• 한국전자통신학회논문지
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• 제10권4호
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• pp.469-475
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• 2015

본 논문은 반도체 센서를 이용하여 공간상 시스템의 자세를 정확히 측정할 수 있도록 확장 칼만 필터를 설계하는 방법에 관한 연구이다. 공간상 자세는 관성좌표계(고정 좌표계)로부터 몸체에 부착된 회전좌표계의 상호 관계로 표현한다. 자세를 표현하는데 있어서 간결한 방법인 쿼터니언을 상태변수로 이용하며, 속도 센서로부터 계측된 값을 입력으로 가정하고, 상태 변화를 추정하였다. 그리고 가속도 센서로부터 획득된 값을 관측 데이터로 하여 추정한 값과의 정합과정을 통해 최적의 추정치를 얻어낸다. 이때 추정의 정밀도를 높이기 위해 추정 주기를 센서특성에 맞춰 조절하도록 확장 칼만 필터를 설계하였다. 그 결과, 3축 속도 센서와 3축 가속도 센서를 이용하여 설계된 추정기의 RMS(: Root Mean Square) 추정오차가 시뮬레이션에서 약 1.7 [$^{\circ}$] 이하로 유지되었고, 실험에서 100 [ms] 의 주기로 상태추정을 함으로 추정기가 유용함을 입증하였다.

• 한국생산제조학회지
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• 제9권3호
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• pp.83-89
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• 2000

In hydraulic control system turbine and gear motor type flowmeters are widely used to measure the flow rate under steady flow conditions. With the recent growth of interest in the measurement of instantaneous values of unsteady flow rate the test of the transient response of these flowmeters are in some significance. however an unsteady flow rate mea-surment and its calibration method with a fast response and a high accuracy have not beendeveloped. In this research particularly the dynamic characteristics of turbine and gear motor type flowmeters are investigated experimentally and simple mathematical models are proposed. The measured flow rate waveforms are compared with those by remote instan-taneous flow rate measurement method(RIFM) which has been developed by author and used for calibration As the result of frequency response test gain and phase between the measured flow rate waveforms by turbine type flowmeter and those estimated by RIFM are in good agreement up to 70Hz For the gear motor type flowmeter th simulated results by a math-ematical model proposed here agree well with the experiment nearly up to 100Hz. Also it if sound that the pressure drop across the flowmeter is increased in proportion to the frequency of the flow rate variation in a high frequency region of more than 100Hz. It can be explained that the dealy of gear motor type flowmeter in high frequency regionis mainly attributed to a first order delay consisting of the inertia of gears and internal leakage of the gear motor.

• 한국운동역학회지
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• 제26권3호
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• pp.243-248
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• 2016

Objective: The aim of this study was to determine the kinematical characteristics of somersault with twist in the Lou Yun and Akopian motions and to provide useful information to gymnastic athletes in men's vault. Method: The study subjects were 12 male adult top athletes. After 12 trials (7 Lou Yun and 5 Akopian trials) filmed by using two digital high-speed camcorders set at 90 frames/sec, kinematical data were collected through the direct linear transformation (DLT) method. The mean differences in biomechanical variables were compared during the second flight upward phase. The kinematic characteristics of somersault with twist in the Lou Yun and Akopian motions were identified. Results: In Lou Yun motion, the vertical release velocity through horse breaking was not difficult to obtain, so the athletes had enough time to prepare for the twist. Therefore, the Lou Yun motion has an advantage to make a cat twist in the pike posture. In the Akopian motion, obtaining the horizontal velocity through horse pushing was so easy that the Akopian athletes attained a large angular impulse and angular momentum. Therefore, the Akopian motion has an advantage to making a tilt twist in the body tilting posture. Conclusion: This study suggests that gymnastic athletes should control their body segment movements in order to increase the twisting angular velocity of the whole body, which requires regulation of the longitudinal moment of inertia of the body. Moreover, athletes should prepare for the shoulder and hip twists early in order to make the landing position in advance.

• 오토저널
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• 제2권1호
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• pp.21-31
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• 1980

Two phase boundary layer equations of laminar filmwise condensation are solved by an approximate integral method under the following condition; saturated vapour flows vertically downward over a cooled surface of uniform temperature, the condensate film is so thin that the inertia and convection terms are neglected. The following conclusions are drawn under the above assumptions. 1. free convection In case of the linear temperature profile in a liquid film, numerical results for the average coefficients of heat transfer may be expressed as N $u_{m}$=4/3,(G $r_{l}$ /4.H)$^{1}$4/ and in case of the quadratic profile, numerical results may be expressed as N $u_{m}$=2/1.682,(G $r_{l}$ /H)$^{1}$4/. 2. Forced convection When the temperature profile is assumed to be linear in a liquid film, numerical results fir the average heat transfer coefficients may be expressed as N $u_{m}$=(A, R $e_{l}$ /H)$^{1}$2/. This expression is compared with the experimental results hitherto reported; For theoretical Nusselt number (N $u_{m}$)$_{th}$<2*10$^{4}$, the experimental Nusselt number (N $u_{m}$)$_{exp}$ is on the average larger than theoretical Nusselt number (N $u_{m}$)$_{th}$ by 30%. For (N $u_{m}$)$_{th}$>2*10$^{4}$, experimental Nusselt number (N $u_{m}$)$_{exp}$ is about 1.6 times as large as theoretical Nusselt number (N $u_{m}$)$_{th}$. These large deviation may be caused by the presence of turbulence in the liquid film. In case of the quadratic temperature profile in a liquid film, numerical results for the average coefficients of heat transfer may be expressed as N $u_{m}$'=(2,A,Re/H)$^{1}$2/. This formular shows that theoretical Nusselt number (N $u_{m}$)$_{th}$ is larger than experimental Nusselt number (N $u_{m}$)$_{exp}$ by 60%. It is speculated that when the temperature difference between cooled surface and saturated vapour is small, temperature profile in a liquid film is quadratic.quadratic.. quadratic.quadratic..atic..

• 전력전자학회논문지
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• 제6권5호
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• pp.416-422
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• 2001

BLDC (Brushless DC) 전동기는 선형적인 토크 대 전류, 속도 대 전압특성을 갖고 있으며 기계적 전기적인 잡음이 없고, 가감속 제어가 용이하며, 토크 대 관성의 비가 매우 높아 소형으로 높은 출력을 낼 수 있다는 장점을 가지고 있다. 그러나 전기자 전류의 전환 (Commutation)시 고정자 권선의 인덕턴스 성분과 역기전력으로 인해 발생되는 전류리플은 BLDC 전동기의 구동시 발생되는 토크리플의 중요한 원인이 되어, 고정밀 서보계통에 대한 응용에 큰 장애가 되고 있다. 본 논문에서는 퓨리에 시리즈계수를 사용한 새로운 전류제어 알고리즘을 개발하여 상전류 전환시 발생하는 전류리플을 최소화함으로서 토크리플을 현저히 감소 시켰으며, BLDC 전동기의 구동을 위해 널리 사용되고 있는 UNIPOLAR PWM 방식과 시뮬레이션 및 실험을 통해 비교함으로써, 새로운 알고리즘의 효용성을 입증하고자 한다.

• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.1-9
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• 2016

Nowadays automatic transmission equipped vehicles prevail in construction and agricultural equipment due to their convenience in driving and operation. Though domestic vehicle manufacturers install imported electronic controlled transmissions at present, overseas products will be replaced by domestic ones in the near future owing to development efforts over the past 10 years. For passenger cars, there are many kinds of shift control algorithms that enhance the shift quality such as feedback and learning control. However, since shift control technologies for heavy duty vehicles are not highly developed, it is possible to improve the shift quality with an organized control method. A feedback control algorithm for neutral-into-gear shift, which is enabled during the inertia phase for the master clutch slip speed to track the slip speed reference, is proposed based on the power transmission structure of TH100. The performance of the feedback shift control is verified by a vehicle test which is implemented with firmware embedded TCU. As the master clutch engages along the predetermined speed trajectory, it can be concluded that the shift quality can be managed by a shift time control parameter. By extending the proposed feedback algorithm for neutral-into-gear shift to gear change and shuttle shift, it is expected that the quality of the shift can be improved.

• 한국분무공학회지
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• 제25권4호
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• pp.162-169
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• 2020

The worldwide focus on reducing the emissions, fuel and lubricant consumption in T-GDI engines is leading engineers to consider the crankcase ventilation and oil mist separation system as an important means of control. In today's passenger cars, the oil mist separation systems mainly use the inertia effect (e.g. labyrinth, cyclone etc.). Therefore, this study has investigated high efficiency cylinder head-integrated oil-mist separator by using a compact multi-impactor type oil mist separator system to ensure adequate oil mist separation performance. For this purpose, engine dynamometer testing with oil particle efficiency measurement equipment and 3D two-phase flow simulation have been performed for various engine operating conditions. Tests with an actual engine on a dynamometer showed oil aerosol particle size distributions varied depending on operating conditions. For instance, high rpm and load increases bot only blow-by gases but the amount of small size oil droplets. Submicron-sized particles (less than 0.5 ㎛) were also observed. It is also found that the impactor type separator is able to separate nearly no droplets of diameter lower than 3 ㎛. CFD results showed that the complex aerodynamics processes that lead to strong impingement and break-up can strip out large droplets and generate more small size droplets.

• 안보군사학연구
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• 통권5호
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• pp.1-45
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• 2007

Reserved forces of ROKA are in charge of replacement of TOE in the wartime and mission of rear area operation. But there is institutional inertia in the law and organization oriented to fill human resources rather than take mission. We need to prepare for the investment and arrangement of reserved forces as military power that would be replaced standing forces. In this portion, to reinforce reserve forces elite, First, efficient mobilization regulations and systems are suggested. I covered a maintenance of relevant mobilization ordinances which need to legislated and approved by national assembly for wartime and development of mobilization system which might lose the appropriate time for mobilization due to complicated declaration procedures and measures to overcome the panic at the initial stage of the war and organization and employment of nationwide transportation system and mobilization center. To ensure efficient resource management and mobilization of reserve forces with a number of approximately 3 million, there's a necessity of organization for integration and conciliation. To make it real, I suggested establishing and employing the mobilization center, on first phase, employ the mobilization center focusing on homeland divisions, on second phase, it is advisable to convert to national level mobilization system and develop to central mobilization center focusing on national emergency planning committee. During peacetime, in conjunction with Mobilization Cell, mobilization center can conduct resource survey and integrate and manage mobilization resources and take charge of mobilization training of subordinate units, and during wartime, in conjunction with mobilization coordination team and Cell, can ensure the execution of mobilization. Second, Future oriented reserve forces management system such as service system of reserve forces and support system of homeland defense operations. Current service and trainings of reserve forces by the year have very low connection, as it is very complex to manage the resources and trainings, and service and training lack the equity, re-establishment of service system is required. Also in an aspect of CSS and cultivation support for reserve forces, as the scope and limitation of responsibility between the armed forces and autonomous organization is obscure, conditions to conduct actual-fighting exercises are limited. Concentrated budgetting is extremely difficult because reserve forces training fields are scattered nationwide, and facilities and equipments are rapidly getting older. To improve all these, I suggest the organization of homeland defense battalion with a unit of "City-Gun-District" and supporting the local reserve forces. Conduct unit replacement or personal replacement for those who have finished their 1 or 2 years and homeland defense operation duty for those with 3-5 years for consistency and simplification. Third, I suggest Future oriented Reserved Training(FRT) and Training Center oriented training management to establish a reliable reserve training. Reserves carry out expansion of unit, conventional combat mission, homeland defense and logistics support during wartime, and actual-fighting exercise, and disaster relief, peace keeping activities. Despite diverse activities and roles, their training condition still stays definitely poor. For these reasons, Modernization of weapons and facilities through gradual replacement and procurement is essential to enhance mobilization support system.

• 한국자기학회지
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• 제27권1호
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• pp.1-8
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• 2017

플라이휠 에너지 저장 장치(Flywheel Energy Storage System, FESS)은 회전 운동 에너지를 저장하는 플라이휠 부분과 저장된 회전 에너지를 전기 에너지로 변환시키는 전동기/발전기 부분으로 구성된다. 일반적으로 플라이휠의 회전축은 전동기 및 발전기의 회전축과 동축 일체형으로 연결되고, 이때 전동기 및 발전기의 전자기 토크특성에 따른 동특성 변화는 전체 플라이휠 에너지 저장 장치의 충방전 특성과 기계적인 출력에 영향을 미친다. 본 논문에서는 5[kWh] 급 플라이휠 에너지 저장 장치 용 3상 유도전동기의 설계방법과 회전자 슬롯 수 변화에 따른 토크리플 특성과 고조파 영향을 중점적으로 분석하였다. 먼저, 플라이휠 에너지 저장 장치의 용량과 관성 모멘트에 의한 회전운동에너지의 관계식으로부터 플라이휠 크기와 전동기의 회전자 크기를 산정하는 방법을 제안하였다. 또한 플라이휠 에너지 저장 장치의 회전축의 고속구동 조건을 반영하여, 고속운전 영역에서의 전동기 토크리플 저감을 위한 유도전동기 회전자 슬롯수를 선정하였다. 이로부터 본 논문에서는 전동기 회전축과 동축으로 구성된 플라이휠의 소음 진동을 줄이고 고효율 충방전 특성을 구현하고자 한다.

• 한국지반공학회논문집
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• 제29권4호
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• pp.33-44
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• 2013

Mononobe-Okabe (M-O) 이론은 현재 국내외에서 가장 일반적으로 사용되는 지진 시 옹벽에 작용하는 동적토압 산정 방법이다. M-O방법은 강체거동(Rigid Behavior)을 갖는 중력식 옹벽의 사질토 뒤채움 지반에 대하여 제안된 방식이지만 현재 여러 지반 조건 및 캔틸레버 형태의 옹벽에도 널리 적용되고 있다. M-O 방법은 지진 시 발생하는 뒤채움 지반의 관성력만을 고려하기 때문에 벽체의 관성력이 동적 토압에 미치는 영향을 고려하지 못하는 단점이 있다. 본 논문에서는 M-O 방법을 포함하여 지진 시 옹벽에 작용하는 동적토압을 산정하는 기존에 제안된 방법들의 이론적 배경 및 현재까지의 연구동향을 분석하였으며, 이를 통하여 지진 시 토압산정의 중요한 요소인 동적토압의 분포 및 작용점에 대한 합리적인 재평가가 필요함을 도출하였다. 역 T형 옹벽을 대상으로 동적원심모형실험을 수행하여 지진 시 옹벽에 작용하는 동적 토압을 M-O 이론과 모형 모델 거동과의 비교를 통하여 차이점을 평가하였다. 실험 결과, 지진 시 옹벽의 실제 거동은 M-O 방법의 가정과 달리 벽체의 관성력과 동적토압 사이에 위상차가 발생함을 알 수 있었다. 또한 벽체에서 주동방향으로 최대 휨 모멘트 발생 시 계측된 토압은 정적토압보다 감소하는 결과를 보였으며 이는 벽체 관성력이 원인인 것으로 판단된다.