• Proceedings of the KSME Conference
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• 2002.08a
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• pp.185-188
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• 2002

The objective of present paper is to apply a stereoscopic PIV(Particle Image Velocimetry) techiique for measuring the 3 dimensional flow structure of turbulent wake behind a marine propeller with 5 blades. It is essential to measure 3-components velocity fields for the investigation of complicated near-wake behind the propeller. The out-of-plane velocity component was measured using the particle images captured by two CCD cameras in the angular displacement configuration.400 instantaneous velocity fields were measured for each of few different blade phases of $0^{\circ},\;18^{\circ},\;36^{\circ}\;and\;54^{\circ}$. They were ensemble averaged to investigate the spatial evolution of the propeller wake in the region ranged from the trailing edge to the region of one propeller diameter(D) downstream. The phase-averaged velocity fields show the viscous wake formed by the boundary layers developed along the blade surfaces. Tip vortices were formed periodically and the slipstream contraction occurs in the near-wake region. The out-of-plane velocity component has large values at the tip and trailing votices. With going downstream, the axial turbulence intensity and the strength of tip vortices were decreased due to the visous dissipation, turbulence diffusion and blade-to-blade interaction. The blade wake traveling at higher speed with respect to the tip vortex overtakes and interacts with tip vortices formed from the previous blade. Tip vortices are separated from the wake and show oscillating trajectory

• Journal of computational fluids engineering
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• v.6 no.4
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• pp.8-14
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• 2001

The phenomena of two-phase suspension flows appear widely in nature and industrial processes. Hence, it is of great importance to understand the mechanism of the gas-solid two-phase flows. In the present study, the numerical simulation has been approached by utilizing the Eulerian-Lagrangian methodology for describing the characteristics of the fluid and particulate phases in a vertical pipe and a 90°square-sectioned bend. The continuous phase(gas phase) is described by the Eulerian formulation and a κ-ε turbulence model is employed to find mean and turbulent properties of the gas phase. The particle properties(velocity and trajectory) are then described by a Lagrangian approach and computed using the mean velocity and turbulent fluctuating velocity of the gas phase. The predictions are compared with measurements by laser-Doppler velocimeter for the validation. As a result, the calculated results show good agreements.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.697-698
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• 2002

The dispersion of an aerosol bolus in acinus is analyzed numerically. Model geometry is a straight duct surrounded by an axisymmetric semicircular annulus which is expanding or contracting with breathing. Unsteady Wavier-Stokes equation is solved by CFX-F3D, an FVM commercial code and the trajectory of massless particle Is computed by Lagrangian method. For steady flow with no wall motion, mean velocity of aerosol bolus in alveolated duct is a little smaller than that in straight duct and dispersion in alveolated duct is comparable with the dispersion in straight tube. For expanding duct mean velocity of aerosol bolus approaches half of that in straight tube and effective diffusivity is smaller than that of straight tube. For contracting duct mean velocity of aerosol bolus becomes slightly larger than that in straight tube and effective diffusivity is comparable with the case of straight tube.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.5
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• pp.713-720
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• 2009

Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

• Proceedings of the KIEE Conference
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• 2002.04a
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• pp.34-36
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• 2002

This paper addresses an elevator position control scheme in unified control system. Conventional systems have employed independent micro-processors for speed, car, and group control respectively and the car controller generates a velocity command by combining the time-based and distance-based velocity pattern. In this scheme, it is inevitable that an elevator creeps in the vicinity of target floor, or stops abruptly. The proposed control system employs only one high-performance micro-processor, which can execute the car and group control as well as the speed control. It simply generates the desired position trajectory based on time and on-line corrects a velocity pattern to make the position error be zero. Experimental results show the feasibility of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.4-4
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• 2000

In this paper, the backstepping control method that is useful for cascade systems is applied to the slew maneuver of the spacecraft. The quaternion is used for representing the attitude of the spacecraft, because the reference trajectory of angular velocity has simple mathematical form. The conventional backstepping control has severa] problems such as slow convergence, trivial cancelling of nonlinear terms, and excessive control input. To overcome these problems, the modified backstepping control method which is redesign of Lyapunov function is proposed. To design a tracking function for angular velocity, it is necessary to estimate the process of maximum angular velocity, and therefore the estimation procedure using Bellman-Gronwall inequality is developed. To verify the effectiveness of the proposed control law, numerical simulation is performed and the results are compared with the exiting control scheme.

• Publications of The Korean Astronomical Society
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• v.4 no.1
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• pp.1-15
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• 1989

A jet plasmoid model for 3C.449 has been constructed by introducing a plasma.ejecting black hole orbiting around the center of its parent cD galaxy. We examined the characteristics of the jet trajectory by varying the values of (1) orbiting radius and velocity of the black hole, (2) plasma ejection velocity, (3) size, mass and space velocity of the parent galaxy, (4) size of the galactic core and (5) the density of the intergalactic medium. In our model calculation the effect of the gravity by the parent galaxy and the ram pressure by the intergalactic medium have been taken in account. It is found that our dynamical model accounts reasonably well for the observed structure of 3C449. Our proposed model suggests that the buoyancy force near the galactic center plays an important role in the formation of the curved structure of the radio jet.

• Journal of the Society of Naval Architects of Korea
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• v.56 no.1
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• pp.75-81
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• 2019

This study presents an automatic collision avoidance algorithm for autonomous navigation of unmanned surface vessels. The performance of the collision avoidance algorithm is heavily dependent on the estimation quality of the course and speed of traffic ships because collision avoidance maneuvers should be determined based on the predicted motions of the traffic ships and their trajectory uncertainties. In this study, the collision avoidance algorithm is implemented based on the Probabilistic Velocity Obstacle (PVO) approach considering the maritime collision regulations (COLREGs). In order to demonstrate the performance of the proposed algorithm, an extensive set of simulations was conducted and the results are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.241-251
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• 1991

The present simulation model relies on a new approach of the heavy particle motion in a turbulent flow considering the time and space correlation to the Lagrangian point of view. The turbulent field is, here, assumed that its characteristic scales are random and follow a Poisson's distribution. Using this model, we have computed the trajectory of each particle, that is, its velocity and position at each time in order to study the dispersion of particles in a grid turbulent flow. The computed results have been compared to the corresponding experimental data. Due to the complex mechanism of turbulence and the theoretically and experimentally lacking information, we had to make some assumptions for simplifying the situation, but we have found the good agreement between simulated and measured results. In particular, the application of the present method on the Lagrangian correlation of particle provides an interesting alternative to the usual computational methods.