• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.536-541
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• 2001

A high resolution digital cinematic Particle Image Velocimetry(PIV) has been developed. The system consists of a high speed CCD camera, a continuous Ar-ion laser and a computer with camera controller. To improve the spatial resolution, we adopt a Recursive Technique for velocity interrogation. At first, we obtain a velocity vector for a larger interrogation window size based on the conventional two-frame cross-correlation PIV analysis using the FFT algorithm. Based on the knowing velocity information, more spatially resolved velocity vectors are obtained in the next iteration step with smaller interrogation windows. The correct velocity vector at the first step is found to be critical, so we apply a Multiple Correlation Validation(MCV) technique in order to decrease the spurious vectors. The MCV technique turns out to improve SNR(Signal to Noise Ratio) of the correlation table. The developed cinematic PIV method has been applied to the measurement of the unsteady flow characteristics of a Rushton turbine mixer. A total of 3,245 instantaneous velocity vectors were successfully obtained with 4 ms time resolution. The acquired spatial resolution corresponds the performance of the conventional high resolution digital PIV system using a $1K{\times}1K$ CCD camera.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.11
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• pp.1535-1542
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• 2001

A high resolution digital cinematic Particle Image Velocimetry(PIV) has been developed. The system consists of a high speed CCD camera, a continuous Ar-ion laser and a computer with camera controller. To improve the spatial resolution, we adopt a Recursive Technique for velocity interrogation. At first, we obtain a velocity vector fur a larger interrogation window size based on the conventional two-frame cross-correlation PIV analysis using the FFT algorithm. Based on the knowing velocity information, more spatially resolved velocity vectors are obtained in the next iteration step with smaller interrogation windows. When the correct velocity vector at the first step is found to be critical, a Multiple Correlation Validation(MCV) technique is applied to decrease the spurious vectors. The MCV technique turns out to improve SNR(Signal to Noise Ratio) of the correlation table. The developed cinematic PIV method has been applied to the measurement of the unsteady flow characteristics of a Rushton turbine mixer. A total of 3,245 instantaneous velocity vectors were successfully obtained with 4 ms time resolution. The acquired spatial resolution corresponds to the conventional high resolution digital PIV system using a 1K ${\times}$ 1K CCD camera.

• Advances in Computational Design
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• v.8 no.4
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• pp.309-325
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• 2023

An innovative inertial reactive armor is being developed through a multi-discipline project. Unlike the well-known explosive or non-explosive reactive armour that uses high-energy explosives or bulging effect, the proposed inertial reactive armour uses active disc elements that is set to rotate rapidly upon impact to effectively deflect and disrupt shaped charges and kinetic energy penetrators. The effectiveness of the proposed armour highly depends on the tangential velocity of the impact point on the rotating disc. However,for a single layer armour with an array of high-speed rotating discs, the tangential velocity is relatively low near the center of the disc and is not available between the gap of the discs. Therefore, it is necessary to configure the armor with double layers to increase the tangential velocity at the point of impact. This paper explores a multi-objective geometry design optimization for the double-layered armor using Nelder-Mead optimization algorithm and integration tools of the python programming language. The optimization objectives include maximizing both average tangential velocity and high tangential velocity areas and minimizing low tangential velocity area. The design parameters include the relative position (translation and rotation) of the disc element between two armor layers. The optimized design results in a significant increase of the average tangential velocity (38%), increase of the high tangential velocity area (71.3%), and decrease of the low tangential velocity area (86.2%) as comparing to the single layer armor.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.7
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• pp.840-845
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• 2018

BLDC motor is widely used as a servo motor due to high efficiency, high power density, low inertia, and low maintenance. However, BLDC motor generally needs position and velocity sensors to control actuation system. Usually, analog tachometers and encoders have been used for velocity feedback sensors. However, using these types of sensors have problems such as the cost, space, and malfunction. So, This paper is to propose a new velocity measurement method using linear hall-effect and enhanced differentiator for BLDC motor. In order to verify the feasibility of the proposed method, several simulations and experiments are performed. It is shown that the proposed velocity measurement method can satisfy the requirements without using of velocity sensor.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.421-430
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• 2007

This paper presents the results of the ocean surface current velocity estimation using 6 Radarsat-1 SAR images acquired in west coastal area near Incheon. We extracted the surface velocity from SAR images based on the Doppler shift approach in which the azimuth frequency shift is related to the motion of surface target in the radar direction. The Doppler shift was measured by the difference between the Doppler centroid estimated in the range-compressed, azimuth-frequency domain and the nominal Doppler centroid used during the SAR focusing process. The extracted SAR current velocities were statistically compared with the current velocities from the high frequency(HF) radar in terms of averages, standard deviations, and root mean square errors. The problem of the unreliable nominal Doppler centroid for the estimation of the SAR current velocity was corrected by subtracting the difference of averages between SAR and HF-radar current velocities from the SAR current velocity. The corrected SAR current velocity inherits the average of HF-radar data while maintaining high-resolution nature of the original SAR data.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.648-651
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• 1996

Samsung Electronics has developed high performance velocity and position controller for induction motors, and succeeded in mass production for the first time in Korea. Dynamic performance and final control accuracy of the controller are equivalent to those of AC servo motor controller. At present, we adopted the controller as spindle motor drive for Samsung CNC systems, and expect its wide use in industry as general purpose velocity and position controller for induction motor.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.11-14
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• 1996

Samsung Electronics has developed high performance velocity and position controller for induction motors and succeeded in mass production for first time in Lorea. Dynamic performance and final control accuracy of the controller are equivalent to those of AC servo motor controller. At present we adopted the controller as spindle motor drive for Samsung CNC systems and expect its wide use in industry as general purpose velocity and position controller for induction motor.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1997.10a
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• pp.133-140
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• 1997

Based on the Green's function technique, an analytical approach is developed to examine the surface wave screening effectiveness of composite wave barriers. The composite barrier consists of a high velocity layer sandwiched between two thin layers of low shear velocity materials. The high velocity layer is represented by differential matrix operators which relate the wave fields on each side of the layer. The low velocity layers are modeled by non-rigid contact conditions which allow partial sliding at the interfaces. Screening ratio of barriers with various combination of material, geometric, and non-rigidness parameters are compared and discussed in some detail.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.4
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• pp.748-760
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• 1997

The handoff failure probability has to be enhanced efficiently to enhance the performance of PCS system. In this paper a new scheme called velocity adaptive handoff algorithm for reducing handoff failure probability and maintaining the carried traffic constantly in PCS systems, by assigning low handoff threshold value for high mobility calls, and assigning high handoff threshold value for low mobility calls, is presented. The performance of evaluation of this new scheme is carried out in terms of tranffic characteristics. Also velocity estimation algorithm for this new scheme is presented. According to the result, the handoff failure probability of velocity adaptive handoff algorithm is enhanced about 60%.