• 제어로봇시스템학회논문지
• /
• 제18권7호
• /
• pp.638-643
• /
• 2012

This paper presents an intelligent reduction method for external noise. The main idea comes from PSO-FCM (Particle Swam Optimization Fused fuzzy C-Means) clustering. The data of the target is transformed from the antenna coordinates to the vessel one and to the system coordinates. In the conversion, the overall noises hinder observer to get the exact position and velocity of the maneuvering target. While the filter is used for tracking system, unexpected acceleration becomes the main factor which makes the uncertainty. In this paper, the tracking efficiency is improved with the PSO-FCM and the compensation methodology. The acceleration is approximated from the external noise splitted by the proposed clustering method. After extracting the approximated acceleration, the rest in the noise is filtered by the filter and the compensation is added to after that. Proposed tracking method is applicable to the linear model and nonlinear one together. Also, it can do to the on-line system. Finally, some examples are provided to examine the reliability of the proposed method.

• Interaction and multiscale mechanics
• /
• 제5권1호
• /
• pp.75-90
• /
• 2012

This paper investigates the effects of sports ground materials on the transfer characteristics of the landing impact force using a coupled foot-shoe-ground interaction model. The impact force resulting from the collision between the sports shoe and the ground is partially dissipated, but the remaining portion transfers to the human body via the lower extremity. However, since the landing impact force is strongly influenced by the sports ground material we consider four different sports grounds, asphalt, urethane, clay and wood. We use a fully coupled 3-D foot-shoe-ground interaction model and we construct the multi-layered composite ground models. Through the numerical simulation, the landing impact characteristics such as the ground reaction force (GRF), the acceleration transfer and the frequency response characteristics are investigated for four different sports grounds. It was found that the risk of injury, associated with the landing impact, was reduced as the ground material changes from asphalt to wood, from the fact that both the peak vertical acceleration and the central frequency monotonically decrease from asphalt to wood. As well, it was found that most of the impact acceleration and frequency was dissipated at the heel, then not much changed from the ankle to the knee.

• 한국농공학회논문집
• /
• 제57권3호
• /
• pp.55-63
• /
• 2015

Embankment of agricultural reservoir started by four major rivers project. Most agricultural reservoirs must insure the agricultural water, they need must be ensured stability of embankment. Recently, there is a growing interest in seismic stability of structure by earthquake. Results of evaluation of the structural stability through seismic vibration test and numerical analysis, maximum displacement and the maximum acceleration is a similar trends. Appeared by increasing occurrence of the value of the displacement and acceleration of the structure with the result long period wave type in accordance with the seismic wave in the case of seismic waves, which shows the results of similar tendency as long period wave type consists of waveform seismic acceleration. Model test and numerical analysis results with in order to increase embankment agricultural reservoir, the displacement was found to ensure it is displayed within one percentage structural stability of the embankment.

• 천문학회지
• /
• 제46권1호
• /
• pp.49-63
• /
• 2013

Nonthermal radiation from supernova remnants (SNRs) provides observational evidence and constraints on the diffusive shock acceleration (DSA) hypothesis for the origins of Galactic cosmic rays (CRs). Recently it has been recognized that a variety of plasma wave-particle interactions operate at astrophysical shocks and the detailed outcomes of DSA are governed by their complex and nonlinear interrelationships. Here we calculate the energy spectra of CR protons and electrons accelerated at Type Ia SNRs, using time-dependent, DSA simulations with phenomenological models for magnetic field amplification due to CR streaming instabilities, Alf$\acute{e}$enic drift, and free escape boundary. We show that, if scattering centers drift with the Alf$\acute{e}$en speed in the amplified magnetic fields, the CR energy spectrum is steepened and the acceleration efficiency is significantly reduced at strong CR modified SNR shocks. Even with fast Afv$\acute{e}$nic drift, DSA can still be efficient enough to develop a substantial shock precursor due to CR pressure feedback and convert about 20-30% of the SN explosion energy into CRs. Since the high energy end of the CR proton spectrum is composed of the particles that are injected in the early stages, in order to predict nonthermal emissions, especially in X-ray and ${\gamma}-ray$ bands, it is important to follow the time dependent evolution of the shock dynamics, CR injection process, magnetic field amplification, and particle escape. Thus it is crucial to understand the details of these plasma interactions associated with collisionless shocks in successful modeling of nonlinear DSA.

• 천문학회지
• /
• 제46권1호
• /
• pp.41-47
• /
• 2013

I present a simple scheme for the treatment of gravitational interactions on galactic scales. In anal- ogy with known mechanisms of quantum field theory, I assume ad hoc that gravitation is mediated by virtual exchange particles-gravitons-with very small but non-zero masses. The resulting den- sity and mass profiles are proportional to the mass of the gravitating body. The mass profile scales with the centripetal acceleration experienced by a test particle orbiting the central mass, but this comes at the cost of postulating a universal characteristic acceleration $a_0{\approx}4.3{\times}10^{-12}msec^{-2}$ (or $8{\pi}a_0{\approx}1.1{\times}10^{-10}msec^{-2}$). The scheme predicts the asymptotic flattening of galactic rotation curves, the Tully-Fisher/Faber-Jackson relations, the mass discrepancy-acceleration relation of galaxies, the surface brightness-acceleration relation of galaxies, the kinematics of galaxy clusters, and "Renzo's rule" correctly; additional (dark) mass components are not required. Given that it is based on various ad-hoc assumptions and given further limitations, the scheme I present is not yet a consistent theory of gravitation; rather, it is a "toy model" providing a convenient scaling law that simplifies the description of gravity on galactic scales.

• 대한기계학회논문집A
• /
• 제29권2호
• /
• pp.270-276
• /
• 2005

This paper develops the flexible computational model of a heavy truck by interfacing the frame modeled as a flexible body to the heavy truck's computational model composed of rigid bodies. The frame is modeled by the finite element method. Three torsional modes and three bending modes of the frame are considered for the interface of the heavy truck's computational model. The actual vehicle test is conducted off road with a velocity of 20km/h. The vertical accelerations at the cab and front axle are measured in the test. For the verification of the developed computational model, the measured vertical acceleration profiles are compared with the simulation results of the heavy truck's flexible computational model. E grade irregular road profile of ISO is used as an excitation input in the simulation. The verified flexible computational model is used to compare the vibration characteristics of a front suspension system having a multi-leaf spring and that having a tapered leaf spring. The comparison results show that the front suspension having a tapered leaf spring has a higher vertical acceleration at the front axle but a lower vertical acceleration at the cab than the suspension system having a multi-leaf spring.

• 한국추진공학회지
• /
• 제3권2호
• /
• pp.82-91
• /
• 1999

초폭굉 램 가속기의 탄체 형상은 탄체 주위에 형성되는 충격파의 구조 및 데토네이션파의 생성, 그리고 탄체의 가속 특성에 커다란 영향을 주게 된다. 본 연구에서는 초폭굉 모드의 기본 탄체 형상인 원추-원퉁-원추의 전.후면 반 꼭지각의 변화와 이중 원추, 그리고 Power-Law 형상 등의 탄체 전면 형상의 변화가 탄체 주위의 유동장, 데토네이션파의 형성 과정, 그리고 탄체 가속 특성에 미치는 영향을 수치적으로 해석하였으며, 이중 원추면의 높이와 각도를 변화시킴으로써 전.후면 반 꼭지각이 $10^{\cire}$인 ISL의 기본 형상에 비하여 약 31.0%의 향상된 가속 성능을 갖는 램 가속기 탄체 형상을 도출하였다. 이러한 탄체 가속 특성 연구 결과는 향후 램 가속기에 대한 설계 최적화 연구에 유용한 자료로 이용 될 것이다.

• Journal of Positioning, Navigation, and Timing
• /
• 제3권1호
• /
• pp.1-10
• /
• 2014

Recently, monitoring of two-body ground vehicles carrying extremely hazardous materials has been considered as one of the most important national issues. This issue induces large cost in terms of national economy and social benefit. To monitor and counteract accidents promptly, an efficient methodology is required. For accident monitoring, GPS can be utilized in most cases. However, it is widely known that GPS cannot provide sufficient continuity in urban cannons and tunnels. To complement the weakness of GPS, this paper proposes an accident monitoring method based on a monocular vision sensor. The proposed method estimates angular acceleration from a sequence of image frames captured by a monocular vision sensor. The possibility of using angular acceleration is investigated to determine the occurrence of accidents such as jackknifing and rollover. By an experiment based on actual measurements, the feasibility of the proposed method is evaluated.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1387-1391
• /
• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• 제어로봇시스템학회논문지
• /
• 제21권12호
• /
• pp.1167-1172
• /
• 2015

This paper describes the implementation of wearable AHRS for an electromagnetic motion capture system that can trace and analyze human motion on the principal nine axes of inertial sensors. The module provides a three-dimensional (3D) attitude and heading angles combining MEMS gyroscopes, accelerometers, and magnetometers based on the extended Kalman filter, and transmits the motion data to the 3D simulation via Wi-Fi to realize the unrestrained movement in open spaces. In particular, the accelerometer in AHRS is supposed to measure only the acceleration of gravity, but when a sensor moves with an external linear acceleration, the estimated linear acceleration could compensate the accelerometer data in order to improve the precision of measuring gravity direction. In addition, when an AHRS is attached in an arbitrary position of the human body, the compensation of the axis of rotation could improve the accuracy of the motion capture system.