• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Proceedings of the IEEK Conference
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• 2001.10a
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• pp.759-764
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• 2001

The separation performance of zigzag air classifier with angle of 90 degrees was studied using narrow size fractions of thin square samples and granular samples. The simulation results of air velocity inside the classifier indicated that the zigzag geometry induces a new pattern consisting of an upward flow and a circulation flow, Experimental results showed that overflow product recovery was described as an integral calculus of normal distribution as a function of dimensionless air velocity ( $V_{A}$ $V_{A50}$), where $V_{A}$ is superficial air velocity and $V_{A50}$ is the $V_{A}$ at the fifty percent recovery. The $V_{A}$ values were predicted using the equations derived from dynamics for a particle dropping in air. A monitoring system that utilizes changes in acoustic signals emitted during the process of air classification was developed to separate PET with desired recovery or grade. The technical feasibility of the on-line monitoring of the PET recovery and grade was demonstrated by measuring relative energy of the signals.signals.als.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.32.4-33
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• 2018

We study the kinematical properties of the Seyfert galaxy, NGC 4051 and Mrk 79. The data used in this study had been observed with OASIS spectrometer at CFHT 3.6m telescope using O300 grism, MR1. The wavelength coverage is $4760{\AA}$ $-5558{\AA}$, which includes emission lines, $H{\beta}4861{\AA}$, $[OIII]4959{\AA}$, and $[OIII]5007{\AA}$. We observe that forbidden lines have both narrow and broad components. Radial velocity of NGC 4051 is blue-shifted, perhaps due to the z value derived by the earlier studies, 0.002336. We use the revised z, 0.002099, according to the radial velocity of the central spectrum. NGC 4051 is face-on galaxy without rotation observed. Radial velocity of Mrk 79 shows a rotation characteristic in narrow components, relative to $PA=60^{\circ}$, red-shifted to north-west, and blue-shifted to south-east. In the [OIII] broad components, blue-shifted points are observed at the place at 2 arcsec apart from the center of Mrk 79 to north-west, which are likely to be gas outflow.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Structural Engineering and Mechanics
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• v.67 no.1
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• pp.53-67
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• 2018

The changes of parameters of pressure and velocity of propagation of elastic pressure and shear waves in uniformly deformed solid compressible media are studied within the nonclassically linearized approach (NLA) of nonlinear elastodynamics to create a new theoretical basis of the geomechanical interpretation of various groups of geophysical observational and experimental data. The cases of small and large deformations are considered while their describing by various elastic potentials, i.e., problems considering the physical and geometric nonlinearity. Convenient analytical formulae are obtained to calculate the indicated parameters in the deformed isotropic media within the nonclassical linear and nonlinear solution in the NLA. Specific numerical experiments are conducted in case of overall compression of various materials. It is shown that the method (generally accepted in the studies of mechanics of standard constructional materials) of additional linearization (relative to the pressure parameter) in the basic correlations of the NLA introduces substantial quantitative and qualitative errors into the results at significant preliminary deformations. The influences of the physical and geometric nonlinearity on the studied characteristics of the medium are large in various materials and differ qualitatively. The contribution of nonlinear components to the values of the considered parameters prevails over linear components at large deformations. When certain critical values of compression deformations in the medium are achieved, elastic waves with actual velocity cannot propagate in it. The values of the critical deformations for pressure and shear waves differ within different elastic potentials and variants of the theory of initial deformations.

• Journal of the korean society of oceanography
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• v.37 no.3
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• pp.178-186
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• 2002

The mud deposit located to the south of Cheju Island, the East China Sea, is characterized by an upwelling system or, on occasions, a combined upwelling-downwelling system. The water mass here is associated with relatively high suspended matter concentrations. In the present study, a vertical I-D model is used to undertake numerical experiments for evaluating the upwelling and downwelling effects on the suspended particulate matter distribution patterns within the water column. The results show that: (1) because the upwelling or downwelling velocity tends to be of the same order of magnitude as the settling velocity of suspended particles, a number of different patterns of suspended matter concentration distribution are possible, depending on the relative importance of the velocities; (2) the presence of upwelling can enhance the suspended particulate matter concentration; and (3) in an upwelling-downwelling system, maximum concentrations may or may not lie in the middle of the water column, depending on, once again, the interrelationships between the opwelling/downwelling velocities and the settling velocity. Hence, the physical processes associated with upwelling/downwelling appear to be relevant to the suspended material distribution over shelf mud areas.

• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.297-304
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• 2002

This study is about penetrability of Micro Cement(MC) used for ground improvement. In this study, the characteristics of chemical grouting such as solidification, penetrability were analyzed experimentally by changing permeability of ground, grain size and relative density of grout material. For evaluating applicability of grout material, solidification test and penetrability test were performed. From the results of the tests, effective solidification ratio and penetrability ratio of MC was each 75%, 86% to be excellent when ground permeability was in the range of 10$^{-2}$ and 10$^{-4}$ cm/sec. Otherwise, those of Ordinary Portland Cement(OPC) were both lower than 50% to be poor. When penetrability of grout material is needed for improvement of dam foundation and soft ground, application of MC Is much superior to that of the other materials. The results of the grouting tests in the water flowing ground show that solidification effect of long gel-time grout material is excellent as injection pressure increases when groundwater velocity is relatively low. But when groundwater velocity is relatively high, solidification effect of long gel-time grout material is very poor because most grout materials are outflowed. Therefore, as groundwater velocity is high, effective solidification ratio of long gel-time grout material is better than that of short gel-time grout material, also penetration distance of long gel-time grout material is longer than that of short gel-time grout material.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.2
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• pp.81-86
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• 2013

This paper presents the lane change system for collision avoidance. The proposed algorithm for the collision avoidance consists of path generation and path following. Using a calculated TTC (Time to Collision), partial braking is operated and collision avoidance path is generated considering relative distance, velocity and acceleration. Based on the collision avoidance path, desired yaw angle and yaw rate are calculated for the automated path following. The lateral controller is designed by a Lyapunov function approach using 3 D.O.F vehicle model and vehicle parameters. The required steering angle is determined from wheel velocity, longitudinal and lateral velocity in order to follow the desired yaw angle and yaw rate. This system is developed MATLAB/Simulink and its performance is evaluated using the commercial software CarSim.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.18 no.10
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• pp.819-825
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• 2006

In a SOFC/GT (solid oxide fuel cell/gas turbine) hybrid power generation system, the recuperator is an indispensible component to enhance system performance. Since the expansion ratio to the recuperator core is very large, generally, the effective header design to distribute the flow uniformly before entering the core is crucial to guarantee the required performance. In the present study, we focus on the design of a diffuser type recuperator header with a 90 degree turn inlet port. To reduce the flow separation and recirculation flows, multiple horizontal vanes are used. The number of horizontal vanes is varied from 0 to 24. The air flow velocity is measured at 40 points just behind the core outlet by using a hot wire anemometer. Then, the flow non-uniformity is evaluated from the measured flow velocity. The experimental results showed that inlet air velocity did not effect on relative flow non-uniformity. According to increasing the number of horizontal vanes, flow non-uniformity reduced about $40{\sim}50%$ than without using horizontal vanes.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.63-72
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• 1995

Closed-die forging of spur gears with hollow cylindrical billet has been analysed by using the upper-bound method. A kinematically admissible velocity field has been developed, wherein, an involute curve has been introduced to represent the forging die profile. In the analysis, the deformation region has been divided into nine zones. A constant frictional stress has been assumed on the contacting surfaces. Utilizing the formulated velocity field, numerical calculations have been carried out to investigate the effects of various parameters, such as module, number of teeth and friction factor, on the forging of spur gears. Hardness and accuracy of forged gears are measured. The following results have been obtained: (1) It is verified that an axisymmetric deformation zone exists between root circle and center of gear through forged gears. (2) The average relative forging pressure is predominantly dependent on the number of teeth and increases near the final filling stage as the addendum modification coefficient increases. (3) Close agreement was found between the predicted values of forging load and those obtained from experimental results.