• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Journal of the Korean Statistical Society
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• 제32권4호
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• pp.337-357
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• 2003

This paper introduces new measures for the stability of slope estimation on the second order response surface at a point and on a sphere. As a measure of point stability of slope estimation, we suggest a point dispersion measure of slope variances over all directions at a point. A spherical dispersion measure is also proposed as a measure of spherical stability of slope estimation on each sphere. Some designs are studied to explore the usefulness of the proposed measures. Using the point dispersion measure, another concept of slope rotatability called equally-stable slope rotatability is proposed as a useful property of response surface designs. We provide a set of conditions for a design to have equally-stable slope rotatability.

• 대한기계학회논문집B
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• 제31권12호
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• pp.979-985
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• 2007

Spray combustion characteristics of the conducting fuel electrospray has been studied for clean combustion technology. The electrospraying multiplexed system which can maintain the characteristics of the cone-jet mode is able to obtain charged micro droplets with high flow rate. In addition, they have monodisperse distribution during operating the electrospray in the cone-jet mode. The multiplexed grooved nozzle system with the extractor was applied to this experimental device set up. The stable grooved mode can be generated by the grooved nozzle and this electrospray system was applied to the diffusion combustion. It is the first step to discover the diffusion combustion characteristics of the electrospray, In case of the single grooved nozzle electrospray the diffusion flames are occurred at each Jet of grooved mode and they are quite stable. The exhaust gas analysis was indicated that there is the critical point which can make very stable diffusion combustion

• 한국안전학회지
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• 제8권4호
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• pp.133-138
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• 1993

The stable and safe operation of a boiler system is essential for ensuring stability of the chemical processes. A dynamic simulation of a boiler drum was performed to identify the dynamics of the boiler drum. The obtained results represented that the variation of process variables disturb boiler system. So, disturbance rejection with tracking and constraints handing was necessary for stable operation of boiler drum. Among many controller, GPC has been known to show good performance in set point tracking than disturbance. In order to improve disturbance rejection performance measurable disturbance term was Introduced in basic GPC model. The controller which had tracking and disturbance rejection was designed for Improving the stable operation of a boiler system.

• 조명전기설비학회논문지
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• 제21권2호
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• pp.15-19
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• 2007

본 연구에서는 절연층으로 둘러 쌓인 수은이 포함되지 않은 15[inch] 평판형광램프에 대하여 연구하였다. 적당한 주기, 펄스폭을 갖는 구형파가 인가되면 평판형램프는 안정되고 균일한 방전이 전면에 걸쳐 발생한다. 균일하고 안정된 방전 상태에서의 프리즘 시트 없이 최대휘도는 $10,330[cd/m^2]$를 얻었다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권4호
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• pp.1760-1778
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• 2018

For image segmentation with intensity inhomogeneity, many region-based level set methods have been proposed. Some of them however can't get the relatively ideal segmentation results under the severe intensity inhomogeneity and weak edges, and without use of the image gradient information. To improve that, we propose a new level set method combined with local direction gradient in this paper. Firstly, based on two assumptions on intensity inhomogeneity to images, the relationships between segmentation objects and image gradients to local minimum and maximum around a pixel are presented, from which a new pixel classification method based on weight of Euclidian distance is introduced. Secondly, to implement the model, variational level set method combined with image spatial neighborhood information is used, which enhances the anti-noise capacity of the proposed gradient information based model. Thirdly, a new diffusion process with an edge indicator function is incorporated into the level set function to classify the pixels in homogeneous regions of the same segmentation object, and also to make the proposed method more insensitive to initial contours and stable numerical implementation. To verify our proposed method, different testing images including synthetic images, magnetic resonance imaging (MRI) and real-world images are introduced. The image segmentation results demonstrate that our method can deal with the relatively severe intensity inhomogeneity and obtain the comparatively ideal segmentation results efficiently.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제5권2호
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• pp.143-147
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• 1998

We show that a real valued function $\phi$ defined by $\phi (\chi)$ = (equation omitted) is a Lyapunov function of compact asymptotically stable set M.

• 대한수학회지
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• 제34권2호
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• pp.257-264
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• 1997

We shall introduce the concept of almost causality condition. By defining the almost causality condition we would like to examine the relationship between Woodhouse's causality principle and other known causality conditions. We show that a series of causality conditions can be characterized by using the almost causality condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.456-458
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• 1986

A method for on-line tuning of the PID-controller parameters for a discrete-time multivariable process system is presented. And it is based on a step change in the controller set point. The system is presumed to be a linear, open loop stable and known one. The controller parameters are determined by the performance criterion and Fletcher-Powell methods.