• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.962-969
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• 2007

In this paper, an approach is developed for relative state estimation of satellite formation flying. To estimate relative states of two satellites, the Extended Kalman Filter Algorithm is adopted with the relative distance and speed between two satellites and attitude of satellite for measurements. Numerical simulations are conducted under two circumstances. The first one presents both chief and deputy satellites are orbiting a circular reference orbit around a perfectly spherical Earth model with no disturbing acceleration, in which the elementary relative orbital motion is taken into account. In reality, however, the Earth is not a perfect sphere, but rather an oblate spheroid, and both satellites are under the effect of $J_2$ geopotential disturbance, which causes the relative distance between two satellites to be on the gradual increase. A near-Earth orbit decays as a result of atmospheric drag. In order to remove the modeling error, the second scenario incorporates the effect of the $J_2$ geopotential force, and the atmospheric drag, and the eccentricity in satellite orbit are also considered.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.11a
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• pp.293-296
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• 2007

Using the T3 free-piston shock tunnel in ANU, the cavity frequency and flow characteristics of no mass-injection, inclined mass-injection before the cavity, parallel or reverse mass-injection in the cavity are investigated in the case of Mach 3.7 inflow condition. No mass-injection doesn't have the harmonic frequencies but has high amplitude of pressure spectrum at 10 kHz. Inclined mass-injection attenuates the cavity flow fluctuation as disturbing the shear layer reflection at the trailing edge. Parallel mass-injection flow reflects at the trailing edge of the cavity directly hence, increases the cavity flow fluctuation at high injection pressure.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.6 s.237
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• pp.737-746
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• 2005

The present study investigates heat/mass transfer and flow characteristics in a ribbed rotating passage with turning region. The duct has an aspect ratio (W/H) of 0.5 and a hydraulic diameter ($D_h$) of 26.67 mm. Rib turbulators are attached in the cross arrangement on the leading and trailing surfaces of the passage. The ribs have a rectangular cross section of $2\;mm\;(e){\times}\;mm\;(w)$ and an attack angle of $70^{\circ}$. The pitch-to-rib height ratio (p/e) is 7.5, and the rib height-to-hydraulic diameter ratio ($e/D_h$) is 0.075. The rotation number ranges from 0.0 to 0.20 while the Reynolds number is constant at 10,000. To verify the heat/mass transfer augmentation, internal flow structures are calculated for the same conditions using a commercial code FLUENT 6.1. The heat transfer data of the smooth duct for various Ro numbers agree well with not only the McAdams correlation but also the previous studies. The cross-rib turbulators significantly enhance heat/mass transfer in the passage by disturbing the main flow near the surfaces and generating one asymmetric cell of secondary flow skewing along the ribs. Because the secondary flow is induced in the first-pass and turning region, heat/mass transfer discrepancy is observed in the second-pass even for the stationary case. When the passage rotates, heat/mass transfer and flow phenomena change. Especially, the effect of rotation is more dominant than the effect of the ribs at the higher rotation number in the upstream of the second-pass.

• Journal of Biosystems Engineering
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• v.37 no.2
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• pp.113-121
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• 2012

Purpose: Particle separation in solution is one of important process in a unit operation as well as in an extract preparation for biosensors. Contrary to centrifuge-type of mesh-type filter, using an ultrasonic standing wave make the filtering process continuous and free from maintenance. It is needed to investigate the characteristics of particle movement in the ultrasonic standing wave field. Methods: Through the computer simulation the effects of major design and driving parameters on the alignment characteristics of particles were investigated, and a cylindrical chamber with up-stream flow type was devised using two circular-shape PZTs on both sides of the chamber, one for transmitting ultrasonic wave and the other for just reflecting it. Then, the system performance was experimentally investigated as well. Results: The speed of a particle to reach pressure-node plane increased as the acoustic pressure and size of particle increased. The maximum allowable up-stream flow rate could be calculated as well. As expected, exact numbers of pressure-node planes were well formed at specific locations according to the wavelength of ultrasonic wave. As the driving frequency of PZT got close to its resonance frequency, the bands of particles were observed clearer, which meant the particles were trapped into narrower space. Higher excitation voltages to the PZT produced a greater acoustic force with which to trap particles in the pressure-node planes, so that the particles gathered could move upwards without disturbing their alignments even at a higher inlet flow rate. Conclusions: This research showed the feasibility of particle separation in solution in the continuous way by an ultrasonic standing wave. Further study is needed to develop a device to collect or harvest those separated particles.

• Geomechanics and Engineering
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• v.29 no.2
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• pp.113-131
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• 2022

A rockburst is a common disaster in deep-tunnel excavation engineering, especially for high-geostress areas. An anomalously low friction effect is one of the most important inducements of rockbursts. To elucidate the correlation between an anomalously low friction effect and a rockburst, we establish a two-dimensional prediction model that considers the discontinuous structure of a rock mass. The degree of freedom of the rotation angle is introduced, thus the motion equations of the blocks under the influence of a transient disturbing force are acquired according to the interactions of the blocks. Based on the two-dimensional discontinuous block model of deep rock mass, a rockburst prediction model is established, and the initiation process of ultra-low friction rockburst is analyzed. In addition, the intensity of a rockburst, including the location, depth, area, and velocity of ejection fragments, can be determined quantitatively using the proposed prediction model. Then, through a specific example, the effects of geomechanical parameters such as the different principal stress ratios, the material properties, a dip of principal stress on the occurrence form and range of rockburst are analyzed. The results indicate that under dynamic disturbance, stress variation on the structural surface in a deep rock mass may directly give rise to a rockburst. The formation of rockburst is characterized by three stages: the appearance of cracks that result from the tension or compression failure of the deformation block, the transformation of strain energy of rock blocks to kinetic energy, and the ejection of some of the free blocks from the surrounding rock mass. Finally, the two-dimensional rockburst prediction model is applied to the construction drainage tunnel project of Jinping II hydropower station. Through the comparison with the field measured rockburst data and UDEC simulation results, it shows that the model in this paper is in good agreement with the actual working conditions, which verifies the accuracy of the model in this paper.

• Economic and Environmental Geology
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• v.53 no.4
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• pp.347-362
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• 2020

Iron (hydro)oxides in aqueous environments are primarily formed due to mining activities, and they are known to be typical colloidal particles disturbing surrounding environments. Among them, hematites are widespread in surface environments, and their behavior is controlled by diverse factors in aqueous environments. This study was conducted to elucidate the effect of environmental factors, such as ionic composition and strength, pH, and natural organic matter (NOM) on the behavior of colloidal hematite particles. In particular, two analytical methods, such as dynamic light scattering (DLS) and single-particle ICP-MS (spICP-MS), were compared to quantify and characterize the behavior of colloidal hematites. According to the variation of ionic composition and strength, the aggregation/dispersion characteristics of the hematite particles were affected as a result of the change in the thickness of the diffuse double layer as well as the total force of electrostatic repulsion and van der Walls attraction. Besides, the more dispersed the particles were, the farther away the aqueous pH was from their point of zero charge (PZC). The results indicate that the electrostatic and steric (structural) stabilization of the particles was enhanced by the functional groups of the natural organic matter, such as carboxyl and phenolic, as the NOM coated the surface of colloidal hematite particles in aqueous environments. Furthermore, such coating effects seemed to increase with decreasing molar mass of NOM. On the contrary, these stabilization (dispersion) effects of NOM were much more diminished by divalent cations such as Ca²⁺ than monovalent ones (Na⁺), and it could be attributed to the fact that the former acted as bridges much more strongly between the NOM-coated hematite particles than the latter because of the relatively larger ionic potential of the former. Consequently, it was quantitatively confirmed that the behavior of colloidal hematites in aqueous environments was significantly affected by diverse factors, such as ionic composition and strength, pH, and NOM. Among them, the NOM seemed to be the primary and dominant one controlling the behavior of hematite colloids. Meanwhile, the results of the comparative study on DLS and spICPMS suggest that the analyses combining both methods are likely to improve the effectiveness on the quantitative characterization of colloidal behavior in aqueous environments because they showed different strengths: the main advantage of the DLS method is the speed and ease of the operation, while the outstanding merit of the spICP-MS are to consider the shape of particles and the type of aggregation.