• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• Journal of the Korean Institute of Telematics and Electronics
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• v.11 no.6
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• pp.33-37
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• 1974

In this paper, the radiation characteristics for the array of a circular loop antenna is studied in moving media. The medium is assumed to be homogeneous, isotropic, and to move with a constant velocity much less than the speed of light. The integral equation for the current distribution is derived and the current functions is found by means of courier Series as a solution of the integral equation. The electric field is derived from the current on circular loop antenna and the Dyadic Green's Function in moving media. The numerical calculation of the electric field concerning to the two element antenna array,, in which one element is parasitic, is carried out. The field patterns are plotted from the computed values. As a result, the field patterns in moving media, compared with the patterns in stationary media, are found to decrease in the direction of media velocity and increase in the opposite direction, and the maximum directivity is shifted.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.162-168
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• 2001

In the present study, flow visualizations, hot-wire velocity measurements and computational fluid dynamics were performed in order to determine complicated air flow characteristics in a neonate incubator. In this study, following conclusions can be made: (1) The flow visualization technique developed in the present study revealed an enough qualitative information for the flow field in the neonate incubator. Flow structures in a neonate incubator with a realistic three-dimensional shape was successfully visualized the present study. (2) Results from the flow visualization were relatively in good agreements with those obtained from the computational fluid dynamics. (3) Velocities very near the neonate measured by the hot-wire anemometer were relevant to those obtained from the computational fluid dynamics. (4) Temperatures were higher at the neck region and the medial aspect of both thighs, but lower in both extremities. (5) Small vortices between the neonate and the mattress might interfere with convective and evaporative heat transfers on the neonate's surface. In the fluid dynamic aspect, it is important to eliminate the formation of these small vortices for the design of incubator chamber.

• The Journal of Engineering Geology
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• v.3 no.3
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• pp.231-239
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• 1993

This paper presents a result on the determination of velocity distribution by a tomographic inversion of crosshole seismic traveltimes in transversely isotropic(aniso tropic) media. The crosshole traveltimes used in this study are synthetic ones computed by ray tracing for some models having isotropic and transversely isotropic velocity distributions. The traveltimes are inverted by a general ART and ansotropic ART which considers the transversely isotropic effect during inver sion. The aniotropic ART gives accurate velodty distributions of transversely isotropic and isotropic models, while the isotropic ART determines accurate velocities only for the isotropic model but inaccurate for the transversely isotropic one. Therefore, the anisotropic ART may be used in case where no information is known on the isotropy or transverse isotropy of a survey area.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.35-41
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• 2008

The most important requirement for the automotive radars is the simultaneous target range and velocity measurement under environment of multi-target, clutters, multi-path, and so on. If the many vehicles with 77GHz FMCW(Frequency Modulation Continuous Wave) radar system are in the near area we should consider the interference signals occurred by other radar systems because these signals reduce exact detection of range and velocity. In this paper, we propose the interference cancellation method, which each vehicle radar transmits chirp trains with the different frequency sweep shapes. The proposed method is applied into the various applications such as an intelligent vehicle, Robot, and UGV(Unmanned Ground Vehicle).

• Transactions of Materials Processing
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• v.14 no.8 s.80
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• pp.689-695
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• 2005

Multi-pass wet wire drawing process is used to produce fine wire in the industrial field. The production of fine wire through multi-pass wet wire drawing process with appropriate dies pass schedule would be impossible without understanding the relationship among many process parameters such as material properties, dies reduction, friction conditions, drawing speed etc However, in the industrial field, dies pass schedule of multi-pass wet wire drawing process has been executed by trial and error of experts. This study investigated the relationship among many process parameters quantitatively to obtain the important process information fur the appropriate pass schedule of multi-pass wet wire drawing process. Therefore, it is possible to predict the many important process parameters of multi-pass wet wire drawing process such as dies reduction, machine reduction, drawing force, backtension force, slip rate, slip velocity rate, power etc. The validity of the analyzed drawing force was verified by FE simulation and multi-pass wet wire drawing experiment. Also, pass redesign was performed based on the analyzed results, and the wire breakage between the original pass schedule and the redesigned pass schedule was compared through experiment.

• Journal of ILASS-Korea
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• v.16 no.1
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• pp.27-36
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• 2011

The impact force on the single and overlap region of twin spray was experimentally evaluated using visualization method in full cone type swirl nozzle spray. Visualization of spray was conducted to obtain the spray angle and breakup process. The photography/imaging technique, based on Particle Image Velocimetry (PIV) using high-speed camera, was adopted for the direct observation of droplet motion and axial velocity measurement, respectively. Droplet size was measured by Particle Motion Analyze System (PMAS). The purpose of this study is to provide fundamental information of spray characteristics, such as impact force, for higher etching factor in the practical wet etching system. It was found that the spray angle, axial velocity and impact force were increased with increasing the nozzle pressure while droplet size decreased with increasing the nozzle pressure. Droplet size increased as the distance from nozzle tip was decreased. The impact force of twin spray in the overlap region was about 63.29, 67.02, 52.41% higher than that of single spray at 40, 50 and 60 mm of nozzle pitch, respectively. Also, the nozzle pitch was one of the important factors in the twin spray characteristics.

• Journal of Power Electronics
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• v.8 no.3
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• pp.228-238
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• 2008

Many induction motor broken bar diagnosis methods are based on evaluating special components in machine signals spectrums. Current, power, flux, etc are among these signals. Frequencies related to a broken rotor fault are slip dependent, therefore, correct diagnosis of fault - especially when obtrusive frequency components are present - depends on accurate determination of motor velocity and slip. The traditional methods typically require several sensors that should be pre-installed in some cases. This paper presents a diagnosis method based on only a vibration sensor. Motor velocity oscillation due to a broken rotor causes frequency components at twice slip frequency difference around speed frequency in vibration spectrum. Speed frequency and its harmonics as well as twice supply frequency, can easily and accurately be found in a vibration spectrum, therefore th motor slip can be computed. Now components related to rotor fault can be found. It is shown that a trained neural network - as a substitute for an expert person - can easily categorize the existence and the severity of a fault according to the features extracted from the presented method. This method requires no information about th motor internal and has been able to diagnose correctly in all the laboratory tests.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.7
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• pp.677-684
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• 2013

A lot study of convection heat transfer on internal flow has been extensively conducted in the past decades using of high specific surface area, increasing heat transfer coefficient, swirling flow and improving the transport properties. This study concerned with the application of a tangential slot swirl generator for improving heat transfer in a horizontal circular copper tube. The Al particles(about $100{\sim}130{\mu}m$) was employed for this experimental work. 3D PIV(particle image velocimetry) technique has employed to measure velocity profiles of Al particles with and without swirl flow. The copper tube is heated uniformly by winding of a heating coil for heat transfer work, having a resistance of 9 ohm per meter. Experiments are performed in the Reynolds number range of 6,800~12,100 with swirl and without swirl using Al particles. Experimental data for comparison of Nusselt number is presented that of with swirl and without swirl along the test tube for the Reynolds numbers. The Nusselt number is improved with increasing of Reynolds numbers or swirl intensities along the test tube. The Nusselt number with swirl flow is about 60.0% to 119.0% higher than that obtained by the Dittus-Boelter equation.

• Journal of the Korean Graphic Arts Communication Society
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• v.25 no.1
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• pp.53-64
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• 2007

Gravure printing is the most useful printing process than any other engraving printing method. According to the cell which is variable size and depth, ink is transferred substrates. So, the amount of ink from cells has a great effect on the qualities of final printed products. The variables effect on the printability of final products are proportion of the width and length, the rhelogical properties, roll speed etc. However the mechanism of gravure is difficult to study scientifically because of high speed and excessively small size of the cell. To approach the mechanism we experimented the real test by using gravure printability. The condition of variables of IGT is pressure and velocity. By using Polyflow 3. 10. 0 simulation software, we built up the theoretical model under the constant variables. Then, we compared the real test with the simulation results. Therefore, it is studied the mechanism of gravure scientifically and it can be analysed the effect of the variable conditions.