• 전자공학회논문지B
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• 제33B권12호
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• 한국소음진동공학회논문집
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• 제21권8호
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• pp.691-697
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• 2011

The purpose of this study is to analyze nonlinear dynamics of a tethered satellite. The coupled non-linear equations of motion are derived by using the extended Hamilton's principle with the polar coordinate system. In order to analyze the response of tethered satellite, time responses are computed by the Newmark's time integration method. We also investigate the dynamic behavior of the system and the effects of length of tether, tip mass and conveyed fluid through the tether with time variation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.396.2-396
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• 2002

Dynamic stability and behavior are analyzed fur Pendulum Automatic Dynamic Balancer which is a device to reduce an unbalanced mass of rotors. The nonlinear equations of motion for a system including a Pendulum Balancer are derived with respect to polar coordinate by Lagrange's equations. The perturbation method is applied to find the equilibrium positions and to obtain the linear variation equations. Based on linearized equations, the dynamic stability of the system around the equilibrium positions is investigated by the eigenvalue problem. (omitted)

• 한국음향학회지
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• 제14권5호
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• pp.58-62
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• 1995

무한배플에 고정된 사각형 진동체에 대한 자기방사 임피던스를 극좌표를 이용한 적분식으로 표시하고 이를 방사저항과 방사 리액턴스로 분리하여 수치해석 하였다. 해석의 결과를 접근방법이 다른 이론식의 결과와 비교하였다. 수치해석의 결과 다른 방법들은 저주파 영역에서 근사식을 사용하여 보정을 해준 반면 본 논문에서 사용된 적분식은 전 주파수 영역에서 제한조건 없이 잘 맞음을 보였다.

• Journal of Magnetics
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• 제20권4호
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• pp.432-438
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• 2015

This paper presents an electromagnetic analysis of a tubular linear machine with axially magnetized permanent magnets using improved analytical techniques. Based on the magnetic vector potential and a two-dimensional polar-coordinate system, the magnetic field and armature reaction field can be derived. Using these, equivalent circuit parameters, such as the electromotive force and inductance, can be obtained analytically. Finally, the generating characteristics are derived with the equivalent circuit method. In this study, the finite element method was employed to provide a comparative evaluation, and experiments were conducted to validate the results of the analytical analysis.

• 한국소음진동공학회논문집
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• 제21권5호
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• pp.416-421
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• 2011

The purpose of this study is to analyze nonlinear dynamics of a tethered satellite. The nonlinear equations of motion are derived by using Lagrange's equations with the polar coordinate system. In order to analyze the response of tethered satellite, time responses are computed by the Newmark's time integration method. This paper claims that the dynamic behavior of the system is changed by the effect of length of tether, mass ratio of satellites.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.727-728
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• 2008

This paper deals with characteristic analysis of permanent magnet synchronous motor with full-ring magnet. The modeling of magnetic circuit is performed analytically. And then, analytical solution for open-circuit field distribution due to permanent magnet, back-EMF and torque are derived in terms of magnetic vector potential and two-dimensional polar coordinate system. The analytical results are validated extensively by finite element analyses. Finally, we performed experiments of permanent magnet synchronous motor with full-ring magnet.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.50-52
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• 2008

This paper deals with design and characteristics analysis of 600HP class high_speed Permanent synchronous motor. The field equations due to magnet and stator windings are established in terms of vector potential and 2-d polar coordinate system. Back-emf and torque are then derived. The results compared with finite element method and show in good conformity with those obtained from finite element method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.99-104
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• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).