• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.40-46
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• 2008

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

• Explosives and Blasting
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• v.38 no.1
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• pp.23-29
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• 2020

The measurement technique with dynamic shock sensor was widely used in academic experiment for blasting and impact. However, most of dynamic sensors are expensive so that it needs to be protected by external housing structures or damping devices. In this study, the calibration method for dynamic shock sensor under the distortion by external structures. Hopkinson pressure bar system was adopted to measure the input acceleration to the sensor, and it was compared to the acceleration measured by accelerometer with customized damping device. Consequently, it is conclued that this method can be useful to calibrate the dynamic shock sensor under the linear distortion.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.4
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• pp.22-25
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• 2008

The dynamic response of the head arm assembly (HAA) of a hard disk drive to an impact load was obtained from a 3D non-linear finite element model using ANSYS/LS-DYNA and from experiments using a modified levitation mass method (LMM). In the finite element model, the impact load was created by modeling the mass as a rigid body and making it collide with the HAA. The velocity, displacement, acceleration, and inertial force of the mass were then obtained from the time history data of the finite element analysis. In the LMM, a mass that was levitated with an aerostatic linear bearing, and hence encountered negligible friction, was made to collide with the actuator arm, resulting in a dynamic bending test for the arm. During the collision, the Doppler frequency shift of the laser beam reflected from the mass was accurately measured with an optical interferometer. The velocity, displacement, acceleration, and inertial force of the mass were accurately calculated from the measured time-varying Doppler frequency shift. A good correlation between the experimental data and FEA results was observed. The FEA was also used to investigate the dynamic response of the HAA to impact by different masses.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.1
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• pp.114-122
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• 2009

An adaptive Kalman filter is designed as a post-navigation filter to improve the accuracy of GPS receiver's navigation performance in high dynamic environments. Not only the adaptive Kalman filter reduces the large noise error of navigation data which is obtained by least square method, but also the filter is not degraded as normal Kalman filter in high acceleration movements because the system noise is estimated. Also an initialization structure of the filter is desisted in consideration for irregular output condition of navigation data by least squared method such as reacquisition status in GPS receiver. The filter performance is verified by GPS simulator which has the simulation capability of high velocity and acceleration. Finally, a vehicle test including DGPS is executed to conform the real improvement of that filter performance. This filter can be applied to various data measurement systems to improve accuracy in high dynamic conditions besides GPS receiver.

• Korean Chemical Engineering Research
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• v.56 no.2
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• pp.252-260
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• 2018

Energy, a critical input, is to be efficiently managed via waste heat recovery and energy reuse for the economic viability of a process industry. In particular, cement manufacture demands a huge quantum of energy, for the necessary reactions. Huge amounts of hot effluent gases are generated. Energy recovery from these waste gases is an area that is of contemporary research interest. Now, about 75% of total heat recovery takes place in the riser of the suspension pre-heater system. This article deals with the hydrodynamic and heat transfer aspects of riser typically used in the cement industry. An experimental apparatus was designed and fabricated with provision for the measurement of gas pressure and solid temperatures at different heights of the riser. The system studied was air - chalcopyrite taken in different particle sizes. Acceleration length ($L_A$) determined at different parametric levels was fitted to an empirical correlation: $L_A/d_t=4.91902(d_p/d_t)^{0.10058}(w_s/w_g)^{-0.11691}(u_g{\mu}_g/d_t^2g{\rho}_g)^{0.28574}({\rho}_p/{\rho}_g)^{0.42484}$. An empirical model was developed for Nusselt number as a function of Reynolds and Prandtl numbers using regression analysis: $Nu=0.40969(Re_p)^{0.99953}(Pr)^{0.03569}$.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• Journal of the Korean Society of Safety
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• v.24 no.1
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• pp.60-68
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• 2009

The aim of this paper is to evaluate the compatibility of anti-vibration gloves, to predict the attenuation of vibration with different types of anti-vibration gloves, to estimate the spectra of the ISO 10819 standard, and to present an oscillating spectrum adequate for vibrating tools. This paper use two ISO standards for the measurement and evaluation of hand-arm vibration. Some anti-vibration gloves can attenuate vibration, but all the anti-vibration gloves in this study do not satisfy the ISO 10819 requirements. In case of equal vibration types, the outside materials are effective in order of leather, fabrics and rubber-coating. Anti-vibration gloves manufactured in the United State satisfy ISO 10819 criteria using United State subjects, but do not satisfy ISO 10819 using Japanese subjects. M-spectrum acceleration exists below 10Hz and H-spectrum exists above 500Hz. Generally vibrating tools have the peak of Z-axis, but generation of vibration differ from each vibrating tools.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.369-374
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• 2004

This study aims to measure an apparent mass of a seated human body at the sitting posture in a passenger car in the frequency range from 1 to 20 Hz and to investigate the dynamic characteristics. Thirty subjects joined the test where eight levels of acceleration from $0.1m/s^2\;to\;2.0m/s^2$ were used to excite seated human body. Most of apparent mass curves showed two peaks in the frequency range of $4\sim9Hz$, first peak was clearer at the contact point of the seat and the hip, and the second one at the contact point of the backrest and the back. Both peak frequencies were found to move down to lower frequencies with increase of acceleration magnitude. Shapes of apparent mass curves were clearly different from those at erect posture especially in the frequency range around and above the second peak.

• Journal of Institute of Convergence Technology
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• v.7 no.2
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• pp.25-30
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• 2017

This paper presents the effects of a virtual mass with a low-pass filter on the stability boundary of a virtual spring in the haptic system. In general, a haptic system consists of a haptic device, a sampler, a virtual impedance model and zero-order-hold. The virtual impedance is modeled as a virtual spring and a virtual mass. However the high-frequency noise due to the sampling time and the quantization error of sampled data may be generated when an acceleration is measured to compute the inertia force of the virtual mass. So a low-pass filter is needed to prevent the unstable behavior due to the high-frequency noise. A finite impulse response (FIR) filter is added to the measurement process of the acceleration and the effects on the haptic stability are simulated. According to the virtual mass with the FIR filter and the sampling time, the stability boundary of the virtual spring is analyzed through the simulation. The maximum available stiffness to guarantee the stable behavior is reduced, but simulation results still show that the stability boundary of the haptic system with the virtual mass is larger than that of the haptic system without the virtual mass.

• Smart Structures and Systems
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• v.18 no.3
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• pp.625-642
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• 2016

The rapid technology developments in smartphones have created a significant opportunity for their use in structural live load measurements. This paper presents extensive experiments conducted in two stages to investigate this opportunity. Shaking table tests were carried out in the first stage using selected popular smartphones to measure the sinusoidal waves of various frequencies, the sinusoidal sweeping, and earthquake waves. Comparison between smartphone measurements and real inputs showed that the smartphones used in this study gave reliable measurements for harmonic waves in both time and frequency domains. For complex waves, smartphone measurements should be used with caution. In the second stage, three-dimensional motion capture technology was employed to explore the capacity of smartphones for measuring the movement of individuals in walking, bouncing and jumping activities. In these tests, reflective markers were attached to the test subject. The markers' trajectories were recorded by the motion capture system and were taken as references. The smartphone measurements agreed well with the references when the phone was properly fixed. Encouraged by these experimental validation results, smartphones were attached to moving participants of this study. The phones measured the acceleration near the center-of-mass of his or her body. The human-induced loads were then reconstructed by the acceleration measurements in conjunction with a biomechanical model. Satisfactory agreement between the reconstructed forces and that measured by a force plate was observed in several instances, clearly demonstrating the capability of smartphones to accurately assist in obtaining human-induced load measurements.