• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.161.5-161
• /
• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• Journal of Mechanical Science and Technology
• /
• v.19 no.9
• /
• pp.1731-1741
• /
• 2005

In this paper, we studied about the effect of the open crack and a tip mass on the dynamic behavior of a cantilever pipe conveying fluid with a moving mass. The equation of motion is derived by using Lagrange's equation and analyzed by numerical method. The cantilever pipe is modelled by the Euler-Bernoulli beam theory. The crack section is represented by a local flexibility matrix connecting two undamaged pipe segments. The influences of the crack, the moving mass, the tip mass and its moment of inertia, the velocity of fluid, and the coupling of these factors on the vibration mode, the frequency, and the tip-displacement of the cantilever pipe are analytically clarified.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.299-302
• /
• 1995

Recently, we proposed a 3-D range-image measuring system for a slowly moving object by mechanically scanning a laser light beam emitted from a self mixing laser diode. In this paper, we introduced that every object moves along a straight line course, which is set diagonally against the semiconductor laser beam so that we can recognize each shape and size parameters of objects separately from the acquired 3-D range-image. We measured a square mesa on a square plane as an object. The measured velocity was 4.44mm/s and 4.63mm/s with an error of 0.56mm/s to 0.37mm/s. And thickness error of the mesa was 0.5mm to 0.6mm, which was obtained from the 3-D range-image of the standstill or moving object with thickness of 17.Omm.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.688-692
• /
• 2000

This study proposed design parameters of opening spring of circuit breaker that cut off the over-current in order to protect the electric device about opening speed using the energy method. We simulated the opening kinetic energy, the potential energy of opening spring and the design parameters of opening spring with respect to opening speed of VCB (Vacuum Circuit Breaker)'s moving contactor which has 24kV 25kA break capacity. From the result of simulation the initial tensional force and the final tensional force of the opening spring chose 107kgf and 282kgf respectively. Through the dynamic analysis using ADAMS, We verified that the opening speed of moving contactor satisfied break capacity of VCB and analyzed opening dynamic characteristics of VCB such as the opening displacement, the opening velocity and the opening acceleration of moving contactor in time domain.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.16 no.2 s.107
• /
• pp.198-206
• /
• 2006

The dynamic responses of both the in-plane and out-of-plane vibrations are investigated for an axially moving membrane. The equations of motion are derived for the moving membrane with no-slip boundary conditions by using the extended Hamilton principle. Based on the Galerkin method, the discretized equations of motion are derived. The generalized-time integration method is applied to compute the dynamic responses for the in-plane and out-of-plane motions. From the computed results, the responses are compared between the in-plane and out-of-plane vibrations. Furthermore. the effects of velocity and acceleration on the dynamic behaviours for displacements and stresses are presented.

• Nuclear Engineering and Technology
• /
• v.49 no.8
• /
• pp.1654-1659
• /
• 2017

The boundary layer of a two-dimensional forced convective flow along a persistent moving horizontal needle in an electrically conducting magnetohydrodynamic dissipative nanofluid was numerically investigated. The energy equation was constructed with Joule heating, viscous dissipation, uneven heat source/sink, and thermal radiation effects. We analyzed the boundary layer behavior of a continuously moving needle in Blasius (moving fluid) and Sakiadis (quiescent fluid) flows. We considered Cu nanoparticles embedded in methanol. The reduced system of governing Partial differential equations (PDEs) was solved by employing the Runge-Kutta-based shooting process. Computational outcomes of the rate of heat transfer and friction factors were tabulated and discussed. Velocity and temperature descriptions were examined with the assistance of graphical illustrations. Increasing the needle size did not have a significant influence on the Blasius flow. The heat transfer rate in the Sakiadis flow was high compared with that in the Blasius flow.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.7
• /
• pp.597-604
• /
• 2001

Recently, the study of the moving sliding mode in the variable structure control is in progress ac-tively. The conventional time-invariant sliding model control can\`t guarantee the sliding mode in the reaching phase, which is robust against the uncertainty. But with the time-varying method, the controller makes the states track the desired trajectories and keeps the sliding mode. Nevertheless, the piecewise continuous method of the past still has the reaching mode. Thus we propose the continuously moving sliding surface by the fuzzy algorithm. The proposed algorithm is made of the fuzzy rule considering both the error and the error velocity, and may apply to the entire phase plane without sacrificing sliding mode. Especially the proposed scheme can rotate tot he slope-decreasing direction, needless to say rotating to the slope-increasing direction. For showing that the proposed controller guarantees the sliding model and ensures the robustness, we apply the proposed method to the two-link robot manipulator simulation.

• 한국정보디스플레이학회:학술대회논문집
• /
• 2009.10a
• /
• pp.935-936
• /
• 2009

In this paper, we describe the basic operating mechanism of our novel reflective display, Fast Moving Ball Actuator (FMBA) mode[1], using micro-sized metal coated polymer ball in fluid medium. Metal surface of the ball can be charged up by contact electrode and their locations can be controlled by applied field to obtain optically on and off state. In the medium with high viscosity, the response speed of the moving ball might be reached into their terminal velocity and changed in proportion to the frequency of applied voltage on the electrodes.

• International Journal of Railway
• /
• v.6 no.4
• /
• pp.155-159
• /
• 2013

The purpose of this study was to develop a theoretical model to analyze the vibration of finite railways forced by distributed moving loads. The vibration characteristics of compliantly supported beam utilizing compressional damping model were investigated through the Rayleigh-Ritz method. The distributed moving load was analyzed as the cross correlation function on railways. This allowed the use of statistical characteristics for simulation of the moving train wheels on the rail. The results showed there is a critical velocity inducing resonant vibration of the rail. The mass spring resonance from the rail fastening systems exhibited significant influence on the resulting vibration response. In particular, the effect of the viscoelastic core damping was investigated as an efficient method for minimizing rail vibration. The decrease of the averaged vibration and rolling noise generation by the damping core was maximized at the mass-stiffness-mass resonance frequency.

• Structural Engineering and Mechanics
• /
• v.81 no.6
• /
• pp.705-714
• /
• 2022

The aim of this paper is to investigate nonlinear dynamic responses of functionally graded composite beam resting on the nonlinear viscoelastic foundation subjected to moving mass with temperature rising. The non-linear strain-displacement relationship is considered in the finite strain theory and the governing nonlinear dynamic equation is obtained by using the Hamilton's principle. The Galerkin's decomposition technique is utilized to discretize the governing nonlinear partial differential equation to nonlinear ordinary differential equation and then the governing equation is solved by using of multiple time scale method. The influences of temperature rising, material distribution parameter, nonlinear viscoelastic foundation parameters, magnitude and velocity of the moving mass on the nonlinear dynamic responses are investigated. Also, the buckling temperatures of the functionally graded beams based on the finite strain theory are obtained.