• Title, Summary, Keyword: 운동학적 제약

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Trajectory tracking control system of unmanned ground vehicle (무인자동차 궤적 추적 제어 시스템에 관한 연구)

  • Han, Ya-Jun;Kang, Chin-Chul;Kim, Gwan-Hyung;Tac, Han-Ho
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.21 no.10
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    • pp.1879-1885
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    • 2017
  • This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

The usage of convergency technology for ROGA algorithm application on step walking of biped robot (이족 로봇의 계단 보행에서 Real-Coded Genetic Algorithm 의 융합 기술의 사용)

  • Lee, Jeong-Ick
    • Journal of the Korea Convergence Society
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    • v.11 no.5
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    • pp.175-182
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    • 2020
  • The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

Comparative Evaluation of River Management in South Korea and the United States (한국과 미국의 유역관리 비교평가 연구)

  • Park, Sung-Je
    • Proceedings of the Korea Water Resources Association Conference
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    • pp.492-496
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    • 2005
  • River is characterized by its transboundary flow not recognizing human political, administrative, and social boundaries. Water management is also strongly connected to land management. Those features reflect emerging difficulties in managing contemporary water resources. This study consists of three parts to identify theoretical concept of river management and to show how river management has differently practiced in South Korea and the United States. In part one, the Korean case shows the water quality oriented river basin management in the 1990s. The second part reveals the disappearing pattern of river basin management and the spreading watershed movement in the United States. The final part compares basin-scale river management practices of the two countries and evaluates the differences between them. The United States concentrates more on watershed management rather than river basin management while South Korea understands that both river basin and watershed are important. Therefore, the Korean case is recognized as more complicated than the American case.

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Modification of Hydro-BEAM Model for Flood Discharge Analysis (홍수유출해석을 위한 Hydro-BEAM모형의 개선)

  • Park, Jin-Hyeog;Yun, Ji-Heun;Chong, Koo-Yol;Sung, Young-Du
    • Proceedings of the Korea Water Resources Association Conference
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    • pp.2179-2183
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    • 2008
  • 지금까지 분포형 모형 개발에 대한 많은 노력이 있음에도 불구하고 여러 제약사항들에 의해 잠재력을 보여주는 정도로 활용되어 왔으나, 최근 급속도로 발전하는 컴퓨터의 계산능력, DEM 등 디지털정보의 구축이 진행되어 오고 있고, GIS 및 인공위성 영상기법의 발달로 공간적인 비균질성을 고려하여 유출과정에서 운동역학적인 이론을 기반으로 물의 흐름을 수리학적으로 추적해 나가는 물리적기반의 분포형 유출모형의 활용도가 높아지고 있다. 본 모형개발에 있어 이론적 배경이 된 모형은 1998년부터 일본 교토대학 방재연구소 코지리 연구실에서 개발 중인 Hydro-BEAM으로 유역 물순환의 건전성을 평가하기 위하여 장기간의 유역 내 유량, 수질을 시계열 및 공간적으로 파악하여 유역의 영향평가를 위해 개발된 물리적 기반의 격자구조를 가진 분포형 장기유출 모형이다. 유출량 계산은 유역내 수평 유출량산정 모듈로서 평면 분포형의 격자형을, 연직 분포형으로는 $A{\sim}B$층의 수평유출량은 하천으로 유입하고, C층은 하천유량에 영향을 미치지 않는 지하수층으로 가정하는 다층모형을 이용해서 A층, 지표 및 하도흐름은 운동파 법(kinematic wave)으로, $B{\sim}C$층의 유출량은 선형저류법으로 계산하는 모형이다. 본 연구에서는 격자흐름방향을 4방향에서 8방향으로 개선하였고, 모형의 각종 수문매개변수들을 GIS와 연계하여 직접 입력할 수 있도록 하였으며, 물리적기반의 침투과정을 모의할 수 있도록 Green & Ampt모듈을 추가하고, 향후 레이더 강우 및 수치예보강우의 홍수유출예측을 염두에 두고 격자강우량을 활용할 수 있도록 하는 등 홍수유출해석을 위한 분포형 강우-유출모형으로 개선 하였고, 이를 남강댐유역에 적용해 봄으로써 모형의 적용성을 검토해 보고자 하였다. 홍수기동안의 지표흐름과 지표하 흐름의 시간적 변화와 공간적 분포를 모의할 수 있었으며, 전처리과정으로서 ArcGIS 혹은 ArcView등의 GIS 프로그램을 이용하여 모형에 필요한 ASCII형태의 입력 매개 변수 자료들을 가공하였다. 또한 후처리과정으로서 모형의 수행결과인 유역내의 유출량 분포 등을 GIS상에서 나타낼 수 있도록 ASCII형태로 출력하도록 구성하였다. 남강댐유역을 대상으로 유역을 500m의 정방형 격자로 분할하고 수계망을 통하여 유역 출구까지 운동파이론에 의해 추적 계산하였으며, 수문곡선 비교결과 재현성 높은 결과를 보여주었다. 모형의 정확성 및 실용성에 대한 보다 정확한 평가를 위해서는 향후 다양한 강우 사상 혹은 다양한 크기의 유역에 대한 유출량의 재현성 및 매개변수 등에 검증이 이루어져야 할 것이다.

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Backward Path Tracking Control of a Trailer Type Robot Using a RCGS-Based Model (RCGA 기반의 모델을 이용한 트레일러형 로봇의 후방경로 추종제어)

  • Wi, Yong-Uk;Kim, Heon-Hui;Ha, Yun-Su;Jin, Gang-Gyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.9
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    • pp.717-722
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    • 2001
  • This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

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A Modified grid-based KIneMatic wave STOrm Runoff Model (ModKIMSTORM) (I) - Theory and Model - (격자기반 운동파 강우유출모형 KIMSTORM의 개선(I) - 이론 및 모형 -)

  • Jung, In Kyun;Lee, Mi Seon;Park, Jong Yoon;Kim, Seong Joon
    • Journal of The Korean Society of Civil Engineers
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    • v.28 no.6B
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    • pp.697-707
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    • 2008
  • The grid-based KIneMatic wave STOrm Runoff Model (KIMSTORM) by Kim (1998) predicts the temporal variation and spatial distribution of overland flow, subsurface flow and stream flow in a watershed. The model programmed with C++ language on Unix operating system adopts single flowpath algorithm for water balance simulation of flow at each grid element. In this study, we attempted to improve the model by converting the code into FORTRAN 90 on MS Windows operating system and named as ModKIMSTORM. The improved functions are the addition of GAML (Green-Ampt & Mein-Larson) infiltration model, control of paddy runoff rate by flow depth and Manning's roughness coefficient, addition of baseflow layer, treatment of both spatial and point rainfall data, development of the pre- and post-processor, and development of automatic model evaluation function using five evaluation criteria (Pearson's coefficient of determination, Nash and Sutcliffe model efficiency, the deviation of runoff volume, relative error of the peak runoff rate, and absolute error of the time to peak runoff). The modified model adopts Shell Sort algorithm to enhance the computational performance. Input data formats are accepted as raster and MS Excel, and model outputs viz. soil moisture, discharge, flow depth and velocity are generated as BSQ, ASCII grid, binary grid and raster formats.

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Study on the Antagonistic Activity on Arylhydrocarbon Receptor of Phenyldiazenylphenylpicolinamides (Phenyldiazenylphenylpicolinamide 유도체들의 방향성탄화수소 수용체의 길항 활성에 대한 연구)

  • Yoon, Wan-Young;Lee, Hyosung
    • Journal of Digital Convergence
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    • v.17 no.1
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    • pp.443-447
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    • 2019
  • Aryl hydrocarbon receptor (AhR) is the master regulator of xenobiotics metabolizing enzymes (XMEs). AhR is activated by aryl hydrocarbons upon binding then goes into the cell nucleus and acts as a transcription factor. Despite the role of AhR in human physiology has been investigated for a long while, it is yet to be understood mainly due to the lack of appropriate chemical agents. Furthermore, it has been reported that AhR is related to a wide range of pathogenesis. In addition, recent studies suggest that the study on the development of AhR antagonist may provide a valid therapeutic agent. Some known antagonists in current use are partially agonistic whereas a pure antagonist is still absent. In this study, two phenyl-ring structures of phenyldiazenylphenylpicolinamide has been modified into various structures and evaluated its impact on the AhR antagonistic activity to elucidate the structure-activity relationship.

Outcomes of Diffuse-Type Pigmented Villonodular Synovitis (PVNS) after Open Total Synovectomy (미만형 색소 융모 결절성 활액막염의 관혈적 활막 전 절제술 후 경과)

  • Lee, Mo-Ses;Lee, Soo-Hyun;Suh, Jin-Suck;Yang, Woo-Ik;Shin, Kyoo-Ho
    • The Journal of the Korean bone and joint tumor society
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    • v.16 no.1
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    • pp.27-36
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    • 2010
  • Purpose: Pigmented villonodular synovitis (PVNS) is a rare soft tissue tumor, which usually arises in larger joints, such as the knee. It has a high recurrence rate after surgical treatment. The purpose of this study is to evaluate and analyze the clinical results of diffuse-type pigmented villonodular synovitis cases that were treated with open total synovectomy. Materials and Methods: Between 1994 and 2006, 21 patients who had diffuse-type pigmented villonodular synovitis were selectively reviewed. Among the 21 cases studied, 14 patients presented at the knee, 5 at the ankle, and 2 at the shoulder and elbow. The mean follow up period was 5.5 years (range, 36-157 months). The average age of the patients was 34 years consist of 7 men and 14 women. Clinical outcomes were analyzed retrospectively, including range of motion and complications. Results: Open total synovectomy and adjuvant electrocautrization were done in all cases except one. During the regular follow-up period after the surgery, two patients showed symptoms of recurrence. After re-operation, only one case was pathologically confirmed as a recurrence. The patient who had partial synovectomy and the other patient who had second operation due to recur rence received additional radiation therapy. Clinical outcome scores were improved in every aspect (p<0.0001). 2 out of 14 Patients who had pigmented villonodular synovitis at the knee developed stiff knee after the surgery. Conclusion: After the open total synovectomy with electrocautrization, a low recurrence rate and satisfactory clinical outcome was achieved, observed in a minimum of 3 years of follow-up.