• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.427-435
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• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• Applied Chemistry for Engineering
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• v.21 no.1
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• pp.18-23
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• 2010

This work investigated the catalytic reaction characteristics of $H_2$ SCR applied at low temperature ($80{\sim}150^{\circ}C$) using Pt catalyst supported on $TiO_2$. The experiments were performed in terms of $H_2O$, $O_2$ in reaction gas, calcination temperature of the Pt catalyst, $H_2$/NOx mole ratio, space velocity. $H_2O$ was an inhibitor of reaction on $H_2$ SCR using Pt catalyst, catalytic performance increased as $O_2$ concentration decreased. Nevertheless, $NH_3$ slip generated by the reaction between NOx and $H_2$ in the absence of $O_2$. While it was effective to calcine less than $600^{\circ}C$ by phase transition and the catalytic performance increased as $H_2$/NOx mole ratio increased. However, $H_2$ slip was not observed at that increase mole ratio by $H_2$ oxidation to $H_2O$.

• Proceedings of the KSME Conference
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• 2008.11b
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• pp.2874-2879
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• 2008

The Selective catalytic reduction(SCR) system is a highly-effective device of $NO_x$ reduction for diesel engines. Generally, the ammonia($NH_3$) generated from a liquid urea-water solution is used for the reductant. The ideal ratio of $NH_3$ molecules to $NO_x$ molecules is 1:1 based on $NH_3$ consumption and having $NH_3$ available for reaction of all of the exhaust $NO_x$. However, under the too low and too high temperature condition, the $NO_x$ reduction efficiency becomes lower, due to temperature window. And space velocity also affects to $NO_x$ conversion efficiency. This paper reviews a laboratory study to evaluate the effects of $NO_x$ and $NH_3$ concentrations, gas temperature and space velocity on the $NO_x$ conversion efficiency of the SCR system. The maximum conversion efficiency of $NO_x$ was indicated when the $NH_3$ to $NO_x$ ratio was 1.2 and the space velocity was $60,000\;h^{-1}$. The results of this paper contribute to improve overall $NO_x$ reduction efficiency and $NH_3$ slip.

• Journal of the Korean Geophysical Society
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• v.2 no.1
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• pp.65-74
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• 1999

From refraction data along four seismic profiles near Eonyang which the Yangsan fault passes through, the Slope Variation Indicators (SVI) are computed and interpreted in terms of fault distribution. The average velocities of 2,250-2,870 m/s are estimated using velocity-analysis functions for the target boundary along those profiles. The average velocity for Line 1 is approximately 600 m/s lower than ones for the other lines. The SVI's with amplitude greater than or equal to 0.5 ms/m are turned out to be located near faults shown on the high-resolution reflection section, as closely as one station spacing (3 m). Large amplitude SVI's are densely distributed near National Road 35, and the fault having the largest vertical slip is indicated to be located approximately 930 m west of the inferred fault on the published geologic map.

• Journal of Mechanical Science and Technology
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• v.20 no.1
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• pp.158-166
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• 2006

Extended Graetz problem in microtube is analyzed by using eigenfunction expansion to solve the energy equation. For the eigenvalue problem we applied the shooting method and Galerkin method. The hydrodynamically isothermal developed flow is assumed to enter the microtube with uniform temperature or uniform heat flux boundary condition. The effects of velocity and temperature jump boundary condition on the microtube wall, axial conduction and viscous dissipation are included. From the temperature field obtained, the local Nusselt number distributions on the tube wall are obtained as the dimensionless parameters (Peclet number, Knudsen number, Brinkman number) vary. The fully developed Nusselt number for each boundary condition is obtained also in terms of these parameters.

• Journal of Mechanical Science and Technology
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• v.20 no.1
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• pp.125-132
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• 2006

To understand fluid dynamic forces acting on a structure subjected to two-phase flow, it is essential to get detailed information about the characteristics of two-phase flow. Stratified steady and unsteady two-phase flows between two parallel plates have been studied to investigate the general characteristics of the flow related to flow-induced vibration. Based on the spectral collocation method, a numerical approach has been developed for the unsteady two-phase flow. The method is validated by comparing numerical result to analytical one given for a simple harmonic two-phase flow. The flow parameters for the steady two-phase flow, such as void fraction and two-phase frictional multiplier, are evaluated. The dynamic characteristics of the unsteady two-phase flow, including the void fraction effect on the complex unsteady pressure, are illustrated.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2737-2742
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• 2007

Strong wind flow around a building complex was numerically studied by LES. The original motivation of this work stemmed from the efforts to develop a risk assessment technique for windstorm hazards. Lagrangian-averaged scale-invariant dynamic subgrid-scale model was used for turbulence modeling, and a log-law-based wall model was employed on all the solid surfaces including the ground and the surface of buildings to replace the no-slip condition. The shape of buildings was implemented on the Cartesian grid system by an immersed boundary method. Key flow quantities for the risk assessment such as mean and RMS values of pressure on the surface of the selected buildings are presented. In addition, characteristics of the velocity field at some selected locations vital to safety of human beings is also reported.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.87-88
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• 2002

To analyze complicated phenomena on the fluid hydrodynamic and the elastic deformation between sliding body surfaces, an analysis to the elastohydrodynamic lubrication of sliding contacts has been developed taking into account the thermal and non-Newtonian effects. The computational technique handled the simultaneous solution of the non-Newtonian hydrodynamic effects, elasticity, the load, the viscosity variation, and temperatures rise. The results included the lubricant pressure profile, film thickness, velocity, shear stress, and temperature distribution, and the sliding frictional force on the surface at various slip conditions. These factors showed a great influence on the behavior resulted in the film shape and pressure distribution. Especially, Non-Newtonian effects and temperature rise by the sliding friction force acted as important roles in the lubrication performance.

• International Journal of Automotive Technology
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• v.3 no.4
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• pp.171-176
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• 2002

A bench test set-up is employed to simulate the friction characteristics of a paper-based friction material operating against a steel plate. Dry friction tests are run as well as tests with transmission fluids. Glazed friction material produces a negative coefficient of friction versus sliding velocity (f-v) curve for both dry friction and lubrication with transmission fluids. At low sliding speeds, the coefficient of friction when operating in transmission fluids for glazed friction materials is greater than that under dry friction. An appreciable negative f-v slope occurs at low sliding speeds for glazed friction materials when running with the transmission fluid. The friction material after running in produces a constant f-v curve under dry friction and a negative slope when lubricated with transmission fluid. At low sliding speeds, the coefficient of friction of the run-in friction material is lower than that of the glazed wet material. On the other hand, the run-in friction material has a larger friction coefficient than does the glazed friction material at higher sliding speeds.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.6
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• pp.567-573
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• 1991

Full direct digital control of induction motor driver is implemented with a minimal hardware structure. This paper deals with the presentation of a low-cost single-chip microprocessor-based control system for three-phase PWM generation and vector control that control speed of the induction motor using the field-oriented control method. Rotor flux is estimated using the indirect sensing method based on the rotor circuit equation in the synchronously rotation reference frame, and slip angle and rotor position are calculated from rotor angular velocity and stator current. Through simulation and experiment, it is shown that the proposed scheme gives good static and dynamic performance to the induction motor drive.