• 한국항공우주학회지
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• 제42권10호
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• pp.816-822
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• 2014

위성의 각속도를 추정하는 비선형 관측기의 설계방법을 제안한다. SDRE 기법을 이용하여 관측기를 설계하는데, 오차 수렴에 대한 충분조건을 제시하였다. 대수 Riccati 형태의 이 조건은, 비선형 항을 Lipschitz 형태로 변환하고 이에 대한 수렴 조건을 유도하여 구해진다. 이 조건으로부터 관측기의 게인을 구할 수 있으며, 시뮬레이션을 이용하여 제안한 방법을 검증하였다.

• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.1030-1041
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• 2018

The aim of this paper is to design a centrifugal deformation error compensation method with guaranteed performance that allows angular velocity measurement of the magnetically suspended sensitive gyroscopes (MSSGs). The angular velocity measurement principle and the structure of the MSSG are described, and the analytical model of errors caused by MSSG rotor centrifugal deformation is established. Then, an on-line rotor centrifugal deformation error compensation method based on measurement of rotor spinning speed in real-time has been designed. The common issues caused by centrifugal deformation of spinning rotors can be effectively resolved by the proposed method. Comparative experimental results before and after compensation demonstrate the validity and superiority of the error compensation method.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.852-857
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• 2004

In this paper, an angular self-sensing algorithm is proposed and implemented to a Lorentz force type integrated motor-bearing system. It is based on the principle that the flux linkages of stator windings, calculated from the voltage and torque control current, are the functions of the rotor angle. The tracking angular position error is proven to vanish using the Lyapunov stability method, and the experimental results show that the initial error decays within about 5 seconds. It is found that the resolution of the algorithm remains about 1º over the speed range of 100 to 1000 rpm.

• 대한물리의학회지
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• 제4권3호
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• pp.175-182
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• 2009

Purpose：The purpose of this study is to investigate the effects of Taekwondo training causing leg-muscular strength for elementary school children. Methods：The subjects were Taekwondo group (n=20) and non-Taekwondo group (n=20) from 5-6 graders of elementary school. The Tkd group exercised Taekwondo and the non-Taekwondo group exercised free gymnastics. The subjects were measured 3 times(pre, mid and after)during the 8weeks program. The leg muscular strength peak torque and average power were measured. And the extension-flection of angular speed 60 deg/sec and 180 deg/sec was measured. Results：The results of this study can be summarized as follows: 1. Compared with the Tkd group, the non-Tkd group showed no significant difference in tests statistically in case of right-left of pre-4weeks. The leg muscle's peak torque did not show significant difference in the extension angular 60 deg/sec(p>.05). 2. The score of flection angular speed 60deg/sec was not different in tests leg strength of right-left to pre-4weeks(p<.05), but the muscle was increased according to the amount of time spent in case of the 4-8weeks. 3. Compared with the Tkd group, the non-Tkd group showed no significant difference in tests statistically in case of right-left of pre-4weeks. The leg muscle's peak torque did not show significant difference in the extension angular 180deg/sec(p>.05). The right leg muscular strength was increased in case of the 4-8weeks. The left leg showed no difference. 4. Leg muscular strength was increased in the case of the pre-4weeks in the right of flection angular speed 180deg/sec. The left did not show difference. The right leg muscle in case of the 4-8weeks showed no difference. The left showed significant difference. Conclusion：Taekwondo training is effective for leg-muscular strengthing for elementary school children.

• 한국운동역학회지
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• 제12권1호
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• pp.221-231
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• 2002

The purpose of this study was to clarify the differences in service patterns of a forward and backward soft tennis players using 3D motion analyzer. Subjects were 4 forward players of $24.0\pm5.23$yrs and 4 backward players of $23.5\pm1.73$yrs. The results were as following: 1. There was no difference among each positions on swinging-time. The longest racket swinging-time was in the phase of takeback, the second one was in follow-through. The shortest one was in the phase of forward-swing so called force production phase, which had an influence on ball's velocity. 2. The racket speed on impact was 16.3m/s in forward subject and 19.53m/s in backward subject, when each velocity of balls was 44.6m/s, 52.9m/s. Although there was no significant difference along by positions, backward subject showed faster result. 3. The maximum speed of each performance was reached before the impact, and the speed at impact along by positions did not show any significant difference. The summation of velocity was measured in good order as following; hip, shoulder, elbow, wrist, top of racket. 4. In the angular velocity of all examine except one, the angular velocity of forearm was bigger than the one of racket top although there was no statistically significant difference between forward and backward subject. 5. The service grip of the forward players was shorter than that of backward players.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.416-423
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• 2004

This paper presents the thermal characteristic analysis of a high-speed horizontal machining center with spindle speed of 50,000rpm and feedrate of 120m/fin. The spindle system is designed based on the built-in motor, angular contact ceramic ball bearings, oil-air lubrication and oil-jacket cooling method. The X-axis and Y-axis feeding systems are composed of the linear motors and linear motion guides, and the Z-axis feeding system is composed of the servo-motor, ball screw and linear motion guides. The thermal characteristics such as the temperature distribution, temperature rise, thermal deformation and step response, are estimated based on the finite element model of machining center and the heat generation rates of heat sources related to the machine operation conditions. Especially, the thermal time constant assessed from the step response function is introduced as an index of thermal response characteristics.

• 한국공작기계학회논문집
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• 제13권5호
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• pp.30-37
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• 2004

This paper presents the thermal characteristic analysis of a high-speed horizontal machining center with spindle speed of 50,000rpm and feedrate of 120m／min. The spindle system is designed based on the built-in motor, angular contact ceramic ball bearings, oil-air lubrication and oil-jacket cooling method. The X-axis and Y-axis feeding systems are composed of the linear motors and linear motion guides, and the Z-axis feeding system is composed of the servo-motor, ball screw and linear motion guides. The thermal characteristics such as the temperature distribution, temperature rise, thermal deformation and step response, are estimated based on the finite element model of machining center and the heat generation rates of heat sources related to the machine operation conditions. Especially, the thermal time constant assessed from the step response function is introduced as an index of thermal response characteristics.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• 천문학회보
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• 제36권2호
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• pp.57.1-57.1
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• 2011

Using high-resolution numerical simulations, we investigate the formation of gaseous substructures and mass inflow rates in barred spiral galaxies in the presence of both bar and spiral potentials. The gaseous medium is assumed to be infinitesimally-thin, isothermal, unmagnetized, and non-self-gravitating. To consider various galactic situations, we vary the pattern speed and strength of spiral arms as well as the black hole mass. We find that spiral arms with pattern speed smaller than that of the bar remove angular momentum from the gas outside corotation which transports to the bar region, making the dust lanes strong and live long. When the arm pattern speed is identical to that of the bar, on the other hand, the gas outside corotation gains angular momentum and thus moves outward, without affecting the bar region. Overall gaseous morphologies in simulations match well with observed IR images of barred spiral galaxies such as NGC 1097, when the arms and bar are in phase at the corotation radius. The presence of spiral arms increases the mass inflow rate as well, making it larger than $0.01M_{\odot}/yr$ when MBH is $4{\times}10^7M_{\odot}$, possibly explaining AGN activities in Seyfert galaxies.

• 천문학회보
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• 제41권1호
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• pp.82-82
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• 2016

To find the relationship between solar flares and halo CMEs using stereoscopic observations, we investigate 182 flare-associated halo CMEs among 306 front-side halo CMEs from 2009 to 2013. We have determined the 3D parameters (radial speed and angular width) of these CMEs by applying StereoCAT to multi-spacecraft data (SOHO and STEREO). For this work, we use flare parameters (peak flux and fluence) taken from GOES X-ray flare list and 2D CME parameters (projected speed, apparent angular width, and kinetic energy) taken from CDAW SOHO LASCO CME catalog. Major results from this study are as follows. First, the relationship between flare peak flux (or fluence) and CME speed is almost same for both 2D and 3D cases. Second, there is a possible correlation between flare fluence and CME width, which is more evident in 3D case than 2D one. Third, the flare fluence is well correlated with CME kinetic energy (CC=0.63). Fourth, there is an upper limit of CME kinetic energy for a given flare fluence (or peak flux). For example, a possible CME kinetic energy ranges from 1030.6 to 1033 erg for a given X1.0 class flare. Our results will be discussed in view of the physical mechanism of solar eruptions.