• Journal of Korean Society of Water and Wastewater
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• v.10 no.2
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• pp.55-69
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• 1996

Backwashing is one of the most important processes in water treatment. Several models have been utilized to predict minimum fluidization velocity and expansion of media. However, it is not unusual that the actual bahavior of media dose not agree well with the prediction. This study has investigated the applicability of models in predicting the minimum fluidization velocity of sand media. However even the better model has predicted minimum fluidization velocity 1.1 to 1.8 times higher than actual fluidization velocity. The expansion rate of sand media was inspected. It is found that the actual expansion rate was greater than the predicted. In this study condition, use of $d_{10}$ instead of $d_{60}$ was better to predict the expansion of media. On the contrary to the sand media, the actual expansion of anthracite media was less than that predicted. Sometimes it is reported that the dual media has been overflown during backwashing and mixed severely at the interface. It is because the grain size distribution of anthracite has not been selected properly. The numerical values for media expansion found in this study could be referred as the useful data in operating and/or designing filter media.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.6
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• pp.503-511
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• 2004

In this study, for estimating responses of a controlled structure and determining the maximum control force of velocity-dependent damping devices, three estimation models such as Fourier envelope convex model, probability model, and Newmark design spectrum are used. For this purpose, a procedure is proposed for estimating actual velocity using pseudo-velocity and this procedure considers the effects of damping ratio increased by the damping device. Time history results indicate that actual velocity should be used for estimating accurate maximum control force of damping device and Newmark design spectrum modified by the proposed equation gives the best estimation results for over all period structures.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.478-485
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• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.6
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.415-417
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• 2005

This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• Magazine of the Korean Society of Agricultural Engineers
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• v.18 no.2
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• pp.4089-4095
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• 1976

The safety of shore structure including the sea dipe is largely affected by typhoon. Accordingly it is desirable to analize the typhoon and determine the wind direction and velocity for use in planning and design of the structure. This method was adopted for the design of the Yong San Gang Estuary Dam. A comparative study of the results of typhoon analysis with the meteorological data obtained through actual observation is summarized as follows; (1) 62% of the typhoons occur during May to June in a year, and 62% of the typhoons which have an influence on the Korean peninsula, especially the proposed estuary dam fsite, proceed eastward through the zone in lat. 36$^{\circ}$-37$^{\circ}$N. Such typhoons occur two to three times a year on the average. (2) Data on typhoon "SARL" were used as a model case in designing the estuary dam, where it was proved that a southwesterly wind had a maximum velocity of 30m/sec in case r=150km, ${\alpha}$=120$^{\circ}$. Within the range of 22$^{\circ}$30'on the right and left side of the fetch line of the estuary dam, the wind direction varied SSW\longrightarrowSW\longrightarrowWSW, and the wind velocity varied 29m/sec\longrightarrow30m/sec\longrightarrow125m/sec. Such phenomemum lasted for five hours. (3) An analysis of data obtained during 44 years at Mok Po Meteorological Station shows that a wind with a velocity of some 25m/sec occurred twelve times in the S-direction and two times in the SW-direction, while that with a velocity of 30m/sec occurred three times in the S-direction, three times in the SSW-direction and one time in the SW-direction. The wind which had an influence on the estuary dam had a direction of SSW\longrightarrowSW\longrightarrowWSW and a velocity of min. 30m/sec. Actually, a wind with a max. velocity of 31.3m/sec occurred in the SSW-direction on March 15 and 16, 1956 where the mean velocity during two hours was 28m/sec and that during four hours was 24.6m/sec. (4) The data obtained through actual observation show that when the velocity is low, the wind with a fixed direction lasts long, and when the velocity is high, it is short-lived. It is difficult to determine the velocity of a wind which blows in a fixed direction for consecutive two or four hours. Therefore, the values obtained through typhoon analysis are larger that those obtained through actual observation, and hence, it is resonable to use the analyzed valuse for design of the estuary dam and shore structures. (5) The greatest effect was had on the estuary dam when typhoon was proceeding at a velocity of 29.71m/sec in the direction of ${\alpha}$=120$^{\circ}$(SW) at a point of R=150km from the center of the typhoon.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.46 no.2
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• pp.165-172
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• 2010

This study was performed to estimate the swimming velocity of Pacific saury (Cololabis saira) migrated offshore Funka Bay of Hokkaido using an acoustic Doppler current profiler (OceanSurveyor, RDI, 153.6kHz) established in T/S Ushio-maru of Hokkaido University, in September 27, 2003. The ADCP's doppler shift revealed as the raw data that the maximum swimming velocity was measured 163.0cm/s, and its horizontal swimming speed and direction were $72.4{\pm}24.1\;cm/s$, $160.1^{\circ}{\pm}22.3^{\circ}$ while the surrounding current speed and direction were $19.6{\pm}8.4\;cm/s$, $328.1^{\circ}{\pm}45.3^{\circ}$. To calculate the actual swimming speed of Pacific saury in each bins, comparisons for each stratified bins must be made between the mean surrounding current velocity vectors, measured for each stratified bin, and its mean swimming velocity vectors, assumed by reference (threshold > -70dB) and 5dB margin among four beams of ADCP. As a result, the actual averaged swimming velocity was 88.6cm/s and the averaged 3-D swimming velocity was 91.3cm/s using the 3-D velocity vector, respectively.

• Journal of the korean Society of Automotive Engineers
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• v.2 no.1
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• pp.32-38
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• 1980

In the case of a automobile marking skid on road for a period of braking, in general, the automobile velocity just before rapid braking can be obtained by evaluating the coefficient of friction between tires and road. Up to now, the coefficient of friction has been derived from mean velocity measured by a time watch, but the automobile velocity obtained in this manner would be deviated from actual value considerably, due to errors arising from not only measuring time but other various factors. In this paper the presumption method of automobile velocity by accelerometer is presented so as to improve the accuracy of measurement, and to determine the velocity readily. The results obtained in this experiment show that the frictional coefficients between tires and road under the given experimental conditions are considered to take linear relation over the fixed velocity limits 30km/h to 50km/h while for the same limits of velocities the coefficients of friction by the time watch method are not valid ar low velocity range. It will be seen that the former is simple and reliable whilst the latter is cumbersome and unreliable.

• Fire Science and Engineering
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• v.20 no.4 s.64
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• pp.91-97
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• 2006

This study was executed to review feasibility on the calculation of critical velocity with a reduced model of an actual tunnel in order to establish the optimum fire protection system for a fire in road tunnels. In a scaled model about 1/29 of an actual tunnel based on the Froude scaling, critical velocity was calculated by visualizing smoke flow and analyzing correlation with temperature. In the experiment, critical velocities at which smoke backflow length became zero showed a small difference within about 5% compared to results calculated by the Kennedy formula, and the relation between smoke flow and temperature distribution appeared similarly without getting greatly influenced by changes in fire intensity.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.370-377
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• 2002

Generally, the system of calculation for the multi-path ultrasonic flow meters can be divided into two methods by how to get the mean velocity, namely, weighting and direct method. Weighting-method derive the mean velocity through modeling in theoretical velocity profile. Direct-method derive the mean velocity though actual flow distribution. The system of calculation varies with maker's transducer configuration and integration method. Each system has merits and demerits. This paper describes the system of integration that calculates line velocity over cross-section of the circular pipe. Flow rate mr discussed in this paper is a difference between theoretical flow rate and integrated flow rate according to values of Reynolds number in symmetric flow field or theoretical flow rate and integrated flow rate according to rotated model in asymmetric flow field.