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Grasp Stability Analysis Based on Acceleration Convex Polytopes for Multi-fingered Robot Hands
Jang, Myeong-Eon,Lee, Ji-Hong 제어로봇시스템학회 2009 Transaction on control, automation and systems eng Vol. No.
In this paper, we present the analysis of grasp stability for multi-fingered robot hands that is based on translational and rotational acceleration convex polytopes. The aim of the grasp stability analysis is to find the resistance forces and moments of robot hands that can withstand the external disturbance forces and moments applied on objects. We calculate the resistance forces and moments respectively which are considered the properties of objects and robots. Therefore, the resistance forces and moments depend on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of objects, the grasp position, the friction coefficients between the object surface and the end-effectors of robot fingers. We produce the critical resistance force and moment which are absolutely stable about external disturbances in all directions, the global resistance force and moment which are whole grasp capability of robot hands, and the weighted resistance forces and moments which can be properly used by controlling two indices according to the importance of robot hands. The effectiveness of this method is verified with simulation examples.
3 차원 Acceleration Convex Polytope를 기반으로 한 로봇 손의 안정한 파지 분석
장명언(Myeong-Eon Jang),이지홍(Jihong Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.1
This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object’s gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.
Dynamic Programming 기반의 군용 하이브리드 추진시스템 특성 연구
장명언(Myeong-Eon Jang),김상만(Sang-Man Kim),한규홍(Kyu-Hong Han),여승태(Seung-Tai Yeo) 제어로봇시스템학회 2012 제어로봇시스템학회 합동학술대회 논문집 Vol.2012 No.7
In this paper, the study was conducted on the subject of the hybrid electric vehicles used by the military, and analyzed the energy sources for fuel economy considering energy supply to the mission equipments. For the analysis of the vehicles, a method based on the geometry and some assumptions was applied with basic vehicle dynamics. The sources of energy supply in the military hybrid electric vehicles are Engine, Battery and Ultra-capacitor. The optimal operation point between Engine, Battery and Ultra-capacitor can be found by minimizing energy consumption of driving powertrain and mission equipments. Using fuel efficiency of the vehicle during the driving cycle, it was possible to analyze the character of energy sources.
인체 기관지 상피세포에서 Mycoplasma pneumoniae 항원이 IL-8 유전자 발현에 미치는 영향
손명현 ( Son Myeong Hyeon ),이경은 ( Lee Gyeong Eun ),최성연 ( Choe Seong Yeon ),권병철 ( Kwon Byeong Cheol ),김우경 ( Kim U Gyeong ),장광천 ( Jang Gwang Cheon ),장명웅 ( Jang Myeong Ung ),김규언 ( Kim Gyu Eon ) 대한소아알레르기호흡기학회(구 대한소아알레르기 및 호흡기학회) 2004 소아알레르기 및 호흡기학회지 Vol.14 No.1
목적: Mycoplasma pneumoniae는 기도 점막의 상피세포에서 증식하면서 호흡기 질환을 일으키며 기관지 천식의 발생이나 악화와 관계된다고 알려져 있다. IL-8은 기도에서 염증부위로의 세포이동을 매개하는 chemokine으로 기관지 천식의 알레르기 염증 반응에 밀접한 관련을 가진다. 본 연구에서는 기관지 상피세포에 M. pneumoniae 항원을 자극했을 때 IL-8 유전자 발현과 그 신호전달경로를 살펴보았다. 방법: M. pneumoniae Purpose : Mycoplasma pneumoniae is a common cause of lower respiratory disease. Several studies have suggested that M. pneumoniae respiratory infection is associated with reactive airway disease and asthma. It has been suggested that Interleukin-8(IL-8) h
Performance Analysis of Software Architectures with Real-time Kernel Patches for the Rescue Robot
Youngwoo Lee,Myeong Eon Jang,Jun Kim,Yong Woon Park 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper introduces software architectures of the Rescue Robot that lifts and moves wounded soldiers in battle fields or hospitals. Since the Rescue Robot interacts with humans, the robot needs a real-time operation for human safety. Moreover, it is necessary that a large number of calculations and various sensing data to move the soldiers without any damages. One of challenging problems of designing the robot software architecture is that a large number of calculations and data would disturb to decrease a response time taken until robot reacting from user’s commands or emergency sensing data. The Rescue Robot uses Linux with real-time kernel patches as a real-time operating system and EtherCAT as a real-time network. We test three kinds of software architectures, Linux, Xenomai, and RTAI, for the Rescue Robots about the time taken until output commands are sent to joint motors just after the sensing data or input commands are delivered. Furthermore, we suggest a method to handle urgent commands or data quickly with a slightly modified kernel and a kernel module that reduces the time dramatically. This paper also analysis the difference of the real-time kernel patches.
이강언,장명순,Lee, Gang-Eon,Jang, Myeong-Sun 대전대학교 군사연구원 2005 군사학연구 Vol.3 No.-
The point of Bush administraion’s foreign policy is to support the promotion and stability of Democracy in Iraq and counter terrorism and spread of WMD with his strong propulsive force caused by his reelection. In such an environment, there are his leadership, his team, himself, Kim Jung Il, and a new understanding of North Korea after September 11 as the effective factors of Bush administration’s policy toward Pyongyang. Bush administration’s foreign policy of North Korea also shows the process of North Korea’s nuclear weapon program and the future scenario of the Korean Peninsula with "the persistence of solving North Korea’s nuclear weapon program such as the method having done in Lybia", "the holding unconditional talks with Pyongyang, and "the continual concerns with human rights in North Korea." The purpose of Bush administration’s foreign policy of North Korea is to make North Korea do not support terrorism rather than remove the nuclear weapon in North Korea. The process of outlining South Korea’s policy toward North Korea must be considered for "national interest" with reasonable analyses not just hopes For this, South Korea must access systematically human rights of North Korea, prepare projects for a daring approach on North Korea, and strengthen South Korea’s defense ability toward North Korea with deep alliance with U.S and systematize the mutual understanding channel between U.S and South Korea. In conclusion, South Korea must try to get specific methods and practices about Bush administration’s foreign policy of North Korea with national wisdom
임무장비를 고려한 직렬형 하이브리드 차량의 추진시스템 최적화 연구
장명언,김상만,한규홍,여승태,Jang, Myeong-Eon,Kim, Sang-Man,Han, Kyu-Hong,Yeo, Seung-Tai 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.2
In this paper, the study was conducted on the subject of the hybrid electric vehicles used by the military, and optimized the propulsion system for fuel economy considering energy supply to the mission equipments. For the analysis of the vehicles, a method based on the geometry and some assumptions was applied with basic vehicle dynamics. The sources of energy supply in the military hybrid electric vehicles are an engine, a battery and an ultra-capacitor. The optimal operation point among an engine, a battery and an ultra-capacitor can be found by minimizing energy consumption of driving power train and mission equipments. In the study, it was possible to find the optimal propulsion system by comparing fuel efficiency of the vehicles during the driving cycle.
4륜구동 직렬형 하이브리드 전기추진시스템의 구성품 용량 최적화 연구
장명언,정순규,한규홍,여승태,Jang, Myeong-Eon,Jeong, Soon-Kyu,Han, Kyu-Hong,Yeo, Seung-Tai 한국군사과학기술학회 2014 한국군사과학기술학회지 Vol.17 No.2
The study is conducted on the subject of optimization of components sizing for series hybrid electric propulsion systems. The components sizing of series type hybrid system is very important because each component of series type is larger than the corresponding component of the parallel type or series-parallel type. If the components sizing is greater or less than what is required to this system, the performance of the system is getting worse. The methodology for the sizing of a driving motor is introduced based on the foundation of determined system configuration and performance target. And the sizing of an engine/generator and a battery is achieved based on simulation results using Dynamic Programming. It is possible to find the optimal sizing of these components by comparing fuel efficiency of hybrid electric propulsion system for 8 driving cycles.