• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.368-377
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• 2009

In this paper we study the gyro bias calibration method of SDINS(Strap-Down Inertial Navigation System). Generally, SDINS's calibration is performed in 2-axis(or 3-axis) rate table with chamber for varying ambient temperature. We assumed that the majority of calibration-parameter except for gyro bias is knowned. During gyrobias calibration procedure, it can be induced some disturbances(accelerometer's short-term error induced rate table rotation and anti-vibration mount's rotation). In these cases, old gyro-bias calibration methods(using velocity error or attitude error) have an error, because these disturbances are not detectable at the same time. So that, we propose a new gyro-bias calibration method(heading error minimizing using equivalent linear transformation) that can detect anti-vibration mount's rotation. And we confirm efficiency of the new gyro-bias calibration method by simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.70-80
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• 2001

A cycloid reducer is one of the rotational velocity reduction equipments of machinery. It has advantages of the higher reduction ratio, the higher accuracy, the easier adjustment of transmission ratio and the smaller workspace than other kinds of reducer. A cycloidal plate gear is a main part of the cycloid reducer. Its tooth shape is peculiar because of gearing with the roller gear that has the several rollers on the circular line. And then it can be designed to contact all teeth to rollers. So, the cycloid reducer has the good characteristics in the dynamic properties and the zero-backlash in the contact motion. It can be used in robots, high-precision machines and high capacity machinery. This paper proposes a new approach for the shape design of the cycloidal plate gear and presents a Computer-Aided-Design program developed by the proposed method. The first part of this paper defines the two types of the cycloid reducers and explains their mechanisms. The second part defines the instant velocity centers for each type of the cycloid reducers and calculates the contact angles and the contact points by using te geometric relationships and the kinematical properties of the reducers. The third part generates the full shape of the cycloidal plate gear by the coordinate transformation technique. Finally, this paper presents two examples for the shape design of the cycloidal plate gear in order to prove the theory of the proposed method in this paper and the accuracy of the \"CycloGear Designer\".

• Journal of the Korean Society of Propulsion Engineers
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• v.9 no.2
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• pp.97-104
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• 2005

A simple but efficient grid generation technique by using the modified compressible form of stream function has been formulated. Transformation of a physical plane to a streamline plane, the Von Mises Transformation, has been widely used to solve the differential equations governing flow phenomena, however, limitation arises in low velocity region of boundary layer, mixing layer and wake region where the relatively large grid spacing is inevitable. Modified Von Mises Transformation with simple mathematical adjustment for the stream function is suggested and applied to solve the confined coaxial turbulent jet mixing with simple $\kappa-\epsilon$ turbulence model. Comparison with several experimental data of axial mean velocity, turbulent kinetic energy, and Reynolds shear stress distribution shows quite good agreement in the mixing layer except in the centerline where the turbulent kinetic energy distributions were somewhat under estimated. This formulation is strongly suggested to be utilized specially for free turbulent mixing layers in axisymmetric flow conditions such as the investigation of mixing behavior, jet noise production and reduction for Turbofan engines.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1878-1884
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• 2000

In multibody dynamic analysis, one of the most important problems is to reduce computation times for real time simulation. In this paper, a symbolic computation method is implemented and tested for each dynamic analysis step. Applying symbolic formulations to the vehicle dynamics program AutoDyn7, the effectiveness of the symbolic computation method is verified.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.2
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• pp.150-160
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• 2002

The free vibration characteristics of the triple cylindrical shells filled with fluid are investigated. The triple cylindrical shells are filled with compressible fluid. The boundary condition is clamped at both ends. Analytical method is developed to evaluate natural frequencies of triple cylindrical shells using Sanders' shell theory and courier series expansion by Stokes' transformation. Their results are compared with those of finite element method to verify the validation of the method developed. The modal characteristics of shells filled with fluid at region 1, 2 and 3 are evaluated.

• Journal of applied mathematics & informatics
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• v.41 no.2
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• pp.401-411
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• 2023

The effects of longitudinal velocity dusty fluid flow in a weak magnetic field are investigated in this paper. An external uniform magnetic field parallel to the flow of dusty fluid influences the flow of dusty fluid. Besides that, the problem under investigation is completely defined in terms of identifying parameters such as longitudinal velocity (u), Hartmann number (M), dust particle interactions β, stock resistance γ, Reynolds number (Re) and magnetic Reynolds number (Rm). While using suitable transformations of resemblance, The governing partial differential equations are transformed into a system of ordinary differential equations. The Hankel Transformation is used to solve these equations numerically. The effects of representing parameters on the fluid phase and particle phase velocity flow are investigated in this analysis. The magnitude of the fluid particle is reduced significantly. The result indicates the magnitude of the particle reduced significantly. Although some of our numerical solutions agree with some of the available results in the literature review, other results differs because of the effect of the introduced magnetic field.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1036-1055
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• 1992

In this paper the feedback linearization of the valve-controlled nonlinear hydraulic velocity control system and the implementation of the digital state feedback controller is studied. The $C^{\infty}$ nonlinear transfomation to the electro-hydraulic velocity control system, which transforms nonlinear system to linear equivalent one, is obtained. It is shown that this transformation is global one. The digital controller to this linearized model is obtained by using the one-step ahead state estimator and implemented to real plant. The proposed implementation method is easier than the other proposed methods and it is possible to control in real time. The experiment and simulation study show that the implementation of the digital state feedback controller based on the feedback linearized model is successful..

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1027-1031
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• 1990

In this paper, we propose a model-based method of estimating the velocity of a moving object from a series of images. The proposed method utilizes Kalman filtering technique. Assuming that the motion is described by an affine transformation, we construct a discrete-time state variable model of the motion based on the dynamic motion imagery modeling technique proposed by Schalkoff. Using this state variable model, we derive a Kalman filter algorithm. Some simulation results are presented to show that the proposed Kalman filter algorithm is superior to a simple least square method without a model.

• Journal of KSNVE
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• v.4 no.2
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• pp.137-146
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• 1994

An analytical method for linear free vibration of fully liquid-filled circular cylindrical shell with various boundary conditions is developed by the Fourier series expansion based on the Stokes' transformation. A set of modal displacement functions and their derivatives of a circular cylindrical shell is substituted into the Sanders' shell equations in order to explicitily represent the Fourier coefficients as functions of the end point displacements, forces, and moments. For the vibration relevant to the liquid motion, the velocity potential of liquid is assumed as a sum of linear combination of suitable harmonic functions in the axial directions. The unknown parameter of the velocity potential is selected to satisfy the boundary condition along the wetted shell surface. An explicit expression of the natural frequency equation can be obtained for any kind of classical boundary conditions. The natural frequencies of the liquid-filled cylindrical shells with the clamped-free, the clamped-clamped, and the simply supported-simply supported boundary conditions examined in the previous works, are obtained by the analytical method. The results are compared with the previous works, and excellent agreement is found for the natural frequencies of the shells.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.12 no.3
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• pp.235-243
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• 2000

A theoretical model for laminar filmwise condensation along an isothermal vertical wall at constant pressure has been formulated on the basis of conservation laws and other fundamental physical principles. The model was applied to the prediction of the influences of variable thermophysical properties of liquid and vapor layers in the filmwise condensation of superheated vapor of Rl2, R134a, R142b and R152a. The dimensionless velocity component method was employed in the transformation of the governing equations and their boundary conditions, and the polynomial method was used for treating variable thermophysical properties of liquid and vapor. Physical quantities, such as the dimensionless thickness of the liquid layer, local heat transfer rate and mean heat transfer coefficient, were investigated for different values of the superheated temperature of the stagnant vapor far from the wall. It was found that the value of mean heat transfer coefficient of R134a was higher than other refrigerants for the change of the superheated temperature.