• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.1
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• pp.12-19
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• 2001

Study of turbulent mixing layers has been a popular subject from the point of view of both practical application and phenomenological importance in engineering field. Turbulent mixing layers can be applied in many fields where rapid transition to turbulence is desirable in order to prevent boundary layer separation or to enhance mixing. The ability to control mixing, structure and growth of the shear flow would obviously have a considerable impact on many engineering applications. In addition to practical applications, free shear flows are one of the simplest flows to understand the fundamental mechanism in the transition process to turbulence. After the discovery of large-scale vortical structure in free shear flows many researchers have investigated the physical mechanism of generation and dissipation processes of the vortical structure. This study investigated the role of the large-scale vortical structures in the turbulent mixing layer using LES(Large-Eddy Simulation). The result shows that the pairing interaction of the vortical structure plays an important role in the growth rate of a mixing layer. It is found that the turbulence quantities depend strongly on the velocity ratio. It is also found that the vorticity in the high-velocity-side can extract energy from the mean flow, while the vorticity in the low-velocity-side lose energy by the viscous dissipation. Finally the results suggest the guideline to obtain the desired flow by control of the velocity ratio.

• Journal of Astronomy and Space Sciences
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• v.17 no.2
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• pp.181-188
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• 2000

DO Cas is a short period (P=0.68day) eclipsing binary star and is classified as a near-contact binary by Shaw(1990). There is no published radial velocity curve for this short period binary after Mannino(1958). Hill(1991) suspected that Mannino's radial velocity curve had some serious mistake. So, we scanned the original plates used by Mannino with PDS and the spectra were employed to IRAF packages to estimate the radial velocities. The radial velocity curve and the BVR light curves made by us in 1998 were analyzed simultaneously with Wilson-Devinney code. We found that DO Cas is a contact or near-contact binary which the primary component fills its Roche lobe and we also estimated the absolute dimensions of each components of this system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.10
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• pp.998-1001
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• 2009

This paper shows that the conventional proportional navigation guidance(PNG) law with a constant navigation gain is an optimal solution strictly also when the velocity is varying during engagement. Especially, PNG with navigation constant, 3, is an optimal solution minimizing a closing velocity weighted induced-drag. While most of previous studies on optimality of PNG were relied on the linear formulation and the constant speed assumption, this study presents more general analysis results on optimality of PNG based on the nonlinear formulation and the time-varying velocity assumption.

• Bulletin of the Korean Space Science Society
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• 2000.10a
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• pp.96-96
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• 2000

No Abstract, See Full Text

• Journal of Astronomy and Space Sciences
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• v.9 no.2
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• pp.143-153
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• 1992

Spectra of the $\zeta$ Aurigae type eclipsing binary system 32 Cygni were taken at the Asiago Observatory. Using the Gaussian fitting method we can estimate the radial velocity and equivalent widths of some metalic lines.

• Journal of Astronomy and Space Sciences
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• v.22 no.2
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• pp.125-138
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• 2005

S152 is a small bright emission nebula located in the Perseus arm. Its optical diameter corresponds to 1.5 pc for an adopted distance 3.5 kpc. However, S152 is a part of a giant molecular cloud complex, which consists of several dense cores, containing active star-forming sites, and well aligned arm-like features. We analyzed the FCRAO $^{12}CO(J=\;1{\to}0)$ Outer Galaxy Survey data in this region to study the kinematical structure of this region, which resembles a big "scorpion". We found that there exist three different velocity components, about -54.5, -50.4, -48.8 km $s^{-1}$, depending on the position of the "scorpion". There also exist velocity gradients of 0.21 km $s^{-1}pc^{-1}$ and 0.16 km $s^{-1}pc^{-1}$ through the whole extent of the "scorpion". Interestingly, these two velocity gradients show an opposite direction with each other. It is likely that the velocity structure of this region may result from the mergence of different gas clouds, and the interaction with the SNR 109.1-1.0 occurred later, mostly at the region around the "head of the scorpion" only.

• Journal of Astronomy and Space Sciences
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• v.13 no.1
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• pp.48-54
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• 1996

The generalized linear impulsive correction problem is applied to make a linear programming problem for optimizing trajectory of an orbiting spacecraft. Numerical application for the stationkeeping maneuver problem of geostationary satellite shows that this problem can efficiently find the optimal solution of the stationkeeping parameters, such as velocity changes, and the points of impulse by using the revised simplex method.

• Journal of The Korean Astronomical Society
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• v.34 no.1
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• pp.17-24
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• 2001

We have studied the central parts of M82, which is a well-known infrared luminous, starburst galaxy, by analyzing archival data from the Infrared Space Observatory (ISO). M82 was observed at 11 positions covering $\pm$45" from the center along the major axis. We analyzed 4 emission lines, [ArIII] 8.99 ${\mu}m$, $H_2$ 17.034 ${\mu}m$, [FeII] 25,98 ${\mu}m$, and [SiII] 34,815 ${\mu}m$ from $SWSO_2$ data. The integrated flux distributions of these lines are quite different. The $H_2$ line shows symmetric twin peaks at $\~$18" from the center, which is a general characteristic of molecular lines in starburst or barred galaxies. This line appears to be associated with the rotating molecular ring at around $\~$200 pc just outside the inner spiral arm. The relative depletion of the $H_2$ line at the center may be due to the active star formation activity which dissociates the $H_2$ molecules. The other lines have peaks at the center and the distributions are nearly symmetric. The line profiles are deconvolved assuming that both intrinsic and instrumental profiles are Gaussian. The velocity dispersion outside the core is found to be $\~50 km s^{-1}$. The central velocity dispersion is much higher than $50 km s^{-1}$, and different lines give different values. The large central velocity dispersion ($\sigma$) is mostly due to the rotation, but there is also evidence for a high $\sigma$ for [ArIII] line. We also generated position-velocity maps for these four lines. We found very diverse features from these maps.

• Journal of Korean Society for Atmospheric Environment
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• v.18 no.E1
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• pp.29-36
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• 2002

The selective catalytic reduction (SCR) reaction of promoter catalysts was investigated in this study. A pure anatase type of TiO$_2$ was used as support. Activation measurement of prepared catalysts was practiced on a fixed reactor packing by the glass bead after filling up catalysts in 1/4 inch stainless tube. The reaction temperature was measured by K-type thermocouple and catalyst was heated by electric furnace. The standard compositions of the simulated flue gas mixture in this study were as follows: NO 1,780ppm, NH$_3$1,780ppm, $O_2$1% and $N_2$ as balance gas. In this study, gas analyzer was used to measure the outgassing gas. Catalyst bed was handled for 1hr at 45$0^{\circ}C$, and the reactivity of the various catalyst was determined in a wide temperature range. Conversion of NH$_3$/NO ratio and of $O_2$ concentration was practiced at 1,1.5 and 2, respectively. The respective space velocity were as follows . 10,000, 15,000 and 17,000 hr-1. It was found that the maximum conversion temperature range was in a 5$0^{\circ}C$. It was also found toi be very sensitive at space velocity, $O_2$ concentration, and NH$_3$/NO ratio. We also noticed that the maximum conversion temperature of (W, Mo, Sn) -V$_2$O$_{5}$/TiO$_2$ catalysts was broad. Specially WO$_3$-V$_2$O$_{5}$TiO$_2$2 catalyst appeared nearly 100% conversion at not only above 30$0^{\circ}C$ ut also below 25$0^{\circ}C$. At over 30$0^{\circ}C$, NH$_3$ oxidation decreased with decrease of surface excess oxygen. In addition, WO$_3$-V$_2$O$_{5}$TiO$_2$ catalyst did not appear to affect space velocity, $O_2$ concentration, and NH$_3$/NO ratio.ratio.