• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Proceedings of the KSME Conference
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• 2008.11b
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• pp.2536-2539
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• 2008

A study has been made on how to occur inertial oscillations in a rotating flow. The flow is considered to be induced by differentially-rotating top and bottom disks with infinite radius. The top and bottom disks are assumed to be set in motion over a finite initial start-up time duration from initial solid body rotation ($\Omega$) to each finial state, i.e., the top disk is rotating at the angular velocity (${\Omega}+{\Delta}{\Omega}$) and the bottom disk (${\Omega}-{\Delta}{\Omega}$). The system Reynolds number, which is a reciprocal of conventional Ekman number in rotating flows, is very high so that a boundary layer flow near disks is pronounced. From a strict theoretical analysis, it is clearly found the fact that inertial oscillation in a rotating flow is caused by excessive input of torque during start-up phase. Above finding comes from the following physics of theoretical result: in the case of abrupt start-up within very shorter time-duration than spin-up time scale, the inertial oscillation is magnified but it could be completely depressed in the case of mildly accelerated start-up, i.e., start-up process being established over diffusion time scale.

• Journal of the Korean Society for Railway
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• v.8 no.6 s.31
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• pp.500-506
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• 2005

The development of tilting train has been required for speed-up on the conventional electric railroad due to the characteristic of Korean railroad with a lot of curve track. The study and development of a tilting system and a tilting bogie which have a different mechanism with high speed train will play a important role for enhancement of technology for Korean railway. The study for tilting pantograph mechanism to decrease the displacement between a catenary and a center of pantograph happened when the carbody is tilted in order to maintain the ride comfort and stability m a curving track is proceeding with the development of tilting train. In this paper, we introduce the design concept for the tilting mechanism of pantograph and the role and characteristics for several devices adopted in the tilting mechanism of pantograph. Through the kinematic analysis of tilting mechanism, we will obtain and calculate the optimal tilting angular velocity and acceleration in order to keep the contact behavior of a pantograph and a catenary according to tilting of a carbody.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.615-620
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• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.6
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• pp.9-13
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• 2009

In the three axis control of Low Earth Orbit (LEO) satellite by using reaction wheel and gyro, a reaction wheel produces the control torque by the wheel speed or momentum, and a gyro carries out measuring of the attitude angle and the attitude angular velocity. In this paper, the dynamic modelling of LEO is consisted of the one from the rotational motion of the satellite with basic rigid body model and a flexible model, in addition to the reaction wheel model. A robust controller $(H_\infty)$ is designed to stabilize the rigid body and the flexible body of satellite, which can be perturbed due to disturbance, etc. The result obtained by $H_\infty$ controller is compared with that of the PI (Proportional and Integration) controller, which has been traditionally using for the stabilizing LEO satellite.

• Journal of The Korean Astronomical Society
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• v.28 no.2
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• pp.255-264
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• 1995

The HII region S140 and the associated molecular cloud L1204 have been observed with 10 molecular transitions, CO (1-0), $^{13}CO$ (1-0), $C^{18}O$ (1-0), CS (2-1), $HCO^+$ (1-0), HCN (1-0), SO (${2_2}-{1_1}$), $SO_2(2_{20}-3_{13})$, OCS (8-7), and $HNCO\;(4_{04}-3_{03})$ with ${\sim}50"$ angular resolutions. More than 7,000 spectra were obtained in total. The morphology of this region shows a massive fragment (the S140 core) and the extended envelope to the northeast. Several gas condensations have been identified in the envelope, having masses of ${\sim}10^{3}M_{\odot}$ and gas number densities of ${\lesssim}10^{4}cm^{-3}$ to $3{\times}10^{5}cm^{-3}$ in their cores. The column densities of the observed molecular species toward the S140 core appear to be the typical warm clouds' abundances. It seems to be that the S140 core and L1204 have been swept up by an expanding shell called the Cepheus bubble. The large value of $L_{IR}$(embedded\;stars)/$M_{cloud}\;{\sim}\;5\;L_{\odot}$/$M_{\odot}$ of the S140 core may suggest that the star formation has been stimulated by the HII region, but the shock velocity and the pressure of the region seem to give a hint of the spontaneous star formation by the self gravity.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.57-58
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• 2015

In this study, we present geometrical and kinematical analysis of Moreton wave observed in 2012 June 3rd and July 6th, recorded in H-${\alpha}$ images of Global Oscillation Network Group (GONG) archive. These large-scale waves exhibit different features compared to each other. The observed wave of June 3rd has angular span of about $70^{\circ}$ with a diffuse wave front associated to NOAA active region 11496. It was found that the propagating speed of the wave at 17:53 UT is about $931{\pm}80km/s$. The broadness nature of this Moreton wave can be interpreted as the vertical extension of the wave over the chromosphere. On the other hand, the wave of July 6th associated with X1.1 class are that occurred at 23:01 UT in AR NOAA11515. From the kinematical analysis, the wave propagated with the initial velocity of about $994{\pm}70km/s$ which is in agreement with the speed of coronal shock derived from type II radio burst, v ~ 1100 km/s. These two identified waves add the inventory of the large-scale waves observed in 24th Solar Cycle.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.121-123
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• 2015

We report our measurements of the trigonometric distance and proper motion of IRAS 20056+3350, obtained from the annual parallax of $H_2O$ masers. Our distance of $D=4.69^{+0.65}_{-0.51}kpc$, which is 2.8 times larger than the near kinematic distance adopted in the literature, places IRAS 20056+3350 at the leading tip of the Local arm and proximal to the Solar circle. We estimated the proper motion of IRAS 20056+3350 to be (${\mu}_{\alpha}cos{\delta}$, ${\mu}_{\delta}$) = ($-2.62{\pm}0.33$, $-5.65{\pm}0.52$) $mas\;yr^{-1}$ from the group motion of $H_2O$ masers, and use our results to estimate the angular velocity of Galactic rotation at the Galactocentric distance of the Sun, ${\Omega}_0=29.75{\pm}2.29km\;s^{-1}kpc^{-1}$, which is consistent with the values obtained for other tangent points and Solar circle objects.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.115-118
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• 2015

We made phase-referencing Very Long Baseline Interferometry (VLBI) observations of Galactic 22 GHz $H_2O$ maser sources with VLBI Exploration of Radio Astrometry (VERA). We measured the parallax distances of G48.61+0.02, G48.99-0.30, G49.19-0.34, ON1, IRAS 20056+3350, IRAS 20143+3634, ON2N, and IRAS 20126+4104, which are located near the tangent point and the Solar circle. The angular velocity of the Galactic rotation at the LSR (i.e. the ratio of the Galactic constants) is derived using the measured parallax distances and proper motions of these sources. The derived value of ${\Omega}_0=28.8{\pm}1.7km\;s^{-1}kpc^{-1}$ is consistent with recent values obtained using VLBI astrometry but 10% larger than the International Astronomical Union (IAU) recommended value of $25.9km\;s^{-1}kpc^{-1}=(220km\;s^{-1})$ / (8.5 kpc).