• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.867-870
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• 1996

Often an INS has to be aligned in navigation. In these cases it is necessary to obtain some reference information on the state of the aligned INS(Slave) such as its position, its velocity of its angular rate. Usually the reference information is velocity which is supplied by another reference INS. In the alignment state the velocity computed by the reference INS(Master) is compared with that computed by the slave INS and the difference which is indicative of the slave misalignment with respect to the master, is processed by a Kalman filter which estimates misalignment as well as the slave gyro and accelerometer error states. The operation of aligning a slave INS with a master INS comparing quantities computed by both INS is known as transfer alignment. The delivery vehicle performs error these maneuvers enable the TA Kalman filter to separate between the tilt errors and the accelerometer biases which otherwise are unobservable. The basic objective this paper is to study the observability enhancement by ship's maneuvering and matching methods during transfer alignment at sea.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.359-362
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• 2003

The aerostatic stage. which is used in semiconductor process, is demanded higher velocity and more precise accuracy for higher productivity and integrated performance. So, in the case of XY stage, H type structure, which is designed two co-linear axis of guide-way, driving force in one surface, has advantage of velocity and accuracy compared to conventional tacked type XY stage. To analyze characteristics of H type aerostatic stage, H type aerostatic surface XY stage is made, which is driven by linear motor and detected position with precise optical linear scale. And, analyze characteristics of motion error, effect of angular motion on positioning accuracy error and effect of simultaneous control on variation of velocity.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1961-1968
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• 2003

In this paper, an efficient numerical algorithm for the kinematic analysis of the standard MacPherson suspension system is presented. The kinematic analysis of the suspension mechanism is carried out in terms of the rectangular Cartesian coordinates of some defined points in the links and at the kinematic joints. Geometric constraints that fix the distances between the points belonging to the same rigid link are introduced. The nonlinear constraint equations are solved by iterative numerical methods. The corresponding linear equations of the velocity and acceleration are solved to yield the velocities and accelerations of the unknown points. The velocities and accelerations of other points of interest as well as the angular velocity and acceleration of any link in the mechanism can be calculated.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.694-699
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• 2003

Simultaneous measurement with PLIF(Planar Laser-Induced Fluorescence) and Stereo-PIV(Stereoscopic Particle Image Velocimetry) was performed to investigate the structural characteristics of flow field in Rushton Turbine Mixer. Instantaneous 3D velocity fields are measured by two 2K ${\times}$ 2K CCD cameras focused on an object plane with the angular displacement methods while the concentration fields are obtained through the measurement of the fluorescence intensity of Rhodamine B tracer excited by the second pulse of Nd:Yag laser light. Image distortion due to the camera view-angle is compensated by a mapping function. Finally, the spatial structures of turbulent mixing around Rushton turbine were identified by the calculation of cross-correlation fields between the velocity and concentration field.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.435-449
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• 2004

In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller with an integrator is designed. After a time-scale analysis, a 1/4-size pilot crane of a rail-mounted quayside crane was constructed. The performance of the proposed control system was verified with a real rubber-tired gantry crane at a container terminal as well as with the constructed pilot crane. Experimental results are provided.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.6
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• pp.1265-1272
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• 1988

Kinematic and dynamic equations of open-loop mechanical systems are derived using the velocity transformation. The velocities of a link are defined by the velocities of the previous link and relative velocities between the links. The velocities and angular velocities are expressed with joint velocities and 6*1 velocity transformation vector. Using the velocity relations, recursive formula are derived and compared to the previous results. The derived recursive formula are modified and applied to the dynamic simulation of a vehicle. The computational efficiency of the vehicle simulation with the derived recursive formula is much enhanced.

• Journal of The Korean Astronomical Society
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• v.33 no.1
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• pp.19-28
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• 2000

In the earlier papers we analyzed the axisymmetric, nonstationary electrodynamics of the central black hole and a surrounding thin accretion disk in an active galactic nucleus. In this paper we analyze the axisymmetric, nonstationary electrodynamics of the black hole magnetosphere in a similar way. In the earlier papers we employed the poloidal component of the plasma velocity which is confined only to the radial direction of the cylindrical coordinate system. In this paper we employ a more general poloidal velocity and get the Grad-Shafranov equation of the force-free magnetosphere of a Kerr black hole. The equation is consistent with the previous ones and is more general in many aspects as it should be. We also show in more general approaches that the angular velocity of the magnetic field lines anchored on the accreting matter tends to become close to that of the black hole at the equatorial zone of the hole.

• Korean Journal of Applied Biomechanics
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• v.20 no.1
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• pp.41-47
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• 2010

The purpose of this study was to evaluate the kinematic effect of upper extremity usage for the scoccer instep kick motion. Ten male university students were recruited as the subjects. Temporal parameters, ball velocity, velocity of CG, angle of segment, angular velocity, and trunk orientation angle were determined for each trial. The results showed that temporal parameters in WU and WORU were significantly less than those found in WOU during pre impact phase. These indicated that no usage of upper extremity may increase excessive setup time in order to improve the accuracy of instep kick. Angle of right knee in WOU at LC was significantly greater than corresponding value for WU since angular momentum contributions of the lower limb were not effectively balanced by contributions of the upper limb. We found that the lower extremity movement was controlled by lateral movement in the trunk as a result of no usage of the upper extremity, resulting in the relatively greater trunk rotation in WOU.

• Journal of the Korean earth science society
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• v.34 no.3
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• pp.189-194
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• 2013

In this study, the patterns of barotropic vortices and their structural rotation were investigated through laboratory experiments. Both stable and unstable barotropic vortices were formed in a rotating water tank with a rotating circular plate depending on the diameter, direction, and speed of rotating circular plate. The patterns of stable vortices turned out to be tripolar, triangular, rectangular, and monopolar vortex. These vortex patterns were affected by the gap between the circular plate and the wall of the water tank. Many unstable vortices were formed by anticyclonically and highly rotating circular plate. These results were caused by the centrifugal instability. The structural angular velocity of the tripolar vortex increased with the tangential velocity of the circular plate. The anticyclonic tripolar vortex had higher structural angular velocity than the cyclonic vortex. The tripolar vortex in the water tank was very similar with the real oceanic tripolar vortex from the view point of the Rossby number and the structural rotation.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.155-171
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• 2003

The purpose of this study was to analyze the kinematic variables of over head kick(OHK) in soccer with three dimensional analysis technique and show the kinematic characteristics of it. The 7 subjects were university football player who have been playing football more than 7 years. The OHK was filmed on 16mm video camera(30frame/sec.) kinematic variables were temporal, postures, and COG(center of gravity). The mean values and the standard deviation for each variables were obtained and used as basic factors for examining characteristics of OHK. The results of this analysis were as follows : Temporal variables : The total time elapsed(TE) of OHK was $0.95{\sim}1.14sec$, the 1st phase was 0.35sec., 2nd phase was 0.46sec., and 3rd phase was 0.22sec.. Posture variables : When subjects performed OHK at the impact event, the ankle and knee angle of kicking foot were more extend than supporting foot. but the hip angle of supporting foot were more extend than kirking foot. Moving distance of the center of mass of the both foot. When subject performed OHK at the impact event, the range of distance on mediolateral direction aspect into right left shoulder line, anteroposterior direction aspect was $20.9{\pm}10.5cm$, vertical direction aspect was $92.3{\pm}19.9cm$. Angular velocity : the faster angular velocity of knee ankle on the kicking foot pew form jump position to landing position, the faster velocity of ball became. C. O. G. variables. When subject performed OHK at the impact event, upper part of the body was getting lower, lower part of the body was getting higher.