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Simulating Drops Settling in a Still Liquid
Donghoon Sagong,Nahyup Kang,Junyong Noh,Xiaogang Jin,Shin, Joseph S. IEEE 2015 IEEE computer graphics and applications Vol.35 No.1
<P>Researchers have devised a physics-based method to reproduce intricate mixing patterns of two miscible liquids. A small drop of one liquid descends in an initially still surrounding liquid, such as an ink drop sinking in water. Modeling the drop as a particle swarm, the researchers reduce the miscible-liquid-mixing problem to that of liquid--particle interactions. This method traces each particle to generate the mixing pattern; it allows two-way interaction between the particles and liquid.</P>
Shin, Donghoon,Lee, Geesu,Yi, Kyongsu,Noh, Kihan Professional Engineering Publishing Ltd 2016 Proceedings of the Institution of Mechanical Engin Vol. No.
<P>This paper describes motorized active suspension damper control with dynamic friction and actuator delay compensation for an enhanced ride quality. The control algorithm consists of a supervisory controller, an upper-level controller and a lower-level controller. The supervisory controller determines the control modes, such as the passive control modes and the active control mode. The upper-level controller, which incorporates the existing actuator delay, computes the damping force using linear quadratic control theory. The actuator input is determined by the lower-level controller by compensating the dynamic friction torque. To estimate the sprung-mass displacement, the sprung-mass velocity, the unsprung-mass displacement and the unsprung-mass velocity, two state estimators are proposed. An adaptive observer is developed for the non-linear dry friction to estimate the ball-screw dynamic friction caused by the axial movement of the actuator and the viscosity. The performance of the proposed control algorithm was evaluated from simulations. It was shown from simulations that the proposed motorized active suspension damper control with a friction and delay compensation algorithm can improve the ride quality.</P>
착용형 센서 및 인체 상지의 기구학 모델 기반 기준계 비제약 특징을 갖는 협동 매니퓰레이터 원격 모션제어 방법
노동현(Donghyeon Noh),전하늘(Haneul Jeon),최해겸(Haegyeom Choi),이동훈(Donghoon Lee) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
This paper proposes a new wearable sensor-based hand-guiding gesture tracking method to realize the reference frame-free remote motion control of a collaborative manipulator. This study focuses on creating a floating body-fixed reference frame through sensor calibration gestures, not imposing any pose restrictions on the operators hand-guiding gestures. The human arm for tracking the hand-guiding motions is modeled as a 6-DOF serial chain in which a 3-DOF shoulder joint, a 2-DOF elbow joint, and a 1-DOF wrist joint are connected. And the hand-guiding gesture is measured through two wearable IMU sensors rigidly attached with an elastic band on the arm and forearm, respectively. A mathematical model for interfacing the tracked hand-guiding gesture to the motion control of the Universal UR5e manipulator is presented and experimentally validated in terms of the manipulability and consistency with the users manipulation intent.
Control of the motorized active suspension damper for good ride quality
Seo, Jongsang,Shin, Donghoon,Yi, Kyongsu,Yim, Seongjin,Noh, Kihan,Choi, Hyungjeen SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.11
<P>This paper presents a control algorithm for the motorized active suspension damper. The control algorithm consists of supervisory, upper-level and lower-level controllers. The supervisory controller determines the control modes, such as the passive mode, the roll mode and the body acceleration mode. The upper-level controller computes the damping force using linear quadratic control theory. The actuator input is determined by the lower-level controller. Three state estimators, namely the vehicle body’s velocity estimator, the suspension state estimator and the friction estimator, are proposed to estimate the sprung-mass and unsprung-mass velocities, the tyre deflection, the roll angle, the roll rate and the friction. The performance of the proposed control algorithm was evaluated via simulations and vehicle tests. It was shown from both simulations and vehicle tests that the proposed control algorithm can improve the ride quality using a motorized active suspension damper.</P>