• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.473-483
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• 2015

This paper reports the single-input-single-output cascade control by using 1-axis attitude control test-bench for quad-rotor UAV. The test-bench was designed as a see-saw shape using 2 motors and propellers, and to enable changing the center of gravity with the center of gyration using ballast. The experiment was carried out by constructing a PID-PID controller having a cascade structure with the test-bench. The SIMC based PID gain tuning process, which makes PID gain tuning easy, was grafted to cascade control. To graft SIMC method, the system parameter estimation result was conducted with second order time delay model by using Matlab-Simulink. Gain tuning was conducted by simulating with estimated system parameter. In this paper, the conventional application of SIMC was conducted and improved application was proposed for improving stability at tuning process.

• International Journal of Automotive Technology
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• v.8 no.6
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• pp.731-744
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• 2007

A method for dynamic analysis and design calculation of a Powertrain Mounting System(PMS) including Hydraulic Engine Mounts(HEM) is developed with the aim of controlling powertrain motion and reducing low-frequency vibration in pitch and bounce modes. Here the pitch mode of the powertrain is defined as the mode rotating around the crankshaft of an engine for a transversely mounted powertrain. The powertrain is modeled as a rigid body connected to rigid ground by rubber mounts and/or HEMs. A mount is simplified as a three-dimensional spring with damping elements in its Local Coordinate System(LCS). The relation between force and displacement of each mount in its LCS is usually nonlinear and is simplified as piecewise linear in five ranges in this paper. An equation for estimating displacements of the powertrain center of gravity(C.G.) under static or quasi-static load is developed using Newton's second law, and an iterative algorithm is presented to calculate the displacements. Also an equation for analyzing the dynamic response of the powertrain under ground and engine shake excitations is derived using Newton's second law. Formulae for calculating reaction forces and displacements at each mount are presented. A generic PMS with four rubber mounts or two rubber mounts and two HEMs are used to validate the dynamic analysis and design calculation methods. Calculated displacements of the powertrain C.G. under static or quasi-static loads show that a powertrain motion can meet the displacement limits by properly selecting the stiffness and coordinates of the tuning points of each mount in its LCS using the calculation methods developed in this paper. Simulation results of the dynamic responses of a powertrain C.G. and the reaction forces at mounts demonstrate that resonance peaks can be reduced effectively with HEMs designed on the basis of the proposed methods.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.5
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• pp.833-842
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• 2017

In this study, the design methodology of radial basis function neural networks based on incremental K-means clustering is introduced for learning and processing the big data. If there is a lot of dataset to be trained, general clustering may not learn dataset due to the lack of memory capacity. However, the on-line processing of big data could be effectively realized through the parameters operation of recursive least square estimation as well as the sequential operation of incremental clustering algorithm. Radial basis function neural networks consist of condition part, conclusion part and aggregation part. In the condition part, incremental K-means clustering algorithms is used tweights of the conclusion part are given as linear function and parameters are calculated using recursive least squareo get the center points of data and find the fitness using gaussian function as the activation function. Connection s estimation. In the aggregation part, a final output is obtained by center of gravity method. Using machine learning data, performance index are shown and compared with other models. Also, the performance of the incremental K-means clustering based-RBFNNs is carried out by using PSO. This study demonstrates that the proposed model shows the superiority of algorithmic design from the viewpoint of on-line processing for big data.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.1
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• pp.90-100
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• 2017

This paper investigates pedestrian-thrown distance pattern by pedestrian-vehicle collision position by madymo-simulation. The simulation were performed for every 2.5 cm interval between center and edge of bumper for various vehicle speeds and vehicle shapes. As a result, two critical points where thrown distance change rapidly were found. First critical point locate where pedestrian's shoulder do not contact the vehicle. Second point locate where the center of gravity of pedestrian are close to edge of bumper. Between 1st and 2nd critical points, thrown distance decrease rapidly where collision points move to the edge of vehicle. In other cases, the thrown distance does not change rapidly. This result gives more accurate guideline for pedestrian collision in traffic safety.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.2
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• pp.109-117
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• 2020

A structured grid system can be efficiently constructed by applying the patched-grid algorithm that alleviates many constraints of the conventional structured grid system. Three approaches were applied to case 4 of the EFD-CFD workshop: delta wing-cylindrical body shape to solve the existing grid generation problems and verify the results by comparing them with experimental data. Surface pressure distributions slightly differed from the experimental data at high angles of attack. The slope variation of the pitching moment with Mach number is analyzed and the variation can be explained with the tuck under phenomenon. In the supersonic region, the bow shock waves in front of the shape expand the region generating lift up to the rear of the configuration. Also, the tendency of the pitching moment with both Mach number and angle of attack was analyzed by comparing the positions of the center of pressure and the center of gravity.

• Bulletin of the Korean Chemical Society
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• v.35 no.12
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• pp.3637-3641
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• 2014

In this study, we analyzed the toxicity of mixtures of dimethylformamide (DMF) and methyl ethyl ketone (MEK) or DMF and toluene (TOL) and predicted their toxicity using quantitative structure-activity relationships (QSAR). A QSAR model for single substances and mixtures was analyzed using multiple linear regression (MLR) by taking into account the statistical parameters between the observed and predicted $EC_{50}$. After preprocessing, the best subsets of descriptors in the learning methods were determined using a 5-fold cross-validation method. Significant differences in physico-chemical properties such as boiling point (BP), specific gravity (SG), Reid vapor pressure (rVP), flash point (FP), low explosion limit (LEL), and octanol/water partition coefficient (Pow) were observed between the single substances and the mixtures. The $EC_{50}$ of the mixture of DMF and TOL was significantly lower than that of DMF. The mixture toxicity was directly related to the mixing ratio of TOL and MEK (MLR $EC_{50}$ equation = $1.76997-1.12249{\times}TOL+1.21045{\times}MEK$), as well as to SG, VP, and LEL (MLR equation $EC_{50}=15.44388-19.84549{\times}SG+0.05091{\times}VP+1.85846{\times}LEL$). These results show that QSAR-based models can be used to quantitatively predict the toxicity of mixtures used in manufacturing industries.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.47-55
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• 2011

The purpose of this study was to perform a kinematic analysis of Harai-goshi(hip throw) in superior female judo players. From our analysis, it appeared desirable for the player to shorten the duration of the technique for maximum results. It was also desirable for the player to draw the opponent backward while simultaneously maneuvering her close to her own body. A turning movement of the body toward the left side was found to be required for the technique, during which the player must lower the position of the center of gravity. During the subsequent angular change of the elbow, the player winds the elbow and, by moving the left shoulder, pulls the opponent toward her. The player lowers the body center by bending the left knee and letting the right knee extend, while turning the upper body and bending the hip joint. The player then draws the opponent in, contacts the opponent closely, turns, and stretches the right knee and hip joint rapidly and concisely, completing the move; it was also found to be desirable for the angular velocity to be increased for maximum efficacy.

• Journal of the Korean Society of Clothing and Textiles
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• v.41 no.3
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• pp.537-547
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• 2017

This study evaluates the wearing performance of a self-contained breathing apparatus (SCBA) belt for firefighters in Korea. A SCBA belt design was suggested based on the wearing evaluation of a SCBA belt; subsequently, prototypes I and II were created. A wearing evaluation of prototypes with improved design and design preference was performed. Six designs elements of the SCBA belt for firefighters were suggested based on the survey results of wearing the SCBA belt and for the SCBA belt design preference for use by firefighters. First, belt material should be made of black high-strength aramid textiles. In addition, Velcro should be used to attach and detach retroreflective and fluorescent materials along with various colors for visibility. Second, the chest belt should be made of the same material used for other parts; in addition, the chest belt should be moved to the center for center of gravity and a cobra buckle should be applied. Third, an O-ring should be applied to the back and the belt connected to the O-ring should distribute the weight in six axes. Fourth, a detachable air respirator should be able to separate by using upper and lower cobra buckles. Fifth, a separable leg belt and a detachable pocket are also suggested. Sixth, a ring for walkie-talkies, alarms and equipment as a fabric ring are also suggested. Prototype III with an improved design was created based on the results of the design suggestion.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.189-199
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• 2014

The purpose of this study was to compare pflugbogen's biomechanical characteristics between on the ski simulator and snowed ski slope to develop interactive ski simulator. Nine ski instructors(sex: male, age: $29.6{\pm}5.4yrs$, height: $176.0{\pm}5.6cm$, body mass: $76.0{\pm}14.0kg$) belong to Korean Ski Instructors Association participated in this research. 24 Infrared cameras for snowed ski slope experiment and 13 infrared camera for ski simulator experiment were installed near by path of pflugbogen. The participants did pflugbogen on the snowed ski slope and the ski simulator both. During the experiment, the participants weared motion capture suit with infrared reflective makers on it, and plantar pressure sensors in ski boots, so that ski motion and plantar pressure data were collected together. Displacement of COG(center of gravity) movements, trunk flexion/extension angle, adduction/abduction angle, and plantar pressure data were significantly different between on the simulator and ski slope. However, percentage of time of COG movement in the phases during medial/lateral and anterior/posterior movement were not significantly different. Findings indicate that the difference between two groups occurred because the ski simulator's drive mechanism is different from ski motion on the slope. In order to develop the ski simulator more interactively for pflugbogen, the ski simulator's drive mechanism need to be reflected 3D motion data of pflugbogen on the slope that were purposed in this research.

• Journal of Korean Society on Water Environment
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• v.22 no.2
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• pp.215-221
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• 2006

This research presents results from laboratory and pilot-scale experiments to remove high-nitrate in pickling wastewater using the sequencing batch reactor (SBR) as a biological method. During the experimental periods, the influent concentrations of NOx-N and $Ca^{+2}$ were analyzed to be 350-1,600 and 700-800 mg/L, respectively. In order to provide carbon source for denitrification, methanol has been added in proportion to the influent nitrate loading. The mean concentrations of MLSS and MLVSS, the fraction of volatile solids in sludge and the sludge volume index were measured to be 27 g/L, 5 g/L, 18.5% and 7.5, respectively. The solid retention time was kept in the range of 18 to 22 days, specific denitrification rate ($U_{dn}$) was $0.301g{NO_3}^--N/gVSS/day$. The oxidized nitrogen concentration of effluent ranged 2-34 mg/L with an average of 5.2 mg/L, the overall reduction in total nitrogen was more than 99.2%. In order to treat the pickling wastewater including the high concentration of nitrate and $Ca^{+2}$, the continuous flow process is not suitable because the specific gravity of the sludge is considerably increased by $Ca^{+2}$, thus the SBR process is shown to be very effective to treat the pickling wastewater.