• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.519-523
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• 2016

This paper proposes a method of estimating the actuator faults of a hexacopter without using encoders when one or more of six actuators do not operate normally. In the case of the hexacopter, a Pseudo-Inverse matrix is generally used to obtain the rotational speed of the actuators because the matrix that transforms the rotational speed of the actuators into the thrust and torque of the body coordinate system is not a square matrix. However, the method based on the Pseudo-Inverse matrix cannot detect the actuator faults correctly because the Pseudo-Inverse matrix is approximate. In the proposed method, the actuator faults are estimated by modifying the transform matrix using the property that the actuators of the hexacopter are symmetrical. The simulation results show the effectiveness of the proposed method when faults occur in one or more of the six actuators.

• Bulletin of the Korean Chemical Society
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• v.19 no.12
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• pp.1326-1333
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• 1998

The study of coupled relaxation for methyl spin system in 2,6-dichlorotoluene was performed on the basis of the magnetization mode formalism. Using five initial perturbing pulse sequences, eight experimntal data sets were obtained, which were fitted with theoretical expressions with nine spectral density parameters. The same experiment was carried out at both 50.3 MHz and 125.6 MHz in carbon frequency. The measured spectral densities at both fields are similar in the exception of that related with carbon random field term. Furthermore, from the dipolar spectral density, the physical values may be extracted depending on the model of molecular reorientation. For example, it was assumed that the molecular framework undergoes asymmetric diffusive rotational process and methyl group reorients by either diffusive rotation about its symmetry axis or jump among internal rotational potential minima.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.209-214
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• 2000

Shaking table tests were performed to investigate dynamic behavior of a three dimensional flexible rectangular liquid storage tank. Response characteristics to the three components of translational motion and three component of rotational motion were studied. The aluminium tank was exposed to the shaking high enough to make it behave in nonlinear range. Only very limited amount of the data have been processed yet. Very interesting phenomena on the effects of non-symmetry have been observed and presented. Test results that show nonlinear behavior under the high intensity shaking are reported.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.620-623
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• 2002

Spinning has been used widely for the manufacture of hollow parts with rotational symmetry. With developing CNC machine, CNC machine center can be applied to the spinning processes. In this paper, a study on the development of CNC spinning technology without mandrel is carried out. The deforming process of the spinning process was simulated by DEFORM 3D to give basic design data.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.24 no.68
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• pp.1-7
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• 2001

A probabilistic model for fatigue life of a structural component is derived when the component is in a variable-amplitude loading environment. The physical mechanism which governs fatigue failure is used to model the fatigue life. Especially, the judgement of rotational symmetry in the-stress-intensity-factors results in the probability distribution for fatigue life. The probability distribution is related to the familiar truncated Gaussian distribution, which has a single parameter with a direct physical meaning.

• ETRI Journal
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• v.41 no.6
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• pp.838-849
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• 2019

We present a permanent magnet-based spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5°) using the proposed control scheme.

• Journal of the Korean Magnetics Society
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• v.19 no.2
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• pp.47-51
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• 2009

The surface structure of polycrystalline Fe films of various thicknesses on glass substrates have been studied using a Ti: Sapphire laser at 780 nm. We found that the surface structure possesses C$_s$ crystal structure close to $C_{2v}$ through symmetry consideration. We present one-fold intensity profile with one mirror plane in second harmonic (SH) intensity as a proof of $C_s$ symmetry. $C_s$ and $C_{2v}$ surface symmetries usually appear at the (110) surface of a cubic diamond single crystal [1]. Therefore this surface symmetry would be related to bcc (110) growth orientation coinciding with XRD measurement. Further we treated surface normalized SH asymmetry with various thicknesses. The SH asymmetry increases with increasing of film thickness. From these results, it is observed that the surface structure of thin polycrystalline Fe film below 5 nm is almost isotropic, while in the case of the thicker Fe films, surface structure have $C_s$ symmetry structure close to $C_{2v}$.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.6
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• pp.843-849
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• 2010

This paper presents definition of symmetry of a ship section where three symmetries are proposed: material, geometric, and load symmetries. Precise terminologies of centroid, moment plane, and neutral axis plane are also defined. It is suggested that force vector equilibrium as well as force equilibrium are necessary condition to determine new position of neutral axis due to translational and rotational mobility. It is also stated that new reference datum of ENMP(elastic neutral moment plane), PNMP(fully plastic moment plane), ENAP(elastic neutral axis plane), and INAP(inelastic neutral moment plane) are required to define asymmetric section properties such as second moment of area, elastic section modulus, yield moment, fully plastic moment, and ultimate moment. Since collision-induced damage and flooding-induced biaxial bending moment produce typical asymmetry of section, the section properties are calculated for a typical VLCC. Geometry asymmetry is determined from ABS and DNV rules and two moment planes of 0/30 degs are assumed for load asymmetry. It is proved that the property reduction ratios directly calculated from second moment of area are usually larger than area reduction ratio. Reduction ratio of ultimate moment capacity shows almost linearly proportional to area reduction ratio. Mobility of elastic and inelastic neutral axis planes is visually provided.

• Korean Journal of Optics and Photonics
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• v.28 no.1
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• pp.33-38
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• 2017

The universality of the quasi-linear relation between the order parameter S and the normalized birefringence ${\Delta}n_{rel}$, $S=(1+a){\Delta}n_{rel}-a{\Delta}n^2_{rel}$ is confirmed. It is verified that the refractive index of liquid crystals distributed with regular polyhedral symmetry is isotropic and it is given as $\frac{1}{n^2_{av}}=\frac{1}{3}\(\frac{1}{n^2_e}+\frac{2}{n^2_o}\){\cdot}S$ and ${\Delta}n_{rel}$ of angular weighted liquid crystals that are initially distributed with regular polyhedral symmetry, are numerically calculated. Also ${\Delta}n_{rel}$ and S of liquid crystals that are conically distributed, keeping the rotational symmetry about z-axis are calculated as the apex angle of the cone is varied. Based on these calculated results, it is confirmed that the quasi-linear relation between S and ${\Delta}n_{rel}$ is universal, independent of the details of the distribution function.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.8
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• pp.77-84
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• 2003

Structural analyses of a turbine bladed-disk for a liquid rocket turbopump are peformed to investigate the safety level of strength and vibration at design point. Due to the high rotational speed of the turbopump, effects of centrifugal forces are carefully considered in the structural analysis. Thermal load caused by extreme temperature distribution is also considered as an external force applied to turbine bladed-disk. A three dimensional finite element method (FEM) is used for cyclic symmetry structural analyses with the MSC/NASTRAN DMAP Alter. Interblade phase angles are considered to investigate structural dynamic characteristics as a function of rotational speed. Through the numerical analysis, effects of centrifugal and thermal loads on the turbine bladed-disk are examined.