• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.7 s.172
• /
• pp.102-111
• /
• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.9
• /
• pp.803-812
• /
• 2000

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

• Proceedings of the KSME Conference
• /
• 2008.11b
• /
• pp.2554-2557
• /
• 2008

Effect of a particle's spin is investigated numerically by considering the effect of lift occurring due to difference of rotations of a particle and of fluid such as the Saffman lift and Magnus force. These lift forces have been neglected in many previous works on particle-laden turbulence. The trajectory of particles can be changed by the lift forces, resulting in significant modification of the stochastic characteristics of heavy particles. Probability density functions and autocorrelations are examined of velocity, acceleration of solid particle and acceleration of fluid at the position of solid particle. Changes in velocity statistics are negligible but statistics related with acceleration are a little bit changed by particle's rotation. When a laden particle encounters with coherent structures during the motion, the particle's rotation might significantly affects the motion due to intermittently large fluid acceleration near coherent structures.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.977-979
• /
• 1996

This paper presents an algorithm to control the undesirable sway of a suspended load in the crane system that has a trade-off between positioning the load and suppressing the sway of the load. The aim is to transport the load to a specified place with small sway angle as quickly as possible. Dynamic model is based on a simple pendulum driven by a velocity drive that is mostly used for actuating a trolley in industry. Proposed algorithm is composed of two parts : one is a off-line optimal trajectory generator, the other on-line tracking control. The former produces optimal trajectories minimizing energy under the speed constraint of velocity drive. The latter controls outputs to track the generated trajectories. Digital simulations and experiments are performed on a pilot crane to demonstrate the performance of the proposed control algorithm.

• Nuclear Engineering and Technology
• /
• v.52 no.12
• /
• pp.2771-2788
• /
• 2020

Experiments are conducted to study bubble flow behavior during the instability of subcooled boiling under uniform and non-uniform transverse heating. The non-uniform heat distribution introduces nonuniform bubble generation and condensation rates on the heated surface, which is different from the uniform heating. These bubble generation and condensation characteristics introduce a non-uniform local pressure distribution in the transverse direction, which creates an extra non-uniform pressure on the flowing bubbles. Therefore, different bubble flow behavior can be observed between uniform and non-uniform heating conditions. In the uniform heating, bubble velocity fluctuations are low, and the bubbles travel straight along the axial direction. In the non-uniform heating, more fluctuation in the bubble velocity occurs at low mass flow rate and high subcooled inlet temperatures, and reverse flow is observed. Additionally, the bubbles show a zigzag trajectory when they pass through the channel, which indicates the existence of cross flow in the transverse direction.

• Journal of Positioning, Navigation, and Timing
• /
• v.11 no.3
• /
• pp.157-161
• /
• 2022

The Nuri rocket developed by South Korea was launched at approximately 07:00 UT on June 21, 2022. We use GPS observations obtained from the Korean GNSS network to analyze ionospheric total electron content (TEC) disturbances induced by the 2022 Nuri rocket launch. TEC disturbances are observed south over South Korea 4-5 min after the rocket launch. In addition, the maximum depletion in the vertical TEC shows approximately 8 TEC units (TECU). We also compute a horizontal velocity from initial ionospheric disturbances triggered by the 2022 Nuri rocket launch. Its velocity is about 1.4 km/s. It may be related to the rocket's flight trajectory at the observation time of the ionospheric TEC disturbance.

• Korean Chemical Engineering Research
• /
• v.44 no.3
• /
• pp.294-299
• /
• 2006

Computational simulation was performed to analyze flow velocities and particle trajectories onto the surface of bag-shaped filters with a different permeability. When the permeability of a filter is lower than that of a low-efficient fabric bag-filter widely used, the distributions of flow velocities and particle trajectories on the filter surface were not different with decreasing the filter permeability. The distributions of streamlines and radial directional gas velocities were uniform on the filter surface except for the neighbors of the bottom edge and outlet of the filter. The particle trajectories onto filter surface were more densely distributed around the bottom edge of the filter, so that the particle number on the filter surface was maximized near the bottom edge and decreased in the direction of the filter outlet.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.22 no.1
• /
• pp.16-23
• /
• 2011

This paper suggests a motion compensation technique using GPS/IMU data in order to compensate for phase error caused by undesired motion of radar platform. An actual flight trajectory would be deviate from an ideal straight-constant trajectory with a constant velocity for SAR imaging, due to pitch, roll and yaw motion of aircraft caused by turbulence. This leads to blurred SAR images due to inter-pulse phase errors as well as along-track velocity errors. If the motion compensation is carried out to reduce those errors, SAR image quality can be significantly improved. Simulation results show that the motion compensation technique introduced in this paper is an effective tool to improve SAR image quality against severe motion of radar platform.

• Journal of Korean Society of Transportation
• /
• v.20 no.5
• /
• pp.67-79
• /
• 2002

In this paper, observed trajectories of a vehicle platoon are viewed as one realization of a finite sequence of random trajectories. In this point of view, we develop novel and mathematically rigorous concept of traffic flow variables such as local traffic density, instantaneous traffic flow, and velocity field and investigate their nature on a general probability space of a sequence of random trajectories which represent vehicle trajectories. We present a simple model of random trajectories as an illustrative example and, derive the values of traffic flow variables based on the new definitions in this model. In particular, we construct the model for the sequence of random vehicle trajectories with a system of stochastic differential equations. Each equation of the system nay represent microscopic random maneuvering behavior of each vehicle with properly designed drift coefficient functions and diffusion coefficient functions. The system of stochastic differential equations nay generate a well-defined probability space of a sequence of random vehicle trajectories. We derive the partial differential equation for the expected cumulative plot with appropriate initial conditions. By solving the equation with numerical methods, we obtain the values of expected cumulative plot, local traffic density, and instantaneous traffic flow. In addition, we derive the partial differential equation for the expected travel time to a certain location with appropriate initial and/or boundary conditions, which is solvable numerically. We apply this model to a case of single vehicle trajectory.

• Korean Journal of Applied Biomechanics
• /
• v.25 no.3
• /
• pp.265-274
• /
• 2015

Objective : The purpose of this study was to analyze the effect of the elastic band on ballet arabesque based on kinematics analysis. Methods : To observe the effect of the elastic band, the availability of the elastic band during movement was set as the independent variable, and the dependent variables were set by using factors from two different categories such as motor mechanics and kinematics variables. For motor mechanics variable, the muscle activity and the center of pressure(COP)'s trajectory and velocity were used. Furthermore, the physical angle was used for kinematic variables. Data samples from the experiment was used to understand the correlation between independent and dependent variables while using paired samples t-test as a data analysis tool. Results : After analyzing the result of experiment, the usage of the Elastic band on ballet arabesque movement seemed to increase the activity of the agonistic muscle, which is mainly used for movement, and to improve the stability of the supporting leg by decreasing the trajectory and velocity of the center of pressure(COP). Moreover, the elastic band increased the level of elevation of the stretching leg with reducing the angle of the hip joint that resulted into a more stable movement and furthermore providing more beauty while standing on it. Conclusion : The movement training program while the using elastic band are expected to lead to appropriate muscular development and reduce the muscle imbalance, which usually occurs to dancers, during training with unfamiliar specific movements or strengthening muscular strength for a specific movement. In addition, this work is expected to be used as a training reference to understand and learn the fundamentals of movements of ballet and other dance fields.