• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.1-8
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• 2004

For the linearized differential algebraic equation of the nonlinear constrained system, exact initial values of the acceleration are needed to solve itself. It may be very troublesome to perform the inverse operation for obtaining the incremental quantities since the mass matrix contains the zero element in the diagonal. This fact makes the mass matrix impossible to be positive definite. To overcome this singularity phenomenon the mass matrix needs to be modified to allow the feasible application of predictor and corrector in the iterative computation. In this paper the proposed numerical algorithm based on the modified mass matrix combines the conventional implicit algorithm, Newton-Raphson method and Newmark method. The numerical example presents reliabilities for the proposed algorithm via comparisons of the 4th order Runge-kutta method. The proposed algorithm seems to be satisfactory even though the acceleration, Lagrange multiplier, and energy show unstable behaviour. Correspondingly, it provides one important clue to another algorithm for the enhancement of the numerical results.

• 대한기계학회논문집
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• 제7권4호
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• pp.361-371
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• 1983

The turbulent structures of the free plane jet and two dimensional impinging jet are investigated experimentally. In order to get the two dimensional jet, the contour of the cubic equation suggested by Morel is used for a contracting nozzle. A linearized constant-temperature hot-wire anemometer is used for measurement. Mean velocities and turbulent intensities are measured along the centerline of the jet. Jet halp width spatial double velocity correlation coefficients and integral length scales are obtained. It is established that the free plane jet is truly self-preserving about 40 slot widths downstream of the nozzle. The experiments for the impinging jet are carried out at four different impingement wall locations within the self-preserving region of the free plane jet, and comparing the results with that of free plane jet, the mean velocity is changed in the region of 0.25H and turbulent intensities are affected in the region of 0.2H from the wall, respectively, where H means the distance between the nozzle exit and the wall.

• 상하수도학회지
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• 제10권1호
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• pp.85-95
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• 1996

Although the specific resistance to filtration is the most frequently employed means for characterizing dewaterability of a sludge, it presently is not possible to design nor to prediet performance of dewatering facilities using traditional linearized parabolic filtration equation, that is, the specific resistance model because of theoretical and practical inadequacies of the concept. Limitations of the specific resistance model reflect the need to examine fundamental sludge properties and filtration behaviors affecting dewaterability. From this study, two major limitations of the specific resistance model were noted. First, specific resistance values are very dependent on the sludge concentration because of the variations of particle size distribution and cake clogging to occur when surface area mean diameter is less than $25{\mu}m$ for activated sludge, $18{\mu}m$ for water treatment plant sludge. Second, nonparabolic filtration behavior can result from cake clogging, caused by the migration of fine particles into the cake pores, accelated by skin effect with highly compressible sludges.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 한국군사과학기술학회지
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• 제4권1호
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• pp.225-233
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• 2001

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.

• Journal of Advanced Marine Engineering and Technology
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• 제24권2호
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• pp.50-56
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• 2000

This paper presents the design of an optimal state feedback controller for container cranes under some design specifications. To do this, the nonlinear equation of a container crane system is linearized and then augmented to eliminate the steady-state error, and some constraints are derived from the design specifications. Designing the controller involves a constrained optimization problem which classical gradient-based methods have difficulties in handling. Therefore, a real-coding genetic algorithm incorporating the penalty strategy is used. The responses of the proposed control system are compared with those of the unconstrained optimal control system to illustrate the efficiency.

• 소음진동
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• 제6권5호
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• pp.671-677
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• 1996

This paper presents the analytical method for predicting turbulence- induced noise in the multilayered cylinder composed of an outer hose, an inner fluid and an internal core. It is assumed that an infinite axisymmetric cylinder is located horizontally in water with free stream velocity and the turbulent boundary layer (TBL) surrounding the outer hose is fully developed and homogeneous. The transfer function at the core surface due to the propagation of the pressure fluctuation within the TBL is formulated using the linearized Navier-Stockes equation for solid and fluid. In the estimation of the energy spectrum of wall pressure fluctuation, the empirical formula proposed by Strawderman based on the Corcos model is used. A general algorithm for the calculation of the pressure level at the surface of a core, that is, turbulence- induced noise, is presented. Through the detailed numerical simulation, it is found that the major noise mechanism is the propagation of the bulge wave along hose.

• 대한기계학회논문집A
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• 제21권11호
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• pp.1809-1818
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• 1997

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.263-266
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• 2006

Now, on the developing COMS(Communication, Ocean and Meteorological Satellite) has solar panel on the South panel only. Therefore, the wheel off-loading has to be performed periodically to reduce a induced momentum energy by a asymmetric solar panel. One of two East/West station keeping maneuver to correct simultaneously longitude and eccentricity, orbit corrections may be performed during one of the two wheel off-loading manoeuvres per day to get enough observation time for meteorological and ocean sensor. In this paper, we applied a linearized orbit maneuver equation to acquire maneuver time and delta-V. Nonlinear simulation for the station keeping is performed and compared with general station keeping strategy for fuel reduction.

• 환경위생공학
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• 제19권1호
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• pp.37-41
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• 2004

The removal efficiency of cadmium by chitosan complex isolated from Aspersillus oryzae was investigated through laboratory experiments. The results of the study are as follows. The adsorption kinetics of cadmium was reached the adsorption equilibrium in approximately 20 minutes and the removal efficiency was showed 95.8%. The effect of temperature on cadmium adsorption by chitosan complex shows that as the temperature increased, the amount of cadmium adsorption per unit weight of chitosan complex increased. The correlation between amount of cadmium adsorption per unit weight of chitosan complex and temperature was obtained through the coefficient of determination($R^2$). $R^2$ values was 0.854(p<0.05). A linearized Freundlich equation was used to fit the acquired experimental data. As a result, Freundlich constant, the adsorption intensity(1/n) was 0.550, and the measure of adsorption(k) was 2.181. So, it was concluded that adsorption of cadmium by chitosan complex is effective.