• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• 로봇학회논문지
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• 제18권3호
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• pp.260-270
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• 2023

We introduce a novel Visual Inertial Odometry (VIO) algorithm designed to improve the performance of thermal-inertial odometry. Thermal infrared image, though advantageous for feature extraction in low-light conditions, typically suffers from a high noise level and significant information loss during the 8-bit conversion. Our algorithm overcomes these limitations by approximating a 14-bit raw pixel histogram into a Gaussian mixture model. The conversion method effectively emphasizes image regions where texture for visual tracking is abundant while reduces unnecessary background information. We incorporate the robust learning-based feature extraction and matching methods, SuperPoint and SuperGlue, and zero velocity detection module to further reduce the uncertainty of visual odometry. Tested across various datasets, the proposed algorithm shows improved performance compared to other state-of-the-art VIO algorithms, paving the way for robust thermal-inertial odometry.

• 대한기계학회논문집B
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• 제28권11호
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• pp.1407-1416
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• 2004

A two-dimensional direct numerical simulation was performed to investigate the flame structure of CH$_4$/$N_2$-Air counterflow nonpremixed flame interacting with a single vortex. The detailed transport properties and a modified 16-step augmented reduced mechanism based on Miller and Bowman's detailed chemistry were adopted in this computation. The results showed that an initially flat stagnation plane, on which an axial velocity was zero, was deformed into a complex-shaped plane, and an initial stagnation point was moved far away from a vortex head when the counterflow field was perturbed by the vortex. It was noted that the movement of stagnation point could alter the species transport mechanism to the flame surface. It was also identified that the altered species transport mechanism affected the distributions of the mixture fraction and the scalar dissipation rate.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제26권2호
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• pp.108-120
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• 2022

We considered qualitative behaviour of the generalization of Einstein's model of Brownian motion when the key parameter of the time interval of free jump degenerates. Fluids will be characterised by number of particles per unit volume (density of fluid) at point of observation. Degeneration of the phenomenon manifests in two scenarios: a) flow of the fluid, which is highly dispersing like a non-dense gas and b) flow of fluid far away from the source of flow, when the velocity of the flow is incomparably smaller than the gradient of the density. First, we will show that both types of flows can be modeled using the Einstein paradigm. We will investigate the question: What features will particle flow exhibit if the time interval of the free jump is inverse proportional to the density and its gradient ? We will show that in this scenario, the flow exhibits localization property, namely: if at some moment of time t₀ in the region, the gradient of the density or density itself is equal to zero, then for some T during time interval [t₀, t₀ + T] there is no flow in the region. This directly links to Barenblatt's finite speed of propagation property for the degenerate equation. The method of the proof is very different from Barenblatt's method and based on the application of Ladyzhenskaya - De Giorgi iterative scheme and Vespri - Tedeev technique. From PDE point of view it assumed that solution exists in appropriate Sobolev type of space.

• Journal of Biosystems Engineering
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• 제2권1호
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• pp.33-48
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• 1977

Transporting agricultural products and the other material by the two-wheel-tractor (power-tiler)and trailer system may be one of its most widely used farming functions.The safety and hitching load for all the previaling performing conditions may be the general concern over the operation of the tiller-trailer system. In this study, a mathematical model to determine the static and dynamic forces excerting on the hitch point were developed . Based on the analysis of the model and the field measurements. the limiting hitching load and critical slope were analyzed. The results of the study are summarized as follows ; 1) The limit angle of slope land for the safety steering that two-wheel tractor-single axle trailer system was able to transport agricultural products was the direct angle (${\gamma}$) = 8 ; the cross angle$\beta$) 15 ; and it was decreased in accordance with the increase of carrying load ($W_4). 2) The critical velocity for safe operation in case of running on downward hill road was about 1.08m/sec. 3) The limiting carrying load for the safe steering was W$_4$=600kg. The degree of the safe steering for different braking methods was given in order as follows ; Simulataneous braking the tractor and trailer , braking the trailer only, and braking tractor only. 4) Among the three components of impact loads excerting on the hitch point, the component in the lateral direction ($P_{Vy}$) was near zero in spite of increase of hitching load ($W_4) , while the components in the other two mutually perpedicular directions ($P_{Vx}$ and ($P_{Vz}$) ) had larger values in horizontal plane than those in the slope lands. 5) Moment of forces on the lateral direction (M$y$) had the largest value among the three components of impact moment acting on the hitch point, however all the components were sharply increased in accordance with the increase of hitching loads ($W_4. Three components of the moment were the negative values.

• 대한기계학회논문집B
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• 제26권10호
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• pp.1387-1393
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• 2002

The measurement of velocity and stain rate field has been conducted in opposed impinging jet combustion. When a smaller diameter (5mm) orifice of pre-chamber was used, previous studies had reported that the combustion phase showed a shift from weak turbulent combustion to moderate turbulent combustion in the modified Borghi Diagram. In the case with smaller orifice diameter (5mm), NOx emission was substantially reduced by a factor 1/2 while the combustion pressure remains at the same as that in the conventional combustion. Hence, in this study, the experiment setup using PIV technique was designed to identify the relation of the strain rate distribution and NOx reduction associated with moderate turbulent combustion. As a result, it was found that the highly strained pockets are widely distributed during the combustion in the middle of chamber when the orifice diameter is 5mm. And the corresponding PDF distribution of strain rates she was the smoothly distributed strain .ate within the range of ｜$\pm$1000｜ (1/sec) rather than a spike shape about zero point. This is the unique feature observed in the combustion with 5mm orifice diameter. Therefore, it can be concluded that the substantial NOx reduction in opposed impinging combustor is mainly attributed to the strain rate distribution within the range of ｜$\pm$1000｜resulting in the combustion phase shift to moderate turbulent combustion.

• 물과 미래
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• 제29권5호
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• pp.161-172
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• 1996

상용관 마찰계수 산정을 위해 개발된 기존의 Hazen-Williams 식, Colebrook-White 식과 유동훈(1995)이 제안한야 영점높이 평균법과 마찰계수 평균법의 산정식들을 비교 검토하였다. 간단한 관망에 대하여 관종류, 관경, 유속, 관길이를 변화시켜 수리조건을 구성하였으며, 네가지 상용관 마찰계수 산정식을 적용하여 구한 압력차이를 비교하여 각각의 산정식들이 가지는 특징을 논하였고, 입력자료의 변화에 따라 마찰손실이 어떠한 거동을 하는지 알아보았다. 관경을 소형관 및대형관으로 변화시켰을 때의 분석결과와 중형관일 때의 분석결과를 세 종류의 강관에 대하여 비교하였고, 유속 변화와 압력 변화와의 비교를 통하여 기존 상용관 마찰 계수 산정식의 문제점에 대하여 논하였다.