• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.86-103
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• 2006

Using a combination of force transducer measurement to quantify net lift force, high frame rate camera to quantify and subtract inertial contributions, and Digital Particle Image Velocimetry (DPIV) to calculate aerodynamic contributions in the spanwise plane, the contribution of spanwise flow to the generation of lift force in wings undergoing a pure flapping motion in hover is shown as a function of flapping angle throughout the flapping cycle. These experiments were repeated at various flapping frequencies and for various wing planform sizes for flat plate and span wise cambered wings. Despite the previous identification of the importance of span wise fluid structures in the generation of lift force in flapping wings throughout the existing body of literature, the direct contribution of spanwise flow to lift force generated has not previously been quantified. Therefore, in the same manner as commonly applied to investigate the chordwise lift distribution across an airfoil in flapping wings, spanwise flow due to bulk flow and rotational fluid dynamic mechanisms will be investigated to validate the existence of a direct component of the lift force originating from the flapping motion in the spanwise plane instead.

• Journal of Ocean Engineering and Technology
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• v.7 no.2
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• pp.141-149
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• 1993

삼 자유도를 가진 부유물체의 동적 응답을 이론적으로 연구하였다. 평면내 방향 운동모우드에 대한 지배방정식을 선형화한 후, 그들의 조화해를 평명밖 방향 운동모우드의 방정식과 연성시켰다. 그렇게 해서 주어지는 방정식은 시간에 따라 변화하는 계수를 가진 형태로서, 평면밖 방향의 운동만을 보일 것으로 예측되는 부유물체가 평면밖 방향의 운동을 보일 수도 있음을 밝혔다. 동역학적 불안정성과 그 결과로 나타나는 평면밖 방향의 대진폭 운동을 보이고 있다. 본 결과는 주기적으로 동요하는 부유물체가 서로 연성된 운동을 하는 현상으로도 해석할 수 있다.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.107-114
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• 2007

In this paper, the equations of motion by which the natural vibration of rotating thick ring can be analyzed accurately are presented. These equations are derived from the theory of finite deformation and the principle of virtual work. The effects of variation in curvature across the ring cross-section can be considered in these equations. The ring models are called as thick ring model and thin ring model respectively as the effects of variation in curvature are considered or neglected. The radial displacement of ring which is rotating at constant angular velocity is determined by a non-linear equation derived from the principle of virtual work. The equations of the in-plane and out-of-plane vibrations at disturbed state are also formulated from the principle of virtual work. They can be expressed as the combination of the radial displacement at the steady state and the disturbed displacements about the steady state. The natural vibrations of rings with different thickness are analyzed by using the presented ring models and 3-dimensional finite element method to verify accuracy of the presented equations of motion. Its results are compared and discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.778-783
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• 2003

The problem considered in this paper is about the collocation of sensor and actuator for the active control of sound and vibration. It is well-known that a point collocated sensor-actuator pair offers an unconditional stability with very high performance when it is used with a direct velocity feedback (DVFB) control, because the pair has strictly positive real (SPR) property. In order to utilize this SPR characteristics, a matched piezoelectric sensor and actuator pair is considered, but this pair suffers from the in-plane motion coupling problem with the out-of$.$plane motion due to the piezo sensor and actuator interaction. This coupling phnomenon limits the stability and performance of the matched pair with DVFB control. As a new alternative, a point sensor and piezoelectric actuator pair is also considered, which provides SPR property in all frequency range except at the first resonance in very low frequency. This non-SPR resonance could be minimized by applying a phase lag compensator.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.11a
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• pp.119-122
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• 1997

움직임 추정(motion estimation)은 압축 부호화나 영상 안정화 시스템, 비젼 시스템 등과 같은 동영상 처리에 있어서 핵심 기술 중의 하나이다. 그러나 기존의 전역 탐색(brute-force) 알고리즘과 같은 움직임 추정 기법은 방대한 양의 계산을 필요로 하기 때문에 처리 시간이 커지고, 하드웨어로 구현하였을 때 회로가 복잡해진다는 문제점을 안고 있다. 본 논문에서는 비트 플레인(bit-plane)에서의 정합을 이용하여 움직임을 추정하는 새로운 기법을 제안한다. 제안된 기법에서는 기존의 전역 탐색 알고리즘을 하나의 비트 플레인으로부터 추출한 이진 영상에 적용함으로써 움직임 추정에 소요되는 계산량을 크게 줄이면서도 우수한 움직임 추정 성능을 갖도록 하였다. 실험 부분에서는 동영상으로부터 카메라의 이동으로 인한 전역적인 움직임을 추정하는데 제안된 기법을 사용한 결과를 제시하였다. 특히 제안된 기법은 비트 플레인을 선정하는데 있어서 적응 기법을 적용하였기 때문에 조도 변화 등과 같은 열악한 환경에서도 안정적으로 동작한다는 것을 실험을 통하여 보였다.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.951-957
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• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.817-819
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• 1995

Applied by periodic Stimulating Currents in Bonhoeffer-Van der Pol(BVP) model, chaotic and periodic phenomena occured at specific conditions. The conditions of the chaotic motion in BVP comprised 0.7182< $A_{1}$ <0.792 and 1.09< $A_{1}$ <1.302 proved by the analysis of phase plane, bifurcation diagram, and lyapunov exponent. To control the chaotic motion, two methods were suggested by the first used the amplitude parameter $A_{1}$,$A_{1}={\varepsilon}((x-x_{s})-(y-y_{s}))$ and the second used the temperature parameter c, c=c$(1+ {\eta}cos{\Omega}t)$ which the values of $\eta$, ${\Omega}$ varied respectlvly, and $x_{s}$, $y_{s}$ are the periodic signal. As a result of simulating these methods, the chaotic phenomena was controlled with the periodic motion of periodisity. The feasibilities of the chaotic and the periodic phenomena were analysed by phase plane and lyapunov exponent.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.11 s.254
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• pp.1461-1471
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• 2006

This paper presents the mathematical model for rolling behaviors of a small regular polygonal part on an inclined plane. Throughout the numerical analysis performed with the simulation program which has been experimentally validated, it is shown that the number of edges of the rolling polygonal part can be a measure for the energy dissipation rather than the coefficient of friction. The appropriate slope angle has been found to be around 20 degree for roughness-separation as well as shape-separation of polygonal parts which have small number of edges. In additions, the vibratory motion applied to the inclined plane is able to cause mixed parts to be separated more effectively according to the shape or the roughness. Finally, a couple of parts separation methods based on the analysis results are presented, and are validated through the numerical simulation.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.183-192
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• 2013

This paper presents formation reconfiguration using impulsive control input for spacecraft formation flying. Spacecraft in a formation should change the formation size and/or geometry according to the mission requirements and space environment. To modify the formation radius and geometry with respect to the leader spacecraft, the follower spacecraft generates additional control inputs; the two impulsive control inputs are general control type of the spacecraft system. For the impulsive control input, Lambert's problem is modified to construct the transfer orbit in relative motion, given two position vectors at the initial and final time. Moreover, the numerical simulation results show the transfer trajectories to resize the formation radius in the radial/along-track plane formation and in the along-track/cross-track plane formation. In addition, the maneuver characteristics are described by comparing the differential orbital elements between the reference orbit and transfer orbit in the radial/along-track plane formation and along-track/cross-track plane formation.