• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• 대한기계학회논문집B
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• 제40권6호
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• pp.357-363
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• 2016

본 연구에서는 날개 두께 분포가 다른 두 임펠러를 이용하여 유체-구조 연성해석을 통해 운전익단간극을 예측하고 임펠러의 변형이 성능에 미치는 영향에 대해 연구하였다. 임펠러는 작동조건에서 작용하는 원심력, 압력, 열 하중의 영향으로 변형이 발생하게 된다. 이로 인해 초기 설계된 익단간극이 비균일하게 변화하는 것을 확인하였다. 특히 임펠러 날개의 선단과 후단에서 가장 큰 익단간극 감소가 발생하였으며, 이로인해 간극누설유동이 19.4% 감소하였다. 또한 운전조건에서 익단간극 감소로 간극누설 유량이 감소하면서 효율은 0.72% 증가하는 것을 확인하였다. 원심압축기 작동조건에서의 정확한 운전익단간극의 예측과 익단간극의 변화가 성능에 미치는 영향에 대해서 확인하였다.

• 한국기계가공학회지
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• 제17권2호
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• pp.145-152
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• 2018

This study deals with the method of determining the tip-over stability of a truck mounted on a high place operation car that is frequently used to carry out high-altitude work. Multibody Dynamics Program and Zero Moment Point (ZMP) theory are used to include dynamic effects during the car's high place operation. Through a combination of the Multibody Dynamics Program and ZMP, understanding the dynamic effects of the car's operating parts and building a detailed tip-over model of the car permitted a more precise prediction of the car's tipping-over behavior. It is also expected to help reduce the car's development time due to the time-effective simulation and provide safer work levels for the operating guide (in terms of working radius and lifting capability) with the dynamics effects.

• Ocean Systems Engineering
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• 제5권2호
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• pp.125-138
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• 2015

In this study, hydrodynamic performance of a 400 mm diameter horizontal axis marine current turbine model was tested in a cavitation tunnel with 1.21 m x 0.8 m cross-section for over a range of tip speed ratios. Torque and thrust data, as well as cavitation visualizations, for certain operating conditions were acquired. Experimental results indicated that the turbine can be exposed to significant amount of sheet and cloud cavitation over the blades along with vortex cavitation at the blade tips. Inception and distribution of cavitation along the blades of the model turbine were then modelled numerically for design operating conditions using a vortex lattice method. The method was also applied to a turbine tested previously and obtained results were compared with the data available. The comparison between simulation results and experimental data showed a slight difference in terms of span-wise extent of the cavitation region. The cloud and tip vortex cavity observed in experiments cannot be modelled due to the fact that the VLM lacks the ability to predict such types of cavitation. Notwithstanding, the use of such prediction methods can provide a reasonably accurate approach to estimate, therefore take the hydrodynamic effects of cavitation into account in design and analysis of marine current turbines.

• Journal of Mechanical Science and Technology
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• 제14권2호
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• pp.226-235
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• 2000

The performance prediction of an airfoil fan using a commerical code, STAR/CD, is verified by comparing the calculated results with measured performance data and velocity fields of an airfoil fan. The effects of inlet tip clearance on performance are investigated. The calculations overestimate the pressure rise performance by about 10-25 percent. However, the performance reduction due to tip clearance is well predicted by numerical simulations. Main source of performance decrease is not only the slip factor but also impeller efficiency. The reduction in performance is 12-16 percent for 1 percent gap of the diameter. The calculated reductions in impeller efficiency and slip factor are also linearly proportional to the gap size. The span-wise distributions of phase averaged velocity and pressure at the impeller exit are strongly influenced by the radial gap size. The radial component of velocity and the flow angle increase over the passsage as the gap increases. The slip factor decreases and the loss increases with the gap size. The high velocity of leakage jet affects the impeller inlet and passage flows. With a larger clearance, the main stream moves to the impeller hub side and high loss region extends from the shroud to the hub.

• 한국전산유체공학회지
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• 제13권4호
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• pp.45-49
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• 2008

The present paper describes the results of performance analysis for UH-60A rotor blade in hover. For the numerical simulations, commercial CFD software, FLUENT was used with Spalart-Allmaras turbulence model. The flow solver was based on node based scheme and second order spatial accuracy options was used for simulations. For the enhancement of wake capturing capability, high resolution grid was used around tip vortex region. Granting that somewhat over-prediction of thrust was observed near blade tip region, performance was well correlated with experimental data within 3% accuracy in the operating region. Finally it was shown that the present flow solver can be used as a preliminary performance analysis tool for hovering helicopter rotor blades.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2007년도 추계 학술대회논문집
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• pp.73-76
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• 2007

The present paper describes the results of performance analysis for UH-60A rotor blade in hover. For the numerical simulations, commercial CFD software, FLUENT was used with Spalart-Allmaras turbulence model. The flow solver was based on node based scheme and second order spatial accuracy options was used for simulations. For the enhancement of wake capturing capability, high resolution grid was used around tip vortex region. Granting that somewhat over prediction of thrust was observed near blade tip region, performance was well correlated with experimental data within 3% accuracy in the operating region. Finally it was shown that the present flow solver can be used for preliminary performance analysis tool for hovering helicopter rotor blades.

• 대한기계학회논문집B
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• 제22권1호
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• pp.93-103
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• 1998

The paper reports the outcome of a numerical study of flow over idealized L-shaped ribleted surfaces with two-equation turbulence models. In the present study, the Launder and Sharma's k-.epsilon. turbulence model (LS model) is basically N employed, but with a little modification of the additional .epsilon.-source term without affecting its level under 2-dimensional straining in which the term has been calibrated. Compared to the original LS model, the present model has predicted greatly improved drag reduction behavior for this geometry. As a drag reduction mechanism, it is found that the skin-friction in the riblet valleys might be sufficient to overcome the skin-friction increase near the riblet tip. The present predicted results are in good agreement with the recent DN S ones by Choi et al. (1993): differences in the mean velocity prof ile and turbulence quantities are found to be limited to the riblet cavity region. It is also found that turbulent kinetic energy and Reynolds shear stress above the riblets are also reduced in drag-reducing configurations.

• 대기
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• 제26권1호
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• pp.97-109
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• 2016

Heavy rainfall (over $80mm\;hr^{-1}$) system associated with unstable atmospheric conditions occurred over the Seoul metropolitan area on 27 July 2011. To investigate the heavy rainfall system, we used three-dimensional data from Korea Local Analysis and Prediction System (KLAPS) reanalysis data and analysed the structure of the precipitation system, kinematic characteristics, thermodynamic properties, and Meteorological condition. The existence of Upper-Level Jet (ULJ) and Low-Level Jet (LLJ) are accelerated the heavy rainfall. Convective cloud developed when a strong southwesterly LLJ and strong moisture convergence occurring around the time of the heavy rainfall is consistent with the results of previous studies on such continuous production. Environmental conditions included high equivalent potential temperature of over 355 K at low levels, and low equivalent potential temperature of under 330 K at middle levels, causing vertical instability. The tip of the band shaped precipitation system was made up of line-shaped convective systems (LSCSs) that caused flooding and landslides, and the LSCSs were continuously enhanced by merging between new cells and the pre-existing cell. Difference of wind direction between low and middle levels has also been considered an important factor favouring the occurrence of precipitation systems similar to LSCSs. Development of LSCs from the wind direction difference at heights of the severe precipitation occurrence area was also identified. This study can contribute to the identification of production and development mechanisms of heavy rainfall and can be used in applied research for prediction of severe weather.

• Current Optics and Photonics
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• 제2권3호
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• pp.269-279
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• 2018

We are currently investigating the feasibility of a 1.6 m telescope with a laser-guide star adaptive optics (AO) system. The telescope, if successfully commissioned, would be the first dedicated adaptive optics observatory in South Korea. The 1.6 m telescope is an f/13.6 Cassegrain telescope with a focal length of 21.7 m. This paper first reviews atmospheric seeing conditions measured over a year in 2014~2015 at the Bohyun Observatory, South Korea, which corresponds to an area from 11.6 to 21.6 cm within 95% probability with regard to the Fried parameter of 880 nm at a telescope pupil plane. We then derive principal seeing conditions such as the Fried parameter and Greenwood frequency for eight astronomical spectral bands (V/R/I/J/H/K/L/M centered at 0.55, 0.64, 0.79, 1.22, 1.65, 2.20, 3.55, and $4.77{\mu}m$). Then we propose an AO system with a laser guide star for the 1.6 m telescope based on the seeing conditions. The proposed AO system consists of a fast tip/tilt secondary mirror, a $17{\times}17$ deformable mirror, a $16{\times}16$ Shack-Hartmann sensor, and a sodium laser guide star (589.2 nm). The high order AO system is close-looped with 2 KHz sampling frequency while the tip/tilt mirror is independently close-looped with 63 Hz sampling frequency. The AO system has three operational concepts: 1) bright target observation with its own wavefront sensing, 2) less bright star observation with wavefront sensing from another bright natural guide star (NGS), and 3) faint target observation with tip/tilt sensing from a bright natural guide star and wavefront sensing from a laser guide star. We name these three concepts 'None', 'NGS only', and 'LGS + NGS', respectively. Following a thorough investigation into the error sources of the AO system, we predict the root mean square (RMS) wavefront error of the system and its corresponding Strehl ratio over nine analysis cases over the worst ($2{\sigma}$) seeing conditions. From the analysis, we expect Strehl ratio >0.3 in most seeing conditions with guide stars.