• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.107-117
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• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.

• Advanced Composite Materials
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• v.18 no.4
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• pp.381-394
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• 2009

The kinetics of centrifugal infiltration of fibrous tubular preform is built theoretically, and simulations are conducted to study the effects of various casting conditions on infiltration kinetics and macrosegregation by combining with the energy, mass and kinetic equations. A similarity way is used to simplify the one-dimensional model and the parameter is ascertained by an iterative method. The results indicate that the increase of superheat, initial preform temperature, porosity tends to enlarge the remelting region and decrease copper solute concentration at the infiltration front. Higher angular velocity leads to smaller remelting region and solute concentration at the tip. The pressure in the infiltrated region increase significantly when the angular velocity is much higher, which requires a stronger preform. It is observed that the pressure distribution is mainly determined by the angular velocity, and the macrosegregation in the centrifugal casting is greatly dependent on the superheat of inlet metal matrix, initial temperature and porosity of the preform, and the angular velocity.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.1
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• pp.54.2-54.2
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• 2011

It is the conventional wisdom that the Poynting-Robertson effect is essentially the outcome of the interplay between absorption and reemission processes. For a better understanding of the motion of charged particles around a compact star with strong radiation, we reached an alternative interpretation for the Poynting-Robertson effect based on the covariant formalism and found that it is attributed to the combination of the aberration and the Lorentz transformation of the radiation stress-energy tensor. As a general relativistic application of the Poynting-Robertson effect, we studied the dynamics of test particles around the spinning relativistic star with strong radiation. We discovered that the combination of the angular momentum and the finite size of the star generates "radiation counter drag" which exerts on the test particle to enhance its specific angular momentum, contrary to the radiation drag. The balance of the radiation drag and the radiation counter drag renders the particle to hover around the spinning luminous star at the "suspension orbit". The radial position and the angular velocity of the particle on the "suspension orbit" are determined by the angular momentum, the luminosity, and the size of the central star only, and they are independent of the initial position and velocity of the particle.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.4
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• pp.525-540
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• 1997

The effect of mold rotation on the transport process and resultant macrosegregation pattern during solidification of an Al-Cu alloy contained in a vertical axisymmetric annular mold cooled from the inner wall is numerically investigated. The mold initially at rest starts to rotate at a prescribed angular velocity simultaneously with the beginning of cooling. Computed results for a representative case show that the mold rotation essentially suppresses the development of both thermal and solutal convections in the melt, creating distinct characteristics such as the liquidus front, flow pattern and temperature distribution from those for the stationary mold. Thermal convection which develops at the early stages of cooling is soon extinguished by the rotating flow induced during spin-up, and thus does not effectively remove the initial superheat from the melt. On the other hand, solutal convection, though it weakens considerably and is confined within the mushy zone, still predominates over the solute redistribution process. With increasing the angular velocity, the solute transport in the axial direction is enhanced, whereas that in the radial direction is reduced. The final macrosegregation formed in the mold rotating at moderate angular velocities appears to be favorable in comparison with the stationary casting, in that not only relatively homogenized composition is achieved, but also a severely positive-segregated channel is restrained.

• Ocean Systems Engineering
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• v.2 no.2
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• pp.83-97
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• 2012

In the present work, design procedure and computer simulation of an AUV are documented briefly. The design procedure containing the design of propulsion system and CFD simulation of hydrodynamics behavior of the hull leads to achieve an optimum mechanical performance of AUV system. After designing, a comprehensive one dimensional model including motor, propeller, and AUV hull behavior simulates the whole dynamics of AUV system. In this design, to select the optimum AUV hull, several noses and tails are examined by CFD tools and the brushless motor is selected based on the first order model of DC electrical motor. By calculating thrust and velocity in functional point, OpenProp as a tool to select the optimum propeller is applied and the characteristics of appropriate propeller are determined. Finally, a computer program is developed to simulate the interaction between different components of AUV. The simulation leads to determine the initial acceleration, final velocity, and angular velocity of electrical motor and propeller. Results show the final AUV performance point is in the maximum efficiency regions of DC electrical motor and propeller.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.107-108
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• 2015

In this project, all available databases of molecular and gas-dust clouds in the Galaxy were cross-identified by taking into account available properties, including position, angular dimensions, velocity, density, temperature and mass. An initial list of about 7000 entries was condensed into a cross-identified all-sky catalogue containing molecular and gas-dust clouds. Some relationships were studied between the main physical features of clouds. Finally, we prepared a complex observing program and address future work for filling in the gaps.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.230-237
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• 2024

Dispersion munitions are often equipped with dispersive submunitions used to scatter bombs over a wide area, and one of the types of dispersive submunitions is the Magnus rotor, commonly referred to as a self-rotating flying body. The Magnus rotor is designed to be dispered over a wide area by utilizing the principle of the Magnus effect through self-rotation, and has various trajectories depending on the initial conditions from the mother dispersion munition. In this paper, an index to evaluate the dispersion uniformity of footprint of the dispersive submunition is presented and the dispersion uniformity according to various initial release conditions is evaluated, and it is getting larger with high incidence angle and get max value at certain initial angular velocity.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.435-442
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• 2016

For inertial navigation systems, initial information such as position, velocity and attitude is required for navigation. Self-alignment is the process to determine initial attitude on stationary condition using inertial measurements such as accelerations and angular rates. The accuracy of self-alignment is determined by inertial sensor error. As soon as an inertial navigation system is powered on, the temperature of accelerometer rises rapidly until temperature stabilization. It causes acceleration error which is called temperature stabilizing error of accelerometer. Therefore, temperature stabilizing error degrades the alignment accuracy and also increases alignment time. This paper suggests a method to calculate azimuthal attitude using curve fitting of horizontal control angular rate in fixed-gain self-alignment. It is verified by simulation and experiment that the accuracy is improved and the alignment time is reduced using the proposed method under existence of the temperature stabilizing error.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1419-1423
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• 2004

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.186-190
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• 2003

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.