• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Wind and Structures
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• v.37 no.4
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• pp.255-274
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• 2023

The aim of this paper is to enhance the accuracy of predicting time-averaged external surface pressures on low-rise buildings by utilizing Computational Fluid Dynamics (CFD) simulations. To achieve this, benchmark studies of the Silsoe cube and the Texas Tech University (TTU) experimental building are employed for comparison with simulation results. The paper is structured into three main sections. In the initial part, an appropriate domain size is selected based on the precision of mean pressure coefficients on the windward face of the cube, utilizing Reynolds Averaged Navier-Stokes (RANS) turbulence models. Subsequently, recommendations regarding the optimal computational domain size for an isolated building are provided based on revised findings. Moving on to the second part, the Silsoe cube model is examined within a horizontally homogeneous computational domain using more accurate turbulence models, such as Large Eddy Simulation (LES) and hybrid RANS-LES models. For computational efficiency, transient simulation settings are employed, building upon previous studies by the authors at the Windstorm Impact, Science, and Engineering (WISE) Lab, Louisiana State University (LSU). An optimal meshing strategy is determined for LES based on a grid convergence study. Three hybrid RANS-LES cases are investigated to achieve desired enhancements in the distribution of mean pressure coefficients on the Silsoe cube. In the final part, a 1:10 scale model of the TTU building is studied, incorporating the insights gained from the second part. The generated flow characteristics, including vertical profiles of mean velocity, turbulence intensity, and velocity spectra (small and large eddies), exhibit good agreement with full-scale (TTU) measurements. The results indicate promising roof pressures achieved through the careful consideration of meshing strategy, time step, domain size, inflow turbulence, near-wall treatment, and turbulence models. Moreover, this paper demonstrates an improvement in mean roof pressures compared to other state-of-the-art studies, thus highlighting the significance of CFD simulations in building aerodynamics.

• Journal of Korean Living Environment System
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• v.16 no.2
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• pp.89-100
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• 2009

The present study was designed to observe the thermal dynamics of core and skin temperatures during sub-maximal treadmill exercise; to investigate the effect of regional body cooling during short rest after the treadmill exercise on the thermal dynamics. Three conditions (No cooling, Head/Hand cooling, Leg cooling) were simulated in a climatic chamber at 24±1℃ and 50±5%RH. Subjects performed two bouts of treadmill exercise at a rate of 80%HR_max followed by rest. Body cooling with a hood, long gloves, and a blanket that circulated water set at 15℃ was assigned during two bouts of rest. The results showed that (1) rectal temperature (T_re) did not show significant difference between three conditions; (2) Skin temperatures had specific features, depending on body regions. In particular, the initial fall phenomena of skin temperatures at the onset of exercise were noteworthy in the chest, thigh, calf, and finger tip. Of these, the most significant initial fall was found in finger temperature (T_fing). (3) During the period of the initial fall in skin temperatures, T_re gradually increased. (4) The magnitude of the fall of T_fing at the onset of 2^nd running was on average 4.8, 5.1 and 3.4℃ for Control, HH cooling, and Leg cooling, respectively (p<0.05). The initial drop of T_fing at the onset of running was maintained for an average of 8.1, 7.9 and 6.3 minutes for Control, HH cooling, and Leg cooling, with no significant differences. In conclusion, the initial fall phenomena at the onset of treadmill exercise reflected non-thermal factors, as opposed to internal thermal status. The magnitude of the initial fall in T_fing was affected by legs cooling. Therefore, the initial fall phenomenon should be considered when interpreting the thermal status of the shell during heavy works/exercises that assigned with intermittent regional body cooling.

• Journal of Drive and Control
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• v.17 no.1
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2132-2137
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• 2005

This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.

• Journal of The Korean Astronomical Society
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• v.29 no.spc1
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• pp.143-144
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• 1996

Two-component models (normal star and degenerate star components) are the simplest realization of clusters with a mass spectrum because the high mass stars quickly evolve off leaving degenerate stars behind, while low mass stars survive for a long time as main-sequence stars. In the present study we examine the post-collapse evolution of globular clusters using two-component Fokker-Planck models that include three-body binary heating. We confirm that a simple parameter ${\epsilon}{\equiv} (E_{tot}/t_{rh})/(E_c/t_{rc})$ well describes the occurrence of gravothermal oscillations of two-component clusters. Also, we find that the degree of instability depends on the steepness of the mass function such that clusters with a steeper mass function are less exposed to instability.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.711-716
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• 2003

This paper presents the inverse dynamic analysis of the hydraulic excavator manipulator based on the experimental data. A three dimensional rigid multi-body model of the hydraulic excavator manipulator was built up. Inverse dynamic analysis for typical operation mode was carried out by the ADAMS program. In order to verify the analysis results with the measured, the hydraulic pressure and displacement of the cylinders were measured and the dynamic analysis was carried out using experimental data. From the results of the cylinder driving forces, good agreements are obtained between the analysis and the measurement.

• BMB Reports
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• v.51 no.5
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• pp.211-218
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• 2018

Chromatin is an intelligent building block that can express either external or internal needs through structural changes. To date, three methods to change chromatin structure and regulate gene expression have been well-documented: histone modification, histone exchange, and ATP-dependent chromatin remodeling. Recently, a growing body of literature has suggested that histone tail cleavage is related to various cellular processes including stem cell differentiation, osteoclast differentiation, granulocyte differentiation, mammary gland differentiation, viral infection, aging, and yeast sporulation. Although the underlying mechanisms suggesting how histone cleavage affects gene expression in view of chromatin structure are only beginning to be understood, it is clear that this process is a novel transcriptional epigenetic mechanism involving chromatin dynamics. In this review, we describe the functional properties of the known histone tail cleavage with its proteolytic enzymes, discuss how histone cleavage impacts gene expression, and present future directions for this area of study.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1288-1293
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• 2003

This study predicts muscle forces acting on the lower extremity when the knee joint is in deep flexion. The whole bodies were approximated as a link model, and then the moment equilibrium equations at the lower extremity joints were derived for given reaction forces against the ground. Measurement of deep flexion was carried out by placing ten markers on the body. This study calculated the moment acting at each joint from the equations of force and moment, classified the complicated muscles around the knee joint. and then predicted the muscle forces to balance the joint moment. Two models were proposed in this study: the simpler one that consists of three groups of muscle and the more detailed one of nine groups of muscle.