• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Bulletin of the Society of Naval Architects of Korea
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• v.24 no.4
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• pp.1-8
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• 1987

In this paper negative drift forces are discussed, which act on a two-dimensional cylinder exposed to slightly modulated waves in water of finite depth. By combining matched asymptotic expansion method with multiple scale technique, it is clearly shown that the slowly-varying drift force can be negative under certain circumstances: i) Incident waves are irregular or slightly modulated. ii) The water depth is finite compared to the wave length of carrier waves. iii) The gap between the keel of the cylinder and ocean floor is narrow. Then the negative drift forces are caused by the unbalance of hydrostatic force associated with set down. Real fluid and wave breaking effects are not considered.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.191-196
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• 2005

In this study, to describe vehicle-track-bridge dynamic interaction phenomena with 1/4 vehicle model, nonlinear Hertzian contact spring and nonlinear contact damper are introduced. In this approach external loads acting on 1/4 vehicle model are self weight of vehicle and geometry information of running surface. The constraint equation on contact surface is implemented by Penalty method. Also, to improve the numerical stability and to maintain accuracy of solution, the artificial damper and the reaction from constraint violation are introduced. A nonlinear time integration method, in this study, Newmark method is adopted for both equations of vehicles and structure. And to reduce the error caused by inadequate time step size, adaptive time-stepping technique is partially introduced. As the nonlinear Hertzian contact spring has no resistance to tensile force, the bouncing phenomena of wheelset can be described. Thus, it is expected that more versatile dynamic interaction phenomena can be described by this approach and it can be applied to various railway dynamic problems.

• Bulletin of the Society of Naval Architects of Korea
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• v.18 no.3
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• pp.11-27
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• 1981

This paper is prepared to solve the problem of two-dimensional sinusoidal motion of hydrofoil, which can be related not only to the prediction of unsteady forces acting on the marine propeller blade but to the study of aquatic animal's undulatory mode of propulsion. For convenience's shake, this manuscript can be devided into two parts. In the first part, the lift and moment coefficients have been calculated by the method of conformal transformation. In the other part, the thrust and the hydromechanical efficiency have been evaluated, using Lagally's technique having extended to the unsteady case, they also have been compared with the results, which had been obtained by Lighthill[6] and Wu[7] using Prandtl's acceleration potential.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.4
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• pp.764-770
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• 1989

This paper analyze the steady state performance of a self-acting air lubricated slider bearing in hard disk/head system. Modified Reynolds' equation is derived from the steady state compressible Navier-Stokes equation, under slip-flow conditions. Finite difference technique and numerical procedure are described by using Newton-Raphson iteration method to slove the non-linear equations. These techniques are applied to conventional slider bearings and the effects of molecular mean free path(MMFP) for a recording surface of hard disk are shown. The calculation procedure developed here, wide applicabilities in practical head design procedures, and converges rapidly.

• The Korean Journal of Emergency Medical Services
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• v.21 no.1
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• pp.7-15
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• 2017

Purpose: The purpose of our study was to introduce an oath and ethics code for emergency medical technicians (EMTs). Methods: The proposed oath and ethics code for the EMTs was evaluated using a modified Delphi technique. This oath and ethics code was presented at Korean association of emergency medical technician conference and was revised by experts in emergency medical services. Results: We examined the ethics codes for other allied healthcare professionals regarding the topics of human rights, health promotion, acting as an advocate, ethics, cooperation, observance, human rights, right to know, self-determination, confidentiality, and professionalism. These elements are reflected in our proposed oath and ethics code for EMTs. Conclusion: The proposed oath and ethics code would raise the professional status of EMTs.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.4
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• pp.582-589
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• 1996

In this paper, an adaptive control problem of a hydraulic actuator for vehicle active suspension controller is divided into two parts: the inner loop controller and the outer loop controller. Inner loop controller, which is a nonlinear adaptive controller, is designed to control the force generated by the nonlinear hydraulic actuator acting under the effects of Coulomb friction. For simplicity of designing a nonlinear controller, the spool valve dynamics of a hydraulic actuator is reduced using a singular perturbation technique. The estimation error signal used to an indirect parameter adaptation is calculated without a regressor filtering. The absolute velocity of a sprung mass will be damped down by its negatively proportional term(sky-hook damper) adopted as an outer loop controller. Simulation results are presented to show the importance of controlling the actuator force and the validity of the proposed adaptive controller. (author). refs., figs. tab.

• 한국가시화정보학회:학술대회논문집
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• 2006.12a
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• pp.42-47
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• 2006

The flow around a rotating circular cylinder near a plane wall is investigated by the measurement of the lift acting on the cylinder and by the flow visualization using the hydrogen bubble technique in the circulating water tank. The experimental parameters are the rotating direction of the cylinder, the space ratios H/D$(H/D=0.05\sim0.5)$ between cylinder and plane wall and the velocity ratios $\alpha(\alpha=0\sim{\pm}2.0)$. In the case of clockwise, the lift on the rotating circular cylinder was increased with the reduction of the space ratios and with the velocity ratios, the upper separation point was more shifted in the rotating direction with them. In the case of anticlockwise, the absolute value of the lift on the rotating circular cylinder was increased with the space ratios and with the velocity ratios, the lower separation point was more shifted in the rotating direction with them.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.106-112
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• 2000

Axial fans are widely used in heavy machines due to their ability to produce high flow rate for cooling of engines. At the same time. the noise generated by these fans causes one of the most serious problems. This work is concerned with the low noise technique of discrete frequency noise. The prediction model. which allowed the calculation of acoustic pressure at the blade passing frequency and it's harmonics. has been developed by Farrasat. This theory is founded upon the acoustic radiation of unsteady forces acting on blade. To calculate the unsteady resultant force over the fan blade. Time-Marching Free-Wake Method are used. The fan noise of fan system having unsymmetric engine-room is predicted. In this paper, the discussion is confined to the performance and discrete noise of axial fan and front part of engine room in heavy equipments.

• Journal of Dairy Science and Biotechnology
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• v.39 no.4
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• pp.166-171
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• 2021

Since 1903, the International Dairy Federation (IDF) has been providing information on policies, standards, and regulations of the dairy industries to reach a global consensus on how to help feed the world with safe and sustainable dairy products. The 2021 IDF Global Dairy Conference was held in Copenhagen, Denmark with the theme of 'A Changing Climate for Dairy' for three days from the 13^th to the 15^th of October. Over 350 worldwide participants came together were expected to come together with several hundred additional online participants. An interesting topic among those presented at the conference was artificial milk at the Processing & Technology session on October 14^th. Dr. Eisner presented "Milk by Fermentation", in which he presented the technique of culturing and manufacturing artificial milk, based on artificially producing the caseins and enzymes through precision fermentation, which is suitable for making artificial cheeses. During the conference, the IDF launched the latest edition of the publication on global dairy markets, titled the World Dairy Situation Report 2021. According to report, South Korea is ranked 3^rd in the world for cheese imports.