road crown angle, scrub radius and caster angle in suspension geometry, were selected as the study variables. The effects of these variables on straight-ahead motion were evaluated from the straight-ahead motion simulation results during a 100m run in free control mode. Examination of vehicle behavior during straight-ahead motion under a fixed control mode was also carried out in order to evaluate the validity of several disputable arguments on vehicle pull theory, found in the literature. Finally, qualitative comparisons between the simulation results and the test results were made to support the validity of the simulation results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.1
• /
• pp.1-6
• /
• 2015

This paper investigates the longitudinal flight dynamics and stability of flapping-wing micro air vehicles. Periodic external forces and moments due to the flapping motion characterize the dynamics of this system as NLTP (Non Linear Time Periodic). However, the averaging theorem can be applied to an NLTP system to obtain an NLTI (Non Linear Time Invariant) system which allows us to use a standard eigen value analysis to assess the stability of the system with linearization around a reference point. In this paper, we investigate the dynamics and stability of a hawkmoth-scale flapping-wing air vehicle by establishing an LTI (Linear Time Invariant) system model around a hovering condition. Also, a direct time integration of full nonlinear equations of motion of the flapping-wing micro air vehicle is conducted to see how the longitudinal flight dynamics appear in the time domain beyond the reference point, i.e. hovering condition. In the study, the flapping-wing air vehicle exhibited three distinct dynamic modes of motion in the longitudinal plane of motion: two stable subsidence modes and one unstable oscillatory mode. The unstable oscillatory mode is found to be a combination of a pitching velocity state and a forward/backward velocity state.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.5 s.98
• /
• pp.151-159
• /
• 1999

A self-propulsive polishing robot is proposed as a method which automates a floor polisher. The proposed robot with two rotary brushes does not require any mechanism such as wheels to obtain driving forces. When the robot polishes a floor with its two brushes rotating, friction forces occur between the two brushes and the floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary brushes properly. In this paper, firstly a dynamics model of a brush is presented. It computes the friction force between the brush and the floor. Secondly, the dynamics of the proposed robot is presented by using the bush dynamics. Finally, the inverse dynamics is solved for the basic motions, such as the forward, backward, leftward, rightward motions and the pure rotaion. This paper will contribute to realize a self-propulsive polishing robot as proposed above, In addition, this paper will give basic ideas to automate the concrete floor finishing trowel, because its basic idea for motion is similar to that of the proposed robot.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.21 no.4
• /
• pp.1-10
• /
• 2013

This paper addresses the derivation of 6-DOF equation of Tanker and Receiver's aircraft for aerial refueling. The new set of nonlinear equations are derived in terms of the relative translational and rotational motion of receiver aircraft respect to the tanker aircraft body frame. Further the wind effect terms due to the tanker's turbulence are included. The derivation of absolute dynamic equation for tanker aircraft written in the inertial frame is calculated from the relative dynamics equations of receiver. The derived relative and absolute equations are implemented the simulation in the same flight conditions to verify the relative motion and compare the trim results by using the MATLAB/SIMULINK program.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.5
• /
• pp.182-189
• /
• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments