• Journal of Magnetics
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• 제22권2호
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• pp.315-325
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• 2017

Magnetically suspended sensitive gyroscopes (MSSGs) provide an interesting alternative for achieving precious attitude angular measurement. To effectively reduce the measurement error caused by the non-uniformity of the air-gap flux density in a MSSG, this paper proposes a novel compensation method based on measuring and modeling of the air-gap flux density. The angular velocity measurement principle and the structure of the MSSG are described, and then the characteristic of the air-gap flux density has been analyzed in detail. Next, to compensate the flux density distribution error and improve the measurement accuracy of the MSSG, a real-time compensation method based on the online measurement with hall probes is designed. The common issues caused by the non-uniformity of the air-gap flux density can be effectively resolved by the proposed method in high-precision magnetically suspended configurations. Comparative simulation results before and after compensation have verified the effectiveness and superiority of the proposed compensation method.

• 한국소음진동공학회논문집
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• 제12권12호
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• pp.1001-1009
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• 2002

In this paper, we analyse and present mechanical dynamic characteristics of a micro-machined vibrating silicon ring gyroscope which can measure angular velocities about three orthogonal axes. The ring gyroscope has a ring connected to the gyroscope main body by support-ligaments which are arranged with cyclic symmetry. The natural modes of its vibration can be distinguished into the in-plane motion and the out-of-plane motion which are coupled by the gyro-effect due to the rotation of the gyroscope main body. The equations of motion, the response to angular velocities, and the relationships between the natural modes of vibration are derived and compared with the previous studies for the design of a micro three-axis ring gyroscope.

• 멤브레인
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• 제6권2호
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• pp.86-95
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• 1996

본 연구에서는1축 회전판형 한외여과막 모듈의 순수 투과율 예측모델과 기름 에멀션의 분리 특성 및 투과율 예측모델을 유도하였다. 1축 RDM은 한외여과막(UOP사, 직경 0.22m)으로 제작된 회전판막을 장착하여 $25^{\circ}C$에서 압력, 각속도($\omega$), 농도 변화에 따라 분리특성을 조사하였다. 회전판막의 각속도가 0에서 52.36rad/s로 증가할수록 회전판내 유체가 받는 원심력에 의한 압력 강하와 분리막 표면의 미끄럼 흐름에 의한 압력 강하로 순수 투과율은 최대 각속도에서 3.9% 감소하였다. 원심력과 미끄럼 흐름에 의한 압력 강하는 선속도(${\omega}r$)의 자승에 비례하였다. 회전판의 각속도가 52.36에서 2.62rad/s로 감소할 때 5% 절삭유의 투과율은 30.16% 감소하였고 농도가 낮을수록 막회전과 투과율에 미치는 영향은 적었다. 절삭유의 투과율(J; $kg/m^{2} \cdot s$)은 회전에 의한 압력 강하를 고려한 유효압력차($\Delta P_{T}$ ; Pa), 벌크농도($C_{B}$; %), 선속도($\omega$r; m/s) 등에 영향을 받으며 실험 결과에 저항 모델을 적용하여 다음과 같은 식을 유도하였다.

• 천문학회보
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• 제45권1호
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• pp.52.4-53
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• 2020

It is less well known that the properties, especially the mass accretion rate, of accretion flow are affected by the angular momentum of accreting gas. Park (2009) found that the mass accretion rate \dot{m}, mass accretion rate in units of Bondi accretion rate, is inversely proportional to the angular momentum of gas λ, at the Bondi radius where gas sound speed is equal to the free-fall velocity and proportional to the viscosity parameter α, and also Narayan & Fabian (2011) found a similar relation, but the dependence of the mass accretion rate of the gas angular momentum is much weaker. In this work, we investigate the global solutions for the rotating Bondi flow, i.e., polytropic flow accreting via viscosity, for various accretion parameters and the dependence of the mass accretion rate on the physical characteristics of gas. We set the outer boundary at various radius r_{out}=10^3~10^5 r_{Sch}, where r_{Sch} is the Schwarzschild radius of the black hole. For a small Bondi radius, the mass accretion rate changes steeply, as the angular momentum changes, and for a large Bondi radius, the mass accretion rate changes gradually. When the accreting gas has a near or super Keplerian rotation, we confirm that the relation between the mass accretion rate and angular momentum is roughly independent of Bondi radius as shown in Park (2009). We find that \dot{m} is determined by the gas angular momentum at the Bondi radius in units of r_{Sch}c. We also investigate the solution for the rotating Bondi flow with the outflow. The outflow affects the determination of the mass accretion rate at the outer boundary. We find that the relation between the mass accretion and the gas angular momentum becomes shallower as the outflow strengthens.

• Journal of applied mathematics & informatics
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• 제10권1_2호
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• pp.175-191
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• 2002

The equations of a polar fluid of hydromagnetic fluctuating through a porous medium axe cast into matrix form using the state space and Laplace transform techniques the resulting formulation is applied to a variety of problems. The solution to a problem of an electrically conducting polar fluid in the presence of a transverse magnetic field and to a problem for the flow between two parallel fixed plates is obtained. The inversion of the Laplace transforms is carried out using a numerical approach. Numerical results for the velocity, angular velocity distribution and the induced magnetic field are given and illustrated graphically for each problems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.147.3-147
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• 2001

We have proposed a digital control method, where the controlled variable is a joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. The explicit relationship between the control law and the sampling period, however, is unknown because the controller gains include the sampling period implicitly. This paper presents a novel digital control method which explicitly describes the relation between the sampling period and the controller gains. Computer simulation of a 3-DOF planar space robot manipulator is peformed. Simulation result demonstrates the effctiveness of the proposed method.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권3호
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• 한국해양공학회지
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• 제31권2호
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• pp.164-169
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• 2017

Studies were performed on an ARS using SDINS's RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.283-289
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• 2011

본 논문에서는 차륜형 역진자에 적용되는 속도 추정기 기반 제어기 설계와 다양한 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 불안정한 평형점과 안정한 평형점을 동시에 갖는다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 제어기의 입력으로 차륜형 역진자 몸체의 각도, 각속도, 변위 속도 등이 필요하다. 필요한 속도는 모터에 부착된 에코더 신호를 차분하여 얻어지며, 엔코더의 해상도에 민감하게 의존한다. 저해상도 엔코더와 속도 추정기에 기반하여 개선된 속도 검출법이 제안되고 경사면에서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.507-512
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• 1987

Input/output equations in SDINS IMU are modeled from survey of IMU data flow. Given without precise equipments which can generate acceleration and angular velocity, a simple method is derived to calibrate the parameters of i/o eqijations. Also in order to upgrade ins performance, methods to estimate variant magnitudes of time variant parameters are surveyed.