• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1303-1308
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.893-898
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• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Journal of Korean Society for Atmospheric Environment
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• v.14 no.5
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• pp.465-478
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• 1998

In this study, seasonal variations of the dry deposition velocity and deposition flux for the sulfur dioxide were analysed. The field observation was performed during one year (from November 1, 1995 to October 31, 1996) in Chunchon basin. The turbulence data were measured by 3-dimensional sonic anemometer/thermometer, and were estimated by mean meteorological data obtained at two heights (2.5 m and 10 m) of meteorological tower. Also, the estimation methods were evaluated by comparing the turbulence data. The results showed that the estimated dry deposition velocity and turbulence parameter such as uc and sensible heat flux using mean meteorological data were relatively similar to the sonic measurements, but all showed somewhat large differences. The dry deposition velocity was large in summer and small in winter mainly due to canopy resistance (rc). The major factor which affects diurnal variation of the velocity was aerodynamic resistance (rw). The SO2 dry deposition flux was large in winter and small in summer in Chunchon.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.71-78
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the variables are tightly coupled by the position, velocity, and acceleration level coordinates, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all variables, which are coupled by the constraints. The position velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The Perturbed constraint equations are then simultaneously solved for variations of all variables only in terms of the variations of the independent variables. Finally, the relationships between the variations of all variables and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent variables variations.

• Journal of Biomedical Engineering Research
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• v.36 no.4
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• pp.109-114
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• 2015

In this study, joint angles of the lower extremity and tibial acceleration and angular velocity were measured during a snowboard simulator exercises in order to evaluate the skill of snowboarders. Ten unskilled and ten expert snowboarders were recruited for the study. A three-dimensional motion capture system and two inertial sensor modules were used to acquire joint movements, acceleration and angular velocity of the lower extremities during snowboard simulator exercises. Pattern variations were calculated to assess variations in the snowboard simulator motion of unskilled and expert snowboarders. Results showed that expert snowboarders showed greater range of motion in joint angles and greater peak to peak amplitude in acceleration and angular velocity for tibia than unskilled snowboarders. The unskilled snowboarders did not show symmetrical shape(same magnitude but opposite direction) in tibial angular velocity during two edge turns in snowboard simulator exercises. The expert snowboarders showed smaller pattern variations for joint angle of lower extremity, tibial acceleration and tibial angular velocity than unskilled snowboarders. Inertial sensor data and pattern variations during the snowboard simulator exercises could be useful to evaluate the skill of snowboarders.

• Economic and Environmental Geology
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• v.30 no.6
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• pp.625-635
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• 1997

A back projection algorithm is applied to 216 Pn travel time measurements to image lateral variations of compressional velocity in the uppermost mantle in the Korean Peninsula. We obtained an average P-velocity value for the uppermost mantle of $7.90{\pm}0.18km/sec$, and an average mantle P-velocity gradient of $5.3{\times}10^{-3}s^{-1}$ for the Korean Peninsula. The final 3-D velocity image in the uppermost mantle is characterized by a low-velocity (about $7.77{\pm}0.12km/sec$) region in the southeast area of the Korean peninsula, which is called 'Kyongsang Basin' and by high-velocity(${\geq}8.08km/sec$) region in the northern area of the Korean Peninsula(Hamkyong and Pyongan provinces). The crustal thicknesses are calculated for the 10 subregions. The crustal thickness of the northern part(${\geq}39^{\circ}N$) of the Korean Peninsula is 33.0-36.0 km, on the contrary, that of the southern part(< $39^{\circ}N$) is 30.7~33.7 km. The velocity image obtained in this study is somewhat consistent with previous S-P travel time studies and gravity studies.

• Journal of The Korean Astronomical Society
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• v.50 no.6
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• pp.157-165
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• 2017

$H_2O$ maser emission at 22 GHz in the circumstellar envelope is one of the good tracers of detailed physics and kinematics in the mass loss process of asymptotic giant branch stars. Long-term monitoring of an $H_2O$ maser spectrum with high time resolution enables us to clarify acceleration processes of the expanding shell in the stellar atmosphere. We monitored the $H_2O$ maser emission of the semi-regular variable R Crt with the Kagoshima 6-m telescope, and obtained a large data set of over 180 maser spectra over a period of 1.3 years with an observational span of a few days. Using an automatic peak detection method based on least-squares fitting, we exhaustively detected peaks as significant velocity components with the radial velocity on a $0.1kms^{-1}$ scale. This analysis result shows that the radial velocity of red-shifted and blue-shifted components exhibits a change between acceleration and deceleration on the time scale of a few hundred days. These velocity variations are likely to correlate with intensity variations, in particular during flaring state of $H_2O$ masers. It seems reasonable to consider that the velocity variation of the maser source is caused by shock propagation in the envelope due to stellar pulsation. However, it is difficult to explain the relationship between the velocity variation and the intensity variation only from shock propagation effects. We found that a time delay of the integrated maser intensity with respect to the optical light curve is about 150 days.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.340-343
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• 2008

The Soya Warm Current (SWC) is a coastal boundary current, which flows along the coast of Hokkaido in the Sea of Okhotsk. Seasonal and subinertial variations in the SWC are investigated using data obtained by high-frequency (HF) ocean radars, coastal tide gauges, and a bottom-mounted acoustic Doppler current profiler (ADCP). The HF radars clearly capture the seasonal variations in the surface current fields of the SWC. The velocity of the SWC reaches its maximum, approximately 1 m/s, in the summer, and becomes weaker in the winter. The velocity core is located 20 to 30 km from the coast, and its width is approximately 50 km. The almost same seasonal cycle was repeated in the period from August 2003 to March 2007. In addition to the annual variation, the SWC exhibits subinertial variations with a period from 10-15 days. The surface transport by the SWC shows a significant correlation with the sea level difference between the Sea of Japan and Sea of Okhotsk for both of the seasonal and subinertial variations, indicating that the SWC is driven by the sea level difference between the two seas. Generation mechanism of the subinertial variation is discussed using wind data from the European Centre for Medium-range Weather Forecasts (ECMWF) analyses. The subinertial variations in the SWC are significantly correlated with the meridional wind component over the region. The subinertial variations in the sea level difference and surface current delay from the meridional wind variations for one or two days. Continental shelf waves triggered by the meridional wind on the east coast of Sakhalin and west coast of Hokkaido are considered to be a possible generation mechanism for the subinertial variations in the SWC.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.2
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• pp.116-116
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• 1996

This paper is concerned with a method for calibrating five-hole probes of both angle-tube and prismatic geometries to measure local total and static pressures and the magnitude and direction of the mean velocity vector. Descriptions of the calibration technique, the typical calibration data, and an accompanying discussion of the interpolation procedure are included. The flow properties are determined explicitly from measured probe pressures using calibration data. Flow angles are obtained within the deviation angle of 1.0 degree and dynamic pressures within 0.03 with 95% certainty. The variations in the calibration data due to Reynolds number are also discussed. For the range of Reynolds number employed, no effect was detected on the pitch, yaw and total pressure coefficients. However, the static pressure coefficient showed change to cause minor variations in the magnitude of the calculated velocity vector. To account for these variations, average correction factors need to be incorporated into the static pressure coefficient.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.2
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• pp.48-56
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• 1996

This paper is concerned with a method for calibrating five-hole probes of both angle-tube and prismatic geometries to measure local total and static pressures and the magnitude and direction of the mean velocity vector. Descriptions of the calibration technique, the typical calibration data, and an accompanying discussion of the interpolation procedure are included. The flow properties are determined explicitly from measured probe pressures using calibration data. Flow angles are obtained within the deviation angle of 1.0 degree and dynamic pressures within 0.03 with 95% certainty. The variations in the calibration data due to Reynolds number are also discussed. For the range of Reynolds number employed, no effect was detected on the pitch, yaw abd total pressure coefficients. However, the static pressure coefficient showed change to cause minor variations in the magnitude of the calculated velocity vector. To account for these variations, average correction factors need to be incorporated into the static pressure coefficient.