• Journal of Magnetics
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• 제15권2호
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• pp.78-84
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• 2010

A 3-D.O.F. spherical PM motor has 3 degrees of freedom in its motion by tilting and rotating of a shaft, which can be applied in a range of fields. The back-EMF is proportional to the field flux and angular velocity. The back-EMF constant in conventional rotating machine has a uniform value. However, in a spherical PM motor, the back-EMF constant of the coils varies according to the tilting conditions regardless of whether the angular speed is constant. Consideration of the back-EMF constant is useful for designing 3-D.O.F. spherical PM motors. In this study, the back-EMF constant of the spherical PM motor was considered carefully.

• 한국자동차공학회논문집
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• 제5권5호
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• pp.188-196
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• 1997

Many researchers have developed the measurement technique of in-cylinder flow characteristics and found the effect of intake port geometries on engine performance. The flow characteristics of four-valve cylinder head were examined in a steady flow rig for different intake ports. Tumble intensity of intake configurations with different entry angles were quantified with a tumble meter. The velocity and angular momentum distributions in the tumble adaptor were measured under steady conditions with PIV(Particle Image Velocimetry). We have obtained the results that flow structure becomes complicated by valve interference at low valve lift. As the valve interferences were reducing and the flow pattern changed to large vortex structure with tumble direction, intake ports with different entry angles have different tumble centers. Tumble eccentricity of intake port with low entry angle was large, so that the port had relatively much angular momentum compared to others which was expected to improve combustion performance.

• 한국정밀공학회지
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• 제4권4호
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• pp.56-71
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• 1987

Determination of navigation variables (latitude, longitude, and altitude) near the earth's surface is termed 'Terrestrial Navigation'. The quantities that are measured inertially are the total acceleration (or the integral fo this acceleration over a fixed time interval) and the total angular rate (or the integral of this angular rate over the same time interval). These measurements when suitably compensated can be manipulated to yield the navigation variables. Hence, it is essential that the initial values of position, orientation and velocity are accurately set up during the initial alignment process. Initial alignment of gimballed inertial navigation system ( GINS) is accomplished by gyrocompassing techniques. These cannot be used, in the case of strapdown inertial navigation system(SDINS), where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital method for the determination of the initial axes erection of a SDINS from vibration and sway currupted data on the launch pad.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1190-1193
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque, so that the estimation of damping property from the isokinetic movement is difficult.

• 한국항공우주학회지
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• 제32권6호
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• pp.81-86
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• 2004

롤 회전하는 유도탄에서 축소-확대 노즐을 지나는 추진 제트와 유도탄과의 각운동량 교환을 통하여 유도탄의 각운동량이 증가하게 되고 이러한 현상을 제트 롤 댐핑이라 한다. 본 연구에서는 제트 롤 댐핑을 각운동량 보존 방정식으로부터 유도하고 근사적인 계산을 통하여 신궁 유도탄의 제트 롤 댐핑의 최대값을 산출하였다. 또한 축대칭 압축성 난류 유동에 대한 수치 해석을 통하여 산출한 제트 롤 댐핑값을 비교하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.915-919
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• 2003

This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.268-272
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• 2007

These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.

• 한국음향학회지
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• 제7권2호
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• pp.65-73
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• 1988

본 논문에서는 음향현미경의 V(z)곡선을 해석하고 실험결과와 비교 고찰하였으며 V(z)곡선과 재료의 탄성 특성사이의 관계를 연구분석하였다. V(z)곡선의 이론적인 해석은 angular spectrum과 ray optics 이론을 사용하였고 실험은 동작주파수가 3MHz인 음향현미경을 구성하여 행하였다. 실험결과 V(z)곡선은 재료마다 고유의 형태를 나타내며 V(z) 곡선에서 극대치 사이의 간격은 재료에서 Rayleigh 파의 음향속도를 산출하는 데 이용될 수 있음을 보였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.96-101
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• 2004

When the wind blows hard, most waves are breaking in sea. Breaking waves occur, exceeding limitation of wave steepness(wave height/wave length=l/7). Because a wave of single angular frequency couldn't generate the breaking phenomena at two dimensional ocean engineering basin, the breaking wave can be generated by the superposition of waves with various angular frequencies. We research how are the particle kinematics in the breaking wave and the magnitude of the breaking wave exciting force. We compare the force in a regular wave which has same specifications(wave height, period and length) as the breaking wave. Also the experimental results of wave exciting force and particle velocity are investigated by comparison on the analytic results using the potential theory.