• 한국항공운항학회지
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• 제23권4호
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• pp.22-29
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• 2015

Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.

• Journal of Radiation Protection and Research
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• 제30권2호
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• pp.77-84
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• 2005

The authors submit the data concerning the methods of obtaining semiconductor scintillators on the basis of the zinc chalcogenide crystal doped with impurities (Te, Cd, O, $Me^{III}-metals$ Al, In, etc.). Characteristics of such crystals and mechanisms for the semiconductor scintillator luminescence are described as well. The scintillator luminescence spectra maximums are located within the range 450-640nm, which depends on the method of preparing the scintillator. The luminescence decay time ranges within $0.5-10{\mu}s\;and\;30-150{\mu}s$. The afterglow level is less than 0.01% after $10-20{\mu}s$, and the radiation stability is ${\geq}5{\cdot}10^8$ rad. Thermostability of the output characteristics of new semiconductor scintillators on the basis of zinc selenide is prescribed by thermodynamic stability of the principal associative radiative recombination centers that come into existence due to the crystal lattice inherent imperfections. Certain application fields of the new scintillators are examined taking into account their particular qualities.

• Advances in Energy Research
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• 제5권3호
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• pp.255-275
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• 2017

The advantages of using natural circulation (NC) as a cooling system, has prompted the worldwide development to investigate this phenomenon more than before. The interesting application of the NC in low power experimental facilities and research reactors, highlights the obligation of study in these laminar flows. The inherent oscillations of NC between hot source and cold sink in low Grashof numbers necessitates stability analysis of cooling flow with experimental or numerical schemes. For this type of analysis, numerical methods could be implemented to desired mass, momentum and energy equations as an efficient instrument for predicting the behavior of the flow field. In this work, using the explicit, implicit and Crank-Nicolson methods, the fluid flow parameters in a natural circulation experimental test loop are obtained and the sensitivity of solving approaches are discussed. In this way, at first, the steady state and transient results from explicit are obtained and compared with experimental data. The implicit and crank-Nicolson scheme is investigated in next steps and in subsequent this research is focused on the numerical aspects of instability prediction for these schemes. In the following, the assessment of the flow behavior with coarse and fine mesh sizes and time-steps has been reported and the numerical schemes convergence are compared. For more detail research, the natural circulation of fluid was modeled by ANSYS-CFX software and results for the experimental loop are shown. Finally, the stability map for rectangular closed loop was obtained with employing the Nyquist criterion.

• 한국기계가공학회지
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• 제12권6호
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• pp.93-100
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• 2013

This paper presents the development process for a bicycle monocoque frame using bolt fastening. Traditionally, bicycle frames have been constructed with metal tubes joined at their ends by welding. These frames have been brazed or soldered onto metal lugs, forming the frame. Because stress loads become greatest at the joint of the bicycle tube frame, joint construction strongly influences frame design and construction. To avoid the inherent problems of material discontinuity at frame joints, numerous designers have attempted to reduce or eliminate the number of joints in tube frames. Nevertheless, the manufacture of high quality, reliable, one-piece and jointless frames has proven difficult and expensive. In this study, a new monocoque frame adapted to a hybrid bike is proposed. The advantage of the monocoque frame, is theat is has a rechargeable battery system that is built into the frame; as a result, the emotional quality for the customer is improved. In order to estimate the design compatibility compared with that of tube frames, structural analysis is performed using finite element method. A prototype based on a modified design has also been made and stability testing has been carried out.

• Journal of Microbiology and Biotechnology
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• 제21권11호
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• pp.1159-1165
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• 2011

Biodiesel is methyl and ethyl esters of long-chain fatty acids produced from vegetable oils or animal fats. Lipase enzymes have occasionally been used for the production of this biofuel. Recently, biodiesel production using immobilized lipase has received increased attention. Through enhanced stability and reusability, immobilized lipase can contribute to the reduction of the costs inherent to biodiesel production. In this study, methanol-tolerant lipase M37 from Photobacterium lipolyticum was immobilized using the cross-linked enzyme aggregate (CLEA) method. Lipase M37 has a high lysine content (9.7%) in its protein sequence. Most lysine residues are located evenly over the surface of the protein, except for the lid structure region, which makes the CLEA preparation yield quite high (~93%). CLEA M37 evidences an optimal temperature of $30^{\circ}C$, and an optimal pH of 9-10. It was stable up to $50^{\circ}C$ and in a pH range of 4.0-11.0. Both soluble M37 and CLEA M37 were stable in the presence of high concentrations of methanol, ethanol, 1-propanol, and n-butanol. That is, their activities were maintained at solvent concentrations above 10% (v/v). CLEA M37 could produce biodiesel from olive oil and alcohols such as methanol and ethanol. Additionally, CLEA M37 generated biodiesel via both 2-step methanol feeding procedures. Considering its physical stability and reusability, CLEA M37 may potentially be used as a catalyst in organic synthesis, including the biodiesel production reaction.

• 로봇학회논문지
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• 제19권1호
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.612-619
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• 2005

A robust adaptive speed sensorless induction motor direct torque control (DTC) using a neural network (NN) is presented in this paper. The inherent lumped uncertainties of the induction motor DTC system such as parametric uncertainty, external load disturbance and unmodeled dynamics are approximated by the NN. An additional robust control term is introduced to compensate for the reconstruction error. A control law and adaptive laws for the weights in the NN, as well as the bounding constant of the lumped uncertainties are established so that the whole closed-loop system is stable in the sense of Lyapunov. The effect of the speed estimation error is analyzed, and the stability proof of the control system is also proved. Experimental results as well as computer simulations are presented to show the validity and efficiency of the proposed system.

• 열병합발전
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• 통권50호
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• pp.18-22
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• 2006

The tilting pad journal bearing has widely used to support high pressure/high rotating turbine rotors owing to their inherent dynamic stability characteristics. However, fatigue damages in the upper unlcaded pads and the break of locking pins etc. by pad spragging were continuously taken place in the actual steam turbines. The purpose of this paper is to develope a new bearing model that can prevent bearing damage problem effectively by pad spragging in a tilting pad journal bearing. A new bearing model which has a wedged groove is suggested from the studies of spragging mechanism performed by previously research works. The spragging characteristics of the upper unloaded pad are studied experimentally in order to verify the reliability of a new bearing model. It can be known that the phenomenon of pad spragging nearly does not occur in the new bearing model under the various experimental conditions. And it is observed that any kinds of bearing failures by pad spragging does not detect in the application of actual steam turbines.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.85-89
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• 2004

The paper presents a summary of the multidisciplinary/optimization method for the preliminary design of container feeder vessel. The current scenario in the ship building industry highly focuses on container ship design and construction proving the inherent demand in maritime industry. The design accomplishes the outer circle of the design spiral giving stress in areas of Hull Form Design, Resistance & Propulsion. Empirical relations, model test results, data from built ships, class rules and latest market demands stood as the criteria for the design. Optimization of the design as per the owners requirement. class rules, and the trade route selected are the major challenges met with. Strength. reliability, structural safety and stability have been incorporated in compromising standards.

• Journal of Electrical Engineering and Technology
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• 제7권4호
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• pp.626-635
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• 2012

Most of single frequency GPS receivers utilize low-quality crystal oscillators. If a lowquality crystal oscillator is utilized as the time reference of a GPS receiver, the receiver's clock bias grows very fast due to its inherent low precision and poor stability. To prevent the clock bias becoming too large, large clock jumps are intentionally injected to the clock bias and the time offset for clock steering purpose. The abrupt changes in the clock bias and the time offset, if not properly considered, induce serious accuracy degradation in relative differential positioning. To prevent the accuracy degradation, this paper proposes an efficient and systematic method to eliminate the undesirable clock jump effects. Experiment results based on real measurements verify the effectiveness of the propose method.