• 한국자동차공학회논문집
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• 제19권1호
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권3호
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.356-359
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• 2007

In this paper, the stability of a rotating cantilever pipe conveying fluid with a crack is investigated by the numerical method. That is, the influences of the rotating angular velocity, mass ratio and crack severity on the critical flow velocity for flutter instability of system are studied. The equations of motion of rotating pipe are derived using the Euler beam theory and the Lagrange's equation. The crack section of pipe is represented by a local flexibility matrix connecting two undamaged pipe segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. Generally, the critical flow velocity for flutter is proportional to the angular velocity and the depth of crack. Also, the critical flow velocity and stability maps of the rotating pipe system as a function of mass ratio for the changing each parameter are obtained.

• 한국소음진동공학회논문집
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• 제17권12호
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• pp.1161-1169
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• 2007

In this paper, the dynamic stability of a rotating cantilever pipe conveying fluid with a crack is investigated by the numerical method. That is, the influence of the rotating angular velocity, mass ratio and crack severity on the critical flow velocity for flutter instability of system are studied. The equations of motion of rotating cantilever pipe are derived by using extended Hamilton's principle. The crack section of pipe is represented by a local flexibility matrix connecting two undamaged pipe segments. The crack is assumed to be in the first mode of fracture and always opened during the vibrations. Generally, the critical flow velocity for flutter is proportional to the rotating angular velocity of a pipe. Also, the critical flow velocity and stability maps of the rotating pipe system for the variation each parameter are obtained.

• 한국군사과학기술학회지
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• 제8권1호
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• pp.81-91
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• 2005

It is well known that the natural frequencies of the pipe come to be lower as internal fluid velocity and pressure increase, and the pipe will be unstable if the fluid velocity is higher than critical velocity. But even if the velocity of the fluid below the critical velocity, resonance will be caused by pulsation of the fluid. So the effects of pulsating fluid in pipe should be also taken into consideration for better analysis. The research of the vibration of piping system due to a fluid pulsation has been studied by many people. But most of them are dealt with determining the boundary between stable and unstable region without analyzing forced response in the stable region. In this study, not only stability analysis but also forced response analysis, which is caused by harmonically excited fluid especially, is conducted. In order to analyze the system numerically, the descretized equation is formulated by using FEM(Finite Element Method). And the results of this method are compared with those of AMM(Assumed Mode Method) which were used by many researcher earlier.

• Journal of Positioning, Navigation, and Timing
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• 제8권3호
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• pp.107-117
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• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume II
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• pp.672-675
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• 2006

The geostrophic current component is estimated from the sea surface velocity observed by the long-range High-Frequency Ocean Radar (HF radar) system in the upstream of the Kuroshio, by comparing with geostrophic velocity determined from along-track T/P and Jason-1 altimetry data. However, the sea surface velocity of the HF radar (HF velocity) contains not only the geostrophic current but also the ageostrophic current such as tidal current and wind-driven Ekman current. Tidal current component is first extracted by the harmonic analysis of the time series of the HF velocity. Then, the Ekman current is further estimated from daily wind data of IFREMER by applying the least-square method to the residual difference between the HF velocity and the altimetry geostrophic velocity. As a result, the Ekman current in the HF velocity is estimated as 1.32 % of the wind speed and as rotated 45$^{\circ}$ clockwise to the wind direction. These parameters are found almost common in the Kuroshio area and in the Open Ocean. After these corrections, the geostrophic velocity component in the HF velocity agrees well with the altimetry geostrophic velocity.

• 대한의용생체공학회:의공학회지
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• 제19권2호
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• pp.143-152
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• 1998

In this paper, we present the performances of a Doppler system using single channel RF(Radio Frequency) sampling. This technique consists of undersampling the ultrasonic blood backscattered RF signal on a single channel. Conventional undersampling method in Doppler imaging system have to use a minimum of two identical parallel demodulation channels to reconstruct the multigate analytic Doppler signal. However, this system suffers from hardware complexity and problem of unbalance(gain and phase) between the channels. In order to reduce these problems, we have realized a multigate pulsed Doppler system using undersampling on a single channel, It requires sampling frequency at $4f_o$(where $f_o$ is the center frequency of the transducer) and 12bits A/D converter. The proposed " single-Channel RF Sampling" method aims to decrease the required sampling frequency proportionally to $4f_o$/(2k+1). To show the influence of the factor k on the measurements, we have compared the velocity profiles obtained in vitro and in vivo for different intersequence delays time (k=0 to 10). We have used a 4MHz center frequency transducer and a Phantom Doppler system with a laminar stationary flow. The axial and volumetric velocity profiles in the vessel have been computed according to factor k and have been compared. The influence of the angle between the ultrasonic beam and the flow axis direction, and the fluid viscosity on the velocity profiles obtained for different values of k factor is presented. For experiment in vivo on the carotid, we have used a data acquisition system with a sampling frequency of 20MHz and a dynamic range of 12bits. We have compared the axial velocity profiles in systole and diastole phase obtained for single channel RF sampling factor.ng factor.

• 전기학회논문지
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• 제59권12호
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• pp.2256-2261
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• 2010

A corona discharge system with needle point or wire type corona electrode has been well used as an ionic wind blower. The corona discharge system with a needle point electrode produces ions at lower applied voltage effectively. However, the corona discharge on the needle point electrode transits to the arc discharge at lower voltage, and it is hard to obtain the elevated electric field in the discharge airgap for enhancing the ion migration velocity due to the weak Coulomb force. A cylindrical corona electrode with sharp round tip is reported as one of effective corona electrode, because of its higher breakdown voltage than that of the needle electrode. A basic study, for the effectiveness of cylindrical electrode shape on the ionic wind generation, has been investigated to obtain an maximum wind velocity, which however is the final goal for the real field application of this kind ionic wind blower. In this paper, a parametric study for maximizing the ionic wind velocity utilizing the cylindrical corona electrode and a maximum ion wind velocity of 4.1 m/s were obtained, which is about 1.8 times higher than that of 2.3m/s obtained with the needle corona electrode from the velocity profile.

• 한국소음진동공학회논문집
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• 제25권5호
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• pp.361-368
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• 2015

This paper deals with a robust fine seek controller design problem with multiple constraints using a genetic algorithm. A robust $H\infty$ constraint is introduced to attenuate effectively velocity disturbance caused by the eccentric rotation of the disk. A weighting function is optimally selected based on the estimation of velocity disturbance and the estimated minimum velocity loop gain. A robust velocity loop constraint is considered to minimize the variances of the velocity loop gain and bandwidth against the uncertainties of fine actuator. Finally, a robust fine seek controller is obtained by solving a genetic algorithm with an LMI condition and an appropriate objective function. The proposed controller design method is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.