• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.212-217
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• 1993

In this paper, characteristics of the motions of a human arm are investigated experimentally. When the conditions of the target point are restricted, human adjusts its trajectory and velocity pattern of the arm to fit the conditions skillfully. The purpose of this work is to examine the characteristics of the trajectory, velocity pattern, and the size of the duration in the following cases. First, we examine the case of point-to-point motion. The results are consistent with the minimum jerk theory. However, individual differences in the length of the duration can be observed in the experiment. Second, we examine the case which requires accuracy of positioning at the target point. It is found that the velocity pattern differs from the bell shaped pattern explained by the minimum jerk theory, and has its peak in the first half of the duration. When higher accuracy of the positioning is required, learning effects can be observed. Finally, to examine the case which requires constraint of the arm posture at the target point, we conduct experiments of a human trying to grasp a cup. It is considered that this motion consists of two steps : one is the positioning motion of the person in order to start the grasping motion, the other is the grasping motion of the human's hand approaching toward the cup and grasping it. In addition, two representative velocity patterns are observed : one is the similar velocity pattern explained in the above experiment, the other is the velocity pattern which has its relative maximum in the latter half of the duration.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.684-692
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• 2010

Based on the planar restricted three body problem formulation, optimized trajectories for the Earth-Moon transfer are obtained. Mixed impulsive and continuous thrust are assumed to be used, respectively, during the Earth departure and Earth-Moon transfer/Moon capture phases. The continuous, dynamic trajectory optimization problem is reformulated in the form of discrete optimization problem by using the method of direct transcription and collocation, and then is solved using the nonlinear programming software. Representative results show that the shape of optimized trajectory near the Earth departure and the Moon capture phases is dependent upon the relative weight between the impulsive and the continuous thrust.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.12 s.243
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• pp.1360-1368
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• 2005

This study investigates the characteristics of spray, such as evaporation rate and spray trajectory, for a 4-hole injector which is applied to a 4-valve motorcycle gasoline engine. Three dimensional, unsteady, compressible flow and spray within the intake-port and cylinder have been simulated using the VECTIS code. Spray characteristics were investigated at 6000 rpm engine speed. Furthermore, we visualized fuel behavior in the intake-port using a CCD camera synchronized with a stroboscope in order to compare with the analytical results. Boundary and intial conditions were employed by complete 1-D simulation of the engine using the WAVE code. Fuel was injected into the intake-port at two time intervals relative to the position of the intake valves so that the spray arrived when the valves were closed and fully open. The results showed that the trajectory of the spray was directed towards the lower wall of the port with injection against the closed valves. With open valve injection, a large portion of the fuel was lifted by the co-flowing air towards the upper half of the port and this was confirmed by simulation and visualization.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Bulletin of the Korean Chemical Society
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• v.27 no.12
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• pp.1976-1980
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• 2006

We have calculated the reaction probability and the reaction cross-section of the $N(^4S)+O_2(X^3\sum_{g}^{-})\;\rightarrow\;NO(X^2\Pi)+O(^3P)$ reaction by the quasiclassical trajectory method with the 6th-order explicit symplectic algorithm, based on a new ground potential energy surface. The advantage of the 6th-order explicit symplectic algorithm, conserving both the total energy and the total angular momentum of the reaction system during the numerical integration of canonical equations, has firstly analyzed in this work, which make the calculation of the reaction probability more reliable. The variation of the reaction probability with the impact parameter and the influence of the relative translational energy on the reaction cross-section of the reaction have been discussed in detail. And the fact is found by the comparison that the reaction probability and the reaction cross-section of the reaction estimated in this work are more reasonable than the theoretical ones determined by Gilibert et al.

• Advances in aircraft and spacecraft science
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• v.7 no.3
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• pp.271-290
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• 2020

The paper describes the analysis of deployment strategies and trajectories design suitable for executing the inspection of an operative spacecraft in orbit through re-usable CubeSats. Similar missions have been though indeed, and one mission recently flew from the International Space Station. However, it is important to underline that the inspection of an operative spacecraft in orbit features some peculiar characteristics which have not been demonstrated by any mission flown to date. The most critical aspects of the CubeSat inspection mission stem from safety issues and technology availability in the following areas: trajectory design and motion control of the inspector relative to the target, communications architecture, deployment and retrieval of the inspector, and observation needs. The objectives of the present study are 1) the identification of requirements applicable to the deployment of a nanosatellite from the mother-craft, which is also the subject of the inspection, and 2) the identification of solutions for the trajectories to be flown along the mission phases. The mission for the in-situ observation of Space Rider is proposed as reference case, but the conclusions are applicable to other targets such as the ISS, and they might also be useful for missions targeted at debris inspection.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.285-292
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• 2023

Small-scale ground mobile robots can access confined spaces where people or larger robots are unable. As the scale of the robot decreases, the relative size of the environment increases; therefore, maintaining the mobility of the small-scale robot is required. However, small-scale robots have limitations in using a large number of high-performance actuators, powerful computational devices, and a power source. Insects can effectively navigate various terrains in nature with their legged motion. Discrete contact with the ground and the foot enables creatures to traverse irregular surfaces. Inspired by the leg motion of the insect, researchers have developed small-scale robots and they implemented swing and lifting motions of the leg by designing leg linkages that can be adapted to small-scale robots. In this paper, we propose a leg linkage design for insect-inspired small-scale ground mobile robots. To use minimal actuation and reduce the control complexity, we designed a 1-DOF 3-dimensional leg linkage that can generate a proper leg trajectory using one continuous rotational input. We analyzed the kinematics of the proposed leg linkage to investigate the effect of link parameters on the foot trajectory.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.5
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• pp.1-7
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• 2002

In this paper, an extended type of a direct learning control(DLC) method is proposed for the effective control of systems which perform a given task repetitively. DLC methods have been suggested to overcome the defects of iterative learning control, the learning process should be resumed from the beginning even if a slight change occurs in the desired output pattern. If a given desired output trajectory is "proportional" to the output trajectories which are learned previously, we can obtain the desired control input directly without the iterative learning process by using the DLC. First, most existing DLC methods are shown to be applicable only to single-input single-output systems with the relative degree one and then, an extended type of DLC is proposed for a class of nonlinear systems having the relative degree more than or equal to one by using the known relative degree of a nonlinear system. By the simulation results for the arbitrary nonlinear system with the relative degree more than one, the validity and the performance of the proposed DLC method are examined.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.