• 대한기계학회논문집
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• 제15권2호
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• 한국전문물리치료학회지
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• 제15권3호
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• pp.44-52
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• 2008

The purpose of this study was to investigate the effects of different objects and target location of dominant hand on the non-dominant hand movement kinematics in a bimanual reaching task. Fifteen right-handed volunteers were asked to reach from same starting point to the different target point of right and left hand with grasping the objects of different size. Independent variables were 1) three different object types (small mug cup, name pen, and PET bottle), and 2) three different target locations (shorter distance, same distance, and longer distance than the non-dominant hand) of the dominant hand. Dependent variables were movement time (MT), movement distance (MD), movement mean velocity ($MV_{mean}$), and movement peak velocity ($MV_{peak}$) of the non-dominant hand. Repeated measures two-way analysis of variance (ANOVA) was used to test for differences in the non-dominant hand movement kinematics during bimanual reaching. The results of this study were as follows: 1) MT of the non-dominant hand was increased significantly when traveling with grasping the mug cup and reaching the far target location, and was decreased significantly when traveling with grasping the PET bottle and reaching the near target location of the dominant hand. 2) MD of the non-dominant hand was significantly increased during reaching the far target location, and significantly decreased during reaching the near target location with dominant hand. 3) $MV_{mean}$ of the non-dominant hand was increased significantly when traveling with grasping the PET bottle, and was decreased significantly when traveling with grasping the mug cup of the dominant hand. Therefore, it can be concluded that the changes of the ipsilateral hand movement have influence on coupling of the contralateral hand movement in bimanual reaching.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.892-901
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• 2020

We used a numerical method to estimate the hydrodynamic maneuvering derivatives for the heave-pitch coupling motion of an underwater glider. It is very important to assess the hydrodynamic maneuvering characteristics of a specific hull form of an underwater glider in the initial design stages. Although model tests are the best way to obtain the derivatives, numerical methods such as the Reynolds-averaged Navier-Stokes (RANS) method are used to save time and cost. The RANS method is widely used to estimate the maneuvering performance of surface-piercing marine vehicles, such as tankers and container ships. However, it is rarely applied to evaluate the maneuvering performance of underwater vehicles such as gliders. This paper presents numerical studies for typical experiments such as static drift and Planar Motion Mechanism (PMM) to estimate the hydrodynamic maneuvering derivatives for a Ray-type Underwater Glider (RUG). A validation study was first performed on a manta-type Unmanned Undersea Vehicle (UUV), and the Computational Fluid Dynamics (CFD) results were compared with a model test that was conducted at the Circular Water Channel (CWC) in Korea Maritime and Ocean University. Two different RANS solvers were used (Star-CCM+ and OpenFOAM), and the results were compared. The RUG's derivatives with both static drift and dynamic PMM (pure heave and pure pitch) are presented.

• Journal of Advanced Marine Engineering and Technology
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• 제32권8호
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• pp.1221-1230
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• 2008

Inflatable rubber dams are used for controlling flood, impounding water for recreations, preventing beach erosions, diverting water for irrigations, and generating hydropower. They are long, flexible, inflated with air, cylindrical structures on a rigid horizontal foundation such as concrete. The dam is modeled as an elastic shell inflated with air. The mechanical behaviors of the inflated dam model were investigated by using the finite element method. The analysis process such as One Way Coupling Fluid-Structure Interaction consists of two steps. First, the influences of the fluid side were investigated, viz, the shape changes of the inflated rubber dam due to the fluid motions was captured when the height of the dam was 30cm with air pressure 0.01MPa, at which the pressure distributions over the surface of the dam were calculated. And next, the structural deformations were calculated using the pressure distributions. The initial inlet velocity for flow field was set to 0.1m/s. The structural deformation behaviors were investigated. The final research goal is to develop a Korean Inflatable Rubber Dam to be used for generating small hydropower.

• 한국정밀공학회지
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• 제9권3호
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.479-482
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• 2008

In order to more closely examine the vacuum arc phenomena, it is necessary to predict the magnetohydrodynamic (MHD) characteristics by the multidisciplinary numerical modeling, which is coupled with the electromagnetic and hydrodynamic fields, simultaneously. In this study, the thermal-fluid characteristics of high current vacuum arcs were calculated by a commercial multiphysics package, ANSYS, in order to obtain Joule heat, Lorentz force and the interactions with flow variables. We assumed the diffused-mode arc within an AMF vacuum interrupter. It was found with four different currents that the temperature distributions on the anode surface are diffused uniformly without concentration in 7kA for both types (cup and coil-type). But the arc plasma transition and an increase of thermal flux density for increasing the applied current have caused the change of temperature distributions on the anode surface. We should need further studies on the two-way coupling method and radiation model for arc plasmas in order to accomplish the advanced analysis method for multiphysics.

• 한국멀티미디어학회논문지
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• 제12권3호
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• pp.445-450
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• 2009

본 논문에서는 물리기반 다상 유체 시뮬레이션의 정확성과 격자 크기 이하의 미세하고 사실적으로 아름다운 유체를 표현하기 위하여 이탈입자에 물리 기법을 추가하였다. 이탈 입자는 입자등위집합 기법에서 표시 입자들이 등위집합을 보정해 주고 남아 있는 입자들을 말하며, 본 논문은 이탈입자가 생성되는 방법을 기존과 다르게 하고, 미세한 공기방울을 표현한 양수의 이탈입자에서 견인력과 양력을 사용하여 유체 시뮬레이션을 확장하였다. 음수의 이탈입자는 또한 물방울과 스플래시 효과를 표현하였고, 등위집합의 음의 값과 합해지게 되면 그 노드의 속도에 영향을 주도록 설계하였다. 이렇게 양수의 이탈입자와 음수의 이탈입자를 사용하는 것은 유체 시뮬레이션에서 격자크기 이하의 상세함을 표현할 수 있고 역동적인 유체를 시뮬레이션 할 수 있게 한다.

• Ocean Systems Engineering
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• 제7권4호
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• pp.329-344
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• 2017

This paper introduces a BEM/RANS interactive scheme to predict the contra-rotating propeller (CRP) performance. In this scheme, the forward propeller and the aft propeller are handled by two separate BEM models while the interactions between them are achieved by coupling them with a RANS solver. By using the body force field and mass source field to represent the propeller in the RANS model, the number of RANS cells and the number of required RANS iterations reduce significantly. The method provides an efficient way to predict the effective wake, the steady/unsteady propeller forces, etc. The BEM/RANS interactive scheme is first applied to a CRP in both an axisymmetric manner and a non-axisymmetric manner. Results are shown in good agreement with the experimental data in moderate to high advance ratios. It is proved that the difference between the axisymmetric scheme and the non-axisymmetric scheme mainly comes from the non-axisymmetric bodies. It is also found that the error is larger at lower advance ratios. Possible explanations are given. Finally, some additional cases are tested which justifies that the non-axisymmetric BEM/RANS scheme is able to handle a podded CRP working at given inclination angles.

• 조명전기설비학회논문지
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• 제29권5호
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• pp.65-70
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• 2015

Lightning is one of hazards affecting the rapid-transit railway system. There are two effects, which are direct lightning surge to electric car line and induced lightning surge. Protection methods for the direct lightning surge are studied with various occasions, however, study of induced lightning surge is insufficient in spite of a large or small effects. In this paper, it is analysed the way that serge voltage is induced to electric car line by lightning strikes. By modeling the propagation process and the coupling phenomenon of electromagnetic wave produced by lightning strikes, it is achieved to make integrative circuit model combined with existing electric car model. The study is conducted into three different waveform of electromagnetic wave produced by lightning; rectangular wave, double exponential distribution wave, triangle wave. It is also simulated that the inducing serge is coupled to electric car line in an arbitrary location. The simulation results in that, when rapidly changing rectangular wave is supplied, maximum power is induced to electric car line.

• Ocean Systems Engineering
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• 제8권4호
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• pp.441-459
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• 2018

A coupled dynamic analysis of a semisubmersible-type FOWT has been carried out in time domain under the combined action of irregular wave and turbulent wind represented respectively by JONSWAP spectrum and Kaimal spectrum. To account for the turbine-floater motion coupling in a more realistic way, the wind turbulence has been incorporated into the calculation of aerodynamic loads. The platform model was referred from the DeepCwind project and the turbine considered here was the NREL 5MW Baseline. To account for the operationality of the turbine, two different environmental conditions (operational and survival) have been considered and the aerodynamic effect of turbine-rotation on actual responses of the FOWT has been studied. Higher mean offsets in surge and pitch responses were obtained under the operational condition as compared to the survival condition. The mooring line tensions were also observed to be sensitive to the rotation of turbine due to the turbulence of wind and overestimated responses were found when the constant wind was considered in the analysis. Additionally, a special analysis case of sudden shutdown of the turbine has also been considered to study the swift modification of responses and tension in the mooring cables.