• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.11
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• pp.1868-1878
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• 2016

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.4
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• pp.22-28
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• 2003

In the conventional weapon system, such as gun and small arms, it Is a general trend that for maximization of its performance and enhancement of its effectiveness, the firing control system(FCS) is developed and applied with the guns and small arms in the world. The FCS of the small arms for infantry man is composed of a few of sensors for acquisition of input data of FCS, such as range measurement, position sensing of weapon, temperature, etc., computer, displayer and power pack, and also the air burst munition is developed in parallel for the maximization of FCS's effectiveness. Since the flight time setting fuze for the air burst munition is adapted for next me, the measuring device of the muzzle velocity is needed to overcome the variation of muzzle velocity due to producing procedures and the differences of the using temperatures and so maintain the burst position accuracy This paper contained the technical information on the development of the measuring device of muzzle velocity, which designed in compact & light weight configuration with reliability and accuracy.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.173-176
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• 2005

This paper proposes a fuzzy correction algorithm that can correct the distorted medical image caused by the scanning nonlinear velocity of the Digital X-ray Scanner System (DX-Scanner) using the Multichannel Ionization Chamber (MIC). In the DX-Scanner, the scanned medical image is distorted for reasons of unsuitable integration time at the nonlinear acceleration period of the AC servo motor during the inspection of patients. The proposed algorithm finds the nonlinear motor velocity modeling through fuzzy system by clustering and reconstructs the normal medical image lines by calculating the suitable moving distance with the velocity of the motor using the modeling, acceleration time and integration time. In addition, several image processing is included in the algorithm. This algorithm analyzes exact pixel lines by comparing the distance of the acceleration period with the distance of the uniform velocity period in every integration time and is able to compensate for the velocity of the acceleration period. By applying the proposed algorithm to the test pattern for checking the image resolution, the effectiveness of this algorithm is verified. The corrected image obtained from distorted image is similar to the normal and better image for a doctor's diagnosis.

• Journal of the Korean Society of Safety
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• v.23 no.4
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• pp.1-6
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• 2008

This experiments are perfol1ned to investigate the effect of ventilation velocity on a high pressure water mist tire suppression in train. The experiment is conducted in half scale modeled train of a steel-welled enclosure (5.0m${\times}$2.4m${\times}$2.2m). The ventilation velocity is controlled by the ventilation duct through an inverter in the range of 0 to 3m/s. The coverage-radius and an injection angle of an high pressure water mist system are measured. The mist nozzle with 5-injection holes is operated with pressure 60bar. The heptane pool fires are used. The fire extinguishment times and the temperature are measured for the ventilation velocities. In conclusion, because the momentum of injected water mist is more dominant than that of ventilation air, the characteristics of water mist, the fire extinguishment times and the temperature are affected very little by ventilation velocity.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.951-959
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• 2013

In order to improve the speed performance of the direct drive mechanical systems, a comprehensive analysis of the velocity ripples of blushless DC motors should be required. Every motor has a certain level of torque ripples when it generates power, and the generated torque ripple also makes the velocity ripples in the final output stage in speed control system. In this paper, a novel algorithm for reducing velocity ripples is proposed based on the modeling of torque ripples for BLDC motors. Various algorithms have been made for torque ripples, but usually they should be installed inside the amplifier logic, result in the difficulties of flexibility for various kinds of torque ripples. The proposed algorithm was developed for being ported in the controller not the amplifier, and it has the capability of the automatic compensation adjustment. The performance of the proposed algorithm was verified by effective simulations and experiments.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.408-412
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• 2014

An electromagnetic launching system presents a viable projectile propulsion alternative with low cost and minimal environmental drawbacks. A coil gun system propels a projectile using an electromagnetic force and the system is mainly employed in military weapon systems and space launch systems. In this paper, we perform optimization design to improve the muzzle velocity by analyzing the sensitivity. The muzzle velocity, which is the most important design function variable, is affected by design variables including the number of axial turns in the electromagnetic coil, number of radial turns in the electromagnetic coil, initial distance between the projectile and the coil, inner radius of the electromagnetic coil, and length of the projectile. An orthogonal arrays matrix is configured, and a finite element analysis is performed utilizing the commercial electromagnetic analysis software MAXWELL. The muzzle velocity of the optimal design is 62.4% greater than that of the initial design.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.359-371
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• 1994

A drop weight type impact test system is designed and set up to experimentally investigate impact responses of composite laminates subjected to the low-velocity impact. Using the test system, the impact velocity and the rebound velocity of the impactor as well as the impact force history are measured. An error of the measured data due to a difference in measuring position of the sensor is corrected and, for the estimation of real contact force history, a method of correcting an error due to friction forces is developed. Experimental methods to fix the boundary edgy of laminate specimens in impact testing are investigated and the impact tests on the specimens fixed by those methods are performed. Impact force histories and dynamic strains measured from the tests are compared with numerical results from the finite element analysis using the contact law. Consequently, the nonlinear numerical results considering the large deflection effects are agreed with the experimental results better than the linear ones.

• Nuclear Engineering and Technology
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• v.47 no.3
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• pp.267-283
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• 2015

The main objective of this study is to investigate experimentally the two-phase flow characteristics in terms of the direct contact condensation of a steam-water stratified flow in a horizontal rectangular channel. Experiments were performed for both air-water and steam-water flows with a cocurrent flow configuration. This work presents the local temperature and velocity distributions in a water layer as well as the interfacial characteristics of both condensing and noncondensing fluid flows. The gas superficial velocity varied from 1.2 m/s to 2.0 m/s for air and from 1.2 m/s to 2.8 m/s for steam under a fixed inlet water superficial velocity of 0.025 m/s. Some advanced measurement methods have been applied to measure the local characteristics of the water layer thickness, temperature, and velocity fields in a horizontal stratified flow. The instantaneous velocity and temperature fields inside the water layer were measured using laser-induced fluorescence and particle image velocimetry, respectively. In addition, the water layer thickness was measured through an ultrasonic method.

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

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.