• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• Journal of the Korean Society of Propulsion Engineers
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• v.14 no.2
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• pp.19-28
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• 2010

Generally, combustion instability is generated by the mutual coupling between the heat release and the acoustic pressure in the combustor. On the occasion, the acoustic pressure generates the oscillation of the mass flow rate of propellant injected from injector, and this oscillation again affects combustion in the combustor. So, the dynamic characteristics of the injector have been studied to control combustion instability using injector itself in Russia from 1970's. In order to study injector dynamics, a mechanical pulsator for forced pressure pulsation is produced and the method to quantify the mass flow rate of the propellant that is oscillating at the exit of the injector is developed. With the pulsator and the method, pulsating values of the mass flow rate, pressure, liquid film thickness, and axial velocity generated at the exit of the simplex swirl injector are measured in real time. And phase-amplitude characteristics of each parameter are analyzed using these pulsating values acquired at the exit of the simplex swirl injector.

• Journal of the Korean Society of Propulsion Engineers
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• v.24 no.1
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• pp.1-8
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• 2020

In this study, a configuration design of a CH₄/LOx small rocket engine was made and test system was established for the performance evaluation. A coaxial swirl injector was chosen because of its remarkable atomization performance and low combustion instability. Three aspect ratios for the combustion chamber configuration, i.e., 1.5, 1.8, and 2.1 were also set for the comparison of the combustion efficiency. The reliability of the thrust measurement rig was enhanced by pre-and post-calibration process. From the preliminary ground hot-firing test, the measured thrust and specific impulse values were 89.2 N and 181.8 s, respectively, which were 21.6% lower than the ideal values. In addition, the efficiency of characteristic velocity was measured as 84.2%.

• Korean Journal of Microbiology
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• v.26 no.4
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• pp.332-338
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• 1988

The density of heterotrophic bacterial population and heterotrophic activity were measured at monthly interval from March, 1986 to March, 1987 at four sites in the Sudong Stream, a tributary of North Han River. Total bacterial numbers and maximum uptake velocity ($V_{max}$) of glucose ranged as 0.8-$25.2\times 10^{5}$ cells/ml, 0.0006-24.39.$\mu$gC/1/hr, respectively. $V_{max}$ of glucose showed marked seasonal periodicity, with highest values in summer. But density of viable bacteria varied considerably, with no definite seasonal pattern. At the nucontaminated site which located in upstream, heterotrophic bacterial population and activities were relatively low, and small variations were observed downstream flowing except the site where animal originated sewage inputs occurred. And this large input of allochthonous materials and bacteria was an important factor for the stream condition.

• Journal of the Korean Society of Safety
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• v.31 no.3
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• pp.22-27
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• 2016

The use of electromagnetic wave has been interested in various energy industry because it enhances a flame stability and provides higher safety environments. However it might increase the pollutant emissions such as NOx and soot, and have harmful influence on human and environments. Therefore, it is very important to understand interaction mechanism between flame and electromagnetic wave from environmental point of view. In this study, an experiment was performed with jet diffusion flames induced by electromagnetic wave. Microwave was used as representative electromagnetic wave and a flickering flame was introduced to simulate the more similar combustion condition to industry. The results show that the induced microwave enhances the flame stability and blowout limit. The unstable lifted flickering flames under low fuel/oxidizer velocity is changed to stable attached flames or lift-off flames when microwave applied to the flames, which results from the abundance of radical pool. However, NOx emission was increased monotonically with increasing the microwave power as microwave power increased up to 1.0 kW. The effects might be attributed to the heating of combustion field and thermal NOx mechanism will be prevailed. Soot particle was examined at the post flame region by TEM grid. The morphology of soot particle sampled in the microwave induced flames was similar to the incipient soot that is not agglomerated and contain a lots of liquid phase hydrocarbon such as PAH, which soot particle formed near reaction zone is oxidized on the extended yellow flame region and hence only unburned young particles are emitted on the post flame region.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.141-144
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• 2006

The deviations in the injection orbital parameters, resulting from launcher dispersions, need to be estimated and used for autonomous satellite operations. For the proposed small satellite mission of the university there will be two GPS receivers onboard the satellite to provide the instantaneous orbital state to the onboard data handling system. In order to meet the power requirements, the satellite will be sun-tracking whenever there is no imaging operation. For imaging activities, the satellite will be maneuvered to nadir-pointing mode. Due to such different modes of orientation the geometry for the GPS receivers will not be favorable at all times and there will be instances of poor geometry resulting in no output from the GPS receivers. Onboard the satellite, the orbital information should be continuously available for autonomous switching on/off of various subsystems. The paper presents the strategies to make use of small arcs of data from GPS receivers to compute the mean orbital parameters and use the updated orbital parameters to calculate the position and velocity whenever the same is not available from GPS receiver. Thus the navigation message from the GPS receiver, namely the position vector in Earth-Centered-Earth-Fixed (ECEF) frame, is used as measurements. As for estimation, two techniques - (1) batch least squares method, and (2) Kalman Filter method are used for orbit estimation (in real time). The performance of the onboard orbit estimation has been assessed based on hardware based multi-channel GPS Signal simulator. The results indicate good converge even with short arcs of data as the GPS navigation data are generally very accurate and the data rate is also fast (typically 1Hz).

• Journal of Communications and Networks
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• v.9 no.3
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• pp.296-311
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• 2007

Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.1
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• pp.126-134
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• 1995

The salinity data taken by Fishery Research Development Agency were analyzed to investigate the salinity decrease in the South Sea of Korea in summer. Decrease of depth-averaged salinity in June and August can not be accounted for the input of river discharge and rainfall. The low salinity water in the Cheju Strait is the only possible source for the decrease of salinities in the South Sea. A box model of the salt conservation shows that the transport in the Cheju Strait is 0.5-0.6${\times}$10$\^$6/ ㎥/sec (mean velocity is 10-13 cm/sec) which is 31-36% of the transport in the western channel of Korea Strait and the transport in the section between Cheju island and Tsushima island is 0.9-1.4${\times}$10$\^$6/ ㎥/sec when the transport in the western channel of the Korea Strait is 1.4-2.0${\times}$10$\^$6/ ㎥/sec.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.8
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• pp.729-736
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• 2009

In order to understand flow characteristics and flight mechanism of hummingbird's flapping flight, two-dimensional numerical analysis is carried out on the flapping motion of hummingbird, Selasphorus rufus. Hummingbird's flapping wing motion is realistically modeled from wind tunnel experimental data to perform numerical analysis. Numerical simulation shows that, as freestream velocity changes, wing trajectory is also adjusted and it substantially affects lift and thrust generation mechanism. According to this tendency, flight domain is separated as "low speed" and "high speed" regime, and each flight domain is studied for physical understanding. As a result, the lift generation during downstroke can be explained by the well-known effects, such as leading edge vortex effect, delayed stall, wake capture and so on. In addition, the lift generation during upstroke, the unique character of hummingbird, is also examined by detailed flow analysis. The thrust generation mechanism is investigated by examining the hummingbird's wing bone structure, vortex generation pattern and the resulting pressure gradient.

• Journal of Navigation and Port Research
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• v.34 no.1
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• pp.65-70
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• 2010

Recently, the number of design for open-spaces at waterfront, such as open-air restaurant and cafeteria, has been increasing to provide openness and natural environment of waterfront. However, when planning open-air restaurant and cafeteria, it is essential to investigate the climate characteristic of waterfront, especially wind environment, since the waterfront has a special quality of climate like low-temperature and strong wind which differs from downtown or inland. In this study, wind environments of Haeundae, Suyoungman, and Gwanganli, the famous waterfronts in Busan, were investigated for design of open-air restaurants and open cafeterias. The main results were as follows. 1) the waterfront area of Haeundae, Suyoungman, and Gwanganli is suitable for open-air restaurant and open cafeterias; and 2) the appropriate period for open space in this area is from the end of March to November.