• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.1
• /
• pp.261-268
• /
• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of The Korean Astronomical Society
• /
• v.29 no.2
• /
• pp.223-243
• /
• 1996

We have constructed a line-by-line model of the A-X system of CO in order to analyze the CO bands appearing in the UV spectra of comets. The model includes electronic, rotational, vibrational transitions, excitations by solar UV radiation, and effects of neutral and electron collisions. The major bands of the A-X system occur in the $1200 - 1800{\AA}$ range where the temporal variation of solar irradiation is significant. The solar spectrum in this spectral range shows many emission lines, which cause a significant Swings effect. We derived fluorescence efficiencies of the bands as functions of heliocentric velocity and cometocentric distance using a high resolution spectrum of the sun. We compared our model with a spectrum of comet P/Halley obtained with the IUE, and estimated that the UV Swings effects are less than 20 fluorescence efficiencies for the most bands of the A-X system. We discuss the temporal variation of solar UV irradiation and its effects on the fluorescence efficiencies. The study of the A-X system also requites knowledge of vibrational and rotational fluorescent processes in the infrared and radio regions because the majority of CO molecules in the coma is in the ground rotational states. The solar infrared spectrum near 5 microns, where the fundamental band of CO occurs, contains strong absorption lines of the fundamental band and hot bands of CO and its isotopes. We derived fluorescence efficiencies of the infrared band as functions of heliocentric velocity and cometrocentric distance. The solar absorption lines near 5 microns cause a 20 reduction of the g-factor of the fundamental band at heliocentric velocities close to 0 km/sec. We discuss the effects of neutral and electron collisions on the fluorescence efficiencies of the infrared and UV bands.

• Applied Chemistry for Engineering
• /
• v.22 no.6
• /
• pp.642-647
• /
• 2011

The fabrication characteristics of porous uranium oxide granules from $U_3O_8$ powder was investigated in terms of initial particle bed motions such as slumping and rolling, thermal treatment conditions, and rotational velocities in slumping motion using a rotary voloxidizer. With respect to the initial particle bed motion the recovery rate of granule of above 1 mm in slumping motion was higher than that in the rolling motion. Rolling motion was changed into slumping motion with high slumping frequency by formation of granules from fine particles. Recovery rate of granule significantly increased with the increas in thermal treatment temperature and time of upto 10 h. As the rotational velocity of voloxidizer in the case of the initial particle bed showing slumping motion increased, the recovery rate of granule increased from 81.5 to 88.7%. However, the rotational velocity of 2 rpm provided an effective density, crushing strength and sphericity of granules.

• Journal of Power System Engineering
• /
• v.4 no.4
• /
• pp.25-31
• /
• 2000

This paper represents the vector fields and three dimensional mean velocities in the X-Y plane of cone type swirl gas burner measured by using X-probe from the hot-wire anemometer system. This experiment is carried out at flowrate 350 and $450{\ell}/min$ respectively in the test section of subsonic wind tunnel. The vector plot shows that the maximum axial mean velocity component is focused in the narrow slits distributed radially on the edge of a cone type swirl burner, for that reason, there is some entrainment of ambient air in the outer region of the burner and the rotational flow can be shown in the inner region of the burner because mean velocity W is distributed about twice as large as mean velocity V due to inclined flow velocity ejecting from the swirl vanes of a cone type baffle plate of burner. Moreover, the mean velocities are largely distributed near the outer region of burner within $X/R{\fallingdotseq}1.5$, hence, the turbulent characteristics are anticipated to be distributed largely in the center of this region due to the large inclination of mean velocity and swirl effect.

• Journal of Mechanical Science and Technology
• /
• v.17 no.11
• /
• pp.1693-1703
• /
• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• Journal of ILASS-Korea
• /
• v.11 no.2
• /
• pp.81-88
• /
• 2006

The spray characteristics of the rotating fuel injection system were investigated. The special test rig was devised to get the spatial and momentary droplet information. This experimental apparatus consists of a high-speed motor, a shaft, a rotating fuel nozzle and an acrylic case. Spray droplet size and velocity were measured by PDPA(Phase Doppler Particle Analyzer) and instantaneous velocity field was measured by 1'IV (Particle Image Velocimetry) system. At the same time, spray visualization was performed by using ND-YAG laser-based flash photography. From these two different laser diagnostic techniques, we could get spatial and instantaneous spray information fur rotating fuel injection system. The results presented in this paper indicate that spray characteristics such as droplet size, velocity and spray pattern were strongly influenced by rotational speed.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.7 no.4
• /
• pp.28-34
• /
• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.587-592
• /
• 2004

Direct velocity feedback (DVFB) control is known that it offers an unconditional stability with very high performance when the control strategy is applied at a point collocated sensor and actuator pair, because the sensor-actuator pair has strictly positive real (SPR) property. In this paper, two types of collocated sensor-actuator pairs are considered for practical active vibration control of a structure. They are a point collocated sensor-actuator pair and a point sensor-distributed actuator pair. Both pairs with DVFB sho robust stability and performance. It is noted that the collocated point sensor-actuator ultimately acts as a 'skyhook' damper, but the point sensor-distributed actuator pair with DVFB acts as a 'skyhook' rotational dmaper pair.ational dmaper pair.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.21 no.5
• /
• pp.422-429
• /
• 2011

The critical fluid velocity of cantilevered cylindrical shells subjected to internal fluid flow is investigated in this study. The fluid-structure interaction is considered in the analysis. The cantilevered cylindrical shell is supported intermediately at an arbitrary axial position. The intermediate support is simulated by two types of artificial springs: translational and rotational spring. It is assumed that the artificial springs are placed continuously and uniformly on the middle surface of an intermediate support along the circumferential direction. The steady flow of fluid is described by the classical potential flow theory. The motion of shell is represented by the first order shear deformation theory (FSDT) to account for rotary inertia and transverse shear strains. The effect of internal fluid can be considered by imposing a relation between the fluid pressure and the radial displacement of the structure at the interface. Numerical examples are presented and compared with existing results.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.8 no.4 s.23
• /
• pp.5-13
• /
• 2005

The impact of a long-rod penetrator into oblique plates with combined obliquity and yaw is investigated. The study was done using a newly developed three dimensional dynamic and impact analysis code, which uses the explicit finite element method. Through the comparison of simulation result with experimental result and other code's result, the adaptability and accuracy of the developed code is evaluated under the complex situation in which yaw angle and oblique angle exist simultaneously. As a result of comparison, it has found that deformed shape, residual length and velocity, rotational velocity of long-rod show good agreement with experimental data. Through this study, the applicability and accuracy of the code as a metallic armour system design tool is verified.