• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.47-60
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• 2018

In this paper, we proposed a method for eliminating aiming error of unguided anti-tank rocket using improved target tracking. Since predicted fire is necessary to hit moving targets with unguided rockets, a method was proposed to estimate the position and velocity of target using fire control system. However, such a method has a problem that the hit rate may be lowered due to the aiming error of the shooter. In order to solve this problem, we used an image-based target tracking method to correct error caused by the shooter. We also proposed a robust tracking method based on TLD(Tracking Learning Detection) considering characteristics of the FCS(Fire Control System) devices. To verify the performance of our proposed algorithm, we measured the target velocity using GPS and compared it with our estimation. It is proved that our method is robust to shooter's aiming error.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_2
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• pp.637-644
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• 2022

In this study, the flow characteristics according to the shape of the vortex nozzle was studied by numerical analysis and the amount of microbubble generation was measured experimentally. The shape of the vortex nozzle is cylindrical, diffuser, and conical type. The axial fluid velocity in the induced tube gradually increased from the inlet to the outlet. In particular, the fluid velocity in the nozzle part increased rapidly. The velocity distribution of the fluid at the inlet of the induced tube showed that the flow rotates counterclockwise in the outer region and the inner center of the induced tube. At the outlet of the induced tube, the cylindrical and conical type showed rotational flow, and the diffuser type showed irregular turbulent flow. The dimensionless pressure ratio 𝜂 of the inner region of the induced tube was lower than that of the outer region. Also, 𝜂 near the outlet of the induced tube in cylindrical and conical type showed a similar tendency to the inlet area. At the outer region of inlet of induced tube, intense vorticity was observed on the wall and in lower region. At the inner region of inlet of induced tube, intense vorticity was observed on the inner wall of the induced tube and in the central region of the inlet of the induced tube. At the outlet of induced tube, in the case of the cylindrical and conical type, intense vorticity was observed near the inner wall, the diffuser type showed irregular strong vorticity inside the tube. The total number of bubbles measured was the most in the cylindrical type, and the microbubbles less than 50mm occurred the most in the conical type.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.67.3-67.3
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• 2015

We present the high-resolution Immersion GRating INfrared Spectrograph (IGRINS) spectra of two Class I sources, IRAS03445+3242 and IRAS04239+2436. Both sources show the evidence of Keplerian disks; the broadened CO overtone (${\Delta}v=2$) transitions in emission and neutral metal lines (Mg I, Fe I, and Al I) in absorption. The thin Keplerian disk with a rotational velocity of ~100 km s-1 and a gas temperature of 5000 K at the innermost annulus can reproduce the CO overtone transitions including the bandhead emission. The outer dusty disk or the envelope needs to fit the narrow absorption features overlaid on the broad emission lines in the CO overtone transitions.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.20-23
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• 1996

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1157-1161
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• 2003

A novel actuator with built-in the displacement and the thrust control function is presented in this paper. This actuator is a kind of compact hydraulic cylinder system which consists of a hydraulic cylinder, a spool, a sleeve, a mechanical feedback mechanism and a stepping motor. The displacement and thrust is in proportion to the rotational angle of stepping motor by the mechanical feedback. In order to investigate characteristics of this actuator, simulation study and preliminary experiments are conducted. Through the preliminary experiment this actuator is very effective in the control for displacement and thrust. Also, it became obvious that the stability of system can be adjusted by using the restrictor with the effect of velocity feedback. Furthermore, this paper explained that a flexible compliance control could be realized by adjusting the feedback weighting in the actuator.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.25 no.2
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• pp.63-68
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• 2017

In the present study, a wind tunnel test for a rotor-blade configuration was conducted to investigate a basic aerodynamic performance and a effect of the cross wind. The diameter of the configuration was 1.46 m and the test was carried out for both a clean and a tripped configurations. The boundary layer for the trip configuration was simulated by zig-zag tape and the test performed on constant-velocity and constant-rotational modes. It was shown that the test result for the tripped configuration reduces the maximum power coefficient by 9.4% ~ 12.1% compared to the clean one. Within $5^{\circ}$ of the flow angle, there is no significant loss of power, however, the coefficient is reduced by 5.3% ~ 36.7% in the range of $10^{\circ}{\sim}30^{\circ}$.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.4
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• International Journal of Fluid Machinery and Systems
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• v.4 no.3
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• pp.324-333
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• 2011

Phase resonance in a centrifugal compressor was experimentally observed and simulated with a commercial CFD code. It was found that pressure fluctuation at the volute outlet becomes the maximum when the rotational speed of the modes caused by the rotor-stator interaction agrees with the sound velocity. A simple one-dimensional theory is presented to explain the phase resonance in turbomachinery.

• International Journal of Fluid Machinery and Systems
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• v.6 no.3
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• pp.144-151
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• 2013

In this paper, the design method of a low-head propeller-type hydro turbine is studied for various numbers of blades on an axial propeller. We also investigate the relationship between geometrical parameters and internal performance parameters, such as angular velocities (100, 200, 300, 400 rpm) and 2.5~4m low heads through a three-dimensional numerical method with the SST turbulent model. The numerical results showed that the blade number had a more dominant influence than the change in heads and rotational speed on the flow characteristics of the turbine. The distributions of pressure and velocity in the streamwise direction of the propeller turbine were graphically depicted. Especially, the relationship among dimensionless parameters like specific speed ($N_s$), flow coefficient (${\phi}$) and power coefficient (P) were investigated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.411-420
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• 2000

This paper presents a new method for calculating contact position and contact force. The proposed method calculates accurate contact position by introducing intermediate parameters. Accurate contac t force can be obtained by solving reduced equations of motion iteratively. This method can be applied to calculate not only contact force on contact points but also contact force on kinematic joints such as a rotational joint and a translational joint. Four numerical examples are given to demonstrate the effectiveness of the proposed algorithm.