• 제목/요약/키워드: parallel-serial mechanism

검색결과 40건 처리시간 0.021초

스튜어트 플랫폼 순기구학 해의 실시간 추정기법 (Real-Time Estimation of Stewart Platform Forward Kinematic Solution)

  • 정규홍;이교일
    • 대한기계학회논문집
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    • 제18권7호
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    • pp.1632-1642
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    • 1994
  • The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

하이브리드 전기 자동차의 동력전달 메커니즘 개선에 관한 연구 (STUDY ON IMPROVEMENT OF POWER TRAIN MECHANISM FOR HYBRID ELECTRIC)

  • 최창원;전순용
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 B
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    • pp.1275-1277
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    • 2001
  • Growing environmental and economic concerns have lead to recent efforts to produce more fuel efficient and lower emissions vehicles. Hybrid Electric Vehicles(ab. HEVs) are the most promising designs to reach these goals. In this paper, We present an of a Power Tra the Hybrid Electric Vehicle(at. PTHEV). We int a different concept of PTHEV than in the pr research of PTHEV. This PTHEV includes benefits of serial(Minimum emission and Max efficiency) and parallel(Maximum Power efficiency by direct drive engine) PTHEV. Also mechanism can avoid driving the engine in the speed regions.

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스튜엇트 플랫폼의 조작성 연구 (Study on Manipulability of a Stewart Platform)

  • 김한성;최용제
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1994년도 추계학술대회 논문집
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    • pp.901-906
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    • 1994
  • In designing and evaluating manipulators, itis important to understand the capability of kinematic and static performances. Both workspace and manipulability can be considered as such performance measures. In general, the measure of manipulability is related to the kinematics for serial type manipulators. However.in case of parallel manipulators such as Stewart Platform, the manipulability can be interpreted as the static capability of transforming the input forces of actuators to the wrench of the end-effector. In this paper, the mathematical and physical meanings of manipulability suggested in some research works have been examined, and more meaningful measure of manipulability using the absolute minimum eigenvalues of J $^{T}$ .del. J has been suggested, which has been applied to a Stewart Platform in order to investigate the manipulability of this mechanism..

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An innovative method for determining the diffusion coefficient of product nuclide

  • Chen, Chih-Lung;Wang, Tsing-Hai
    • Nuclear Engineering and Technology
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    • 제49권5호
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    • pp.1019-1030
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    • 2017
  • Diffusion is a crucial mechanism that regulates the migration of radioactive nuclides. In this study, an innovative numerical method was developed to simultaneously calculate the diffusion coefficient of both parent and, afterward, series daughter nuclides in a sequentially reactive through-diffusion model. Two constructed scenarios, a serial reaction (RN_1 ${\rightarrow}$ RN_2 ${\rightarrow}$ RN_3) and a parallel reaction (RN_1 ${\rightarrow}$ RN_2A + RN_2B), were proposed and calculated for verification. First, the accuracy of the proposed three-member reaction equations was validated using several default numerical experiments. Second, by applying the validated numerical experimental concentration variation data, the as-determined diffusion coefficient of the product nuclide was observed to be identical to the default data. The results demonstrate the validity of the proposed method. The significance of the proposed numerical method will be particularly powerful in determining the diffusion coefficients of systems with extremely thin specimens, long periods of diffusion time, and parent nuclides with fast decay constants.

PSA 기법에 근거한 생산라인상의 디지털 회로 보오드 검사전략에 대한 연구 (A Study on the Test Strategy of Digital Circuit Board in the Production Line Based on Parallel Signature Analysis Technique)

  • 고윤석
    • 대한전기학회논문지:시스템및제어부문D
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    • 제53권11호
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    • pp.768-775
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    • 2004
  • The SSA technique in the digital circuit test is required to be repeated the input pattern stream to n bits output nodes n times in case of using a multiplexor. Because the method adopting a parallel/serial bit convertor to remove this inefficiency has disadvantage of requiring the test time n times for a pattern, the test strategy is required, which can enhance the test productivity by reducing the test time based on simplified fault detection mechanism. Accordingly, this paper proposes a test strategy which enhances the test productivity and efficiency by appling PAS (Parallel Signature Analysis) technique to those after analyzing the structure and characteristics of the digital devices including TTL and CMOS family ICs as well as ROM and RAM. The PSA technique identifies the faults by comparing the reminder from good device with reminder from the tested device. At this time, the reminder is obtained by enforcing the data stream obtained from output pins of the tested device on the LFSR(Linear Feedback Shift Resister) representing the characteristic equation. Also, the method to obtain the optimal signature analyzer is explained by furnishing the short bit input streams to the long bit input streams to the LFSR having 8, 12, 16, 20bit input/output pins and by analyzing the occurring probability of error which is impossible to detect. Finally, the effectiveness of the proposed test strategy is verified by simulating the stuck at 1 errors or stuck at 0 errors for several devices on typical 8051 digital board.

Fully Distributed Economic Dispatching Methods Based on Alternating Direction Multiplier Method

  • Yang, Linfeng;Zhang, Tingting;Chen, Guo;Zhang, Zhenrong;Luo, Jiangyao;Pan, Shanshan
    • Journal of Electrical Engineering and Technology
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    • 제13권5호
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    • pp.1778-1790
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    • 2018
  • Based on the requirements and characteristics of multi-zone autonomous decision-making in modern power system, fully distributed computing methods are needed to optimize the economic dispatch (ED) problem coordination of multi-regional power system on the basis of constructing decomposition and interaction mechanism. In this paper, four fully distributed methods based on alternating direction method of multipliers (ADMM) are used for solving the ED problem in distributed manner. By duplicating variables, the 2-block classical ADMM can be directly used to solve ED problem fully distributed. The second method is employing ADMM to solve the dual problem of ED in fully distributed manner. N-block methods based on ADMM including Alternating Direction Method with Gaussian back substitution (ADM_G) and Exchange ADMM (E_ADMM) are employed also. These two methods all can solve ED problem in distributed manner. However, the former one cannot be carried out in parallel. In this paper, four fully distributed methods solve the ED problem in distributed collaborative manner. And we also discussed the difference of four algorithms from the aspects of algorithm convergence, calculation speed and parameter change. Some simulation results are reported to test the performance of these distributed algorithms in serial and parallel.

Interactive Colision Detection for Deformable Models using Streaming AABBs

  • Zhang, Xinyu;Kim, Young-J.
    • 한국HCI학회:학술대회논문집
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    • 한국HCI학회 2007년도 학술대회 3부
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    • pp.306-317
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    • 2007
  • We present an interactive and accurate collision detection algorithm for deformable, polygonal objects based on the streaming computational model. Our algorithm can detect all possible pairwise primitive-level intersections between two severely deforming models at highly interactive rates. In our streaming computational model, we consider a set of axis aligned bounding boxes (AABBs) that bound each of the given deformable objects as an input stream and perform massively-parallel pairwise, overlapping tests onto the incoming streams. As a result, we are able to prevent performance stalls in the streaming pipeline that can be caused by expensive indexing mechanism required by bounding volume hierarchy-based streaming algorithms. At run-time, as the underlying models deform over time, we employ a novel, streaming algorithm to update the geometric changes in the AABB streams. Moreover, in order to get only the computed result (i.e., collision results between AABBs) without reading back the entire output streams, we propose a streaming en/decoding strategy that can be performed in a hierarchical fashion. After determining overlapped AABBs, we perform a primitive-level (e.g., triangle) intersection checking on a serial computational model such as CPUs. We implemented the entire pipeline of our algorithm using off-the-shelf graphics processors (GPUs), such as nVIDIA GeForce 7800 GTX, for streaming computations, and Intel Dual Core 3.4G processors for serial computations. We benchmarked our algorithm with different models of varying complexities, ranging from 15K up to 50K triangles, under various deformation motions, and the timings were obtained as 30~100 FPS depending on the complexity of models and their relative configurations. Finally, we made comparisons with a well-known GPU-based collision detection algorithm, CULLIDE [4] and observed about three times performance improvement over the earlier approach. We also made comparisons with a SW-based AABB culling algorithm [2] and observed about two times improvement.

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시각적 선택에 대한 신경 망 모형FeatureGate 모형의 하향식 기제 (A Neural Network Model for Visual Selection: Top-down mechanism of Feature Gate model)

  • 김민식
    • 인지과학
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    • 제10권3호
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    • pp.1-15
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    • 1999
  • 시각적 선택에 대한 과거 정신물리학적, 신경 생리학적 연구결과를 토대로 Feature Gate 라는 신경 망 모형을 제안하였다. 이 모형에는 공간 배치도가 위계 적으로 구성되어 있으며, 정보의 흐름이 위계의 각 수준으로부터 그 다음 수준으로 넘어갈 때 주의 게이트에 의해 조절되도록 되어 있다. 주의 게이트들은 독특한 세부 특징을 가진 위치에 반응하는 상향식 시스템과 표적 세부 특징이 있는 위치에 반응하는 하향식 기제 모두에 의해 조절된다. 본 연구는 Feature Gate 모형의 하향식 기제에 초점을 맞추어 모형을 설명하고, 현재 다른 모형들이 설명하지 못하는 Moran & Desimone(1985)의 연구결과를 이 모형이 어떻게 설명하는지를 제시하고자 한다. Feature Gate 모형은 병렬 적인 세부특징 검색, 계열 적 접합표적 검색, 단서에 의한 주의의 점진적 감소 모형, 세부특징-주도적인 공간적 선택, 주의의 분할, 방해자극 위치의 억제, 주변 억제 등을 포함한 시각적 주의 연구의 여러 가지 많은 현상들을 설명하는데 하나의 일관적인 해석을 제공해 준다. 앞으로 이 모형을 더욱 확장, 발전 시켜 세부특징의 조합된 배열에 반응하는 상위 수준의 유닛을 사용한다면 시각적 선택과정이 포함된 형태 재인 모형으로 개발될 수 있다.

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Hot Firing Test of a Quadrature NEA SSD9103S1 Configuration

  • Ja-Chun, Koo;Hee-Sung, Park;Max, Guba
    • International Journal of Aerospace System Engineering
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    • 제9권2호
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    • pp.1-9
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    • 2022
  • The NEA release mechanism is used to provide restraint and release functions with low shock for critical deployment operations on solar arrays after launch. The GK3 solar array consists of 2 wings and 6 hold down points per panel. The NEA SSD9103S1 is a part of the GK3 solar array hold-down and release mechanism. Each NEA unit is equipped with two Z-diodes which provide power to a NEA unit connected in series after actuation of the fuse wire. This paper presents the hot firing test results of a quadrature NEA SSD9103S1 configuration. One output powers a maximum of 4 NEA SSD9103S1 units simultaneously. The necessary actuation pulse duration has been determined to meet margin requirement for thermal energy of minimum 4. Actuation thermal energy difference is about 6.6% between each half of two fired serial NEAs. Thermal energy margin at worst case is minimum 5.9 in case of an actuation pulse duration of 500 ms. Two series Zener impedance depend on current applied has been characterized by an additional actuation after all fuse wires are open circuit. Total number of actuation commands to the GK3 NEA unit reduce drastically from 24 in case of single NEA configuration down to 8 in case of parallel and quadrature NEA configurations. It can be accommodated by the existing HP2U Pyro design without any impact.

이동에이전트 기반의 P-그리드 환경에서 서비스 에이전트의 효율적인 이주기법 (Efficient Migration of Service Agent in P-Grid Environments based-on Mobile Agent)

  • 국윤규;엄영현;정계동;최영근
    • 한국정보통신학회:학술대회논문집
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    • 한국해양정보통신학회 2005년도 추계종합학술대회
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    • pp.131-134
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    • 2005
  • 본 논문에서는 이동에이전트 기반으로 구축된 P-그리드 환경에서, 그리드 서비스 에이전트가 각 피어에게 효율적으로 이주할 수 있는 방법에 대하여 연구한다. 서비스 요청에 따른, 서비스 에이전트를 전달하기 위한 이주방법은 피어의 논리적인 네트워크 위상에 기반한다. 본 시스템에서 사용되는 네트워크 위상은 스타형 위상, 링형 위상, 트리형 위상으로 구성되어, 마스터/슬레이브 방식과 직렬 및 병렬 전송방식으로 에이전트를 이주시킨다. 요청된 서비스의 수행범위 및 특성에 따라 서비스 에이전트의 이주방식을 선택한다. 또한 네트워크 위상을 구성하는 피어의 성능과 에이전트 이주 순서에 의해 서비스 전체 수행시간이 영향을 받는다. 따라서 피어의 성능을 모니터링하고, 히스토리를 분석 및 학습하여 에이전트의 이주 우선순위를 결정한다. 서비스 에이전트의 이주방식의 결정과 이주하려는 피어의 우선순위 결정을 통하여 효율적으로 서비스 수행시간을 절감할 수 있다.

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