• 상하수도학회지
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• 제10권2호
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• pp.55-69
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• 1996

Backwashing is one of the most important processes in water treatment. Several models have been utilized to predict minimum fluidization velocity and expansion of media. However, it is not unusual that the actual bahavior of media dose not agree well with the prediction. This study has investigated the applicability of models in predicting the minimum fluidization velocity of sand media. However even the better model has predicted minimum fluidization velocity 1.1 to 1.8 times higher than actual fluidization velocity. The expansion rate of sand media was inspected. It is found that the actual expansion rate was greater than the predicted. In this study condition, use of $d_{10}$ instead of $d_{60}$ was better to predict the expansion of media. On the contrary to the sand media, the actual expansion of anthracite media was less than that predicted. Sometimes it is reported that the dual media has been overflown during backwashing and mixed severely at the interface. It is because the grain size distribution of anthracite has not been selected properly. The numerical values for media expansion found in this study could be referred as the useful data in operating and/or designing filter media.

• 한국소음진동공학회논문집
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• 제14권6호
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• pp.503-511
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• 2004

본 연구에서는 푸리에 모델, 확률 모델, 그리고 Newmark 설계 스펙트럼 방법과 같은 응답예측 모델을 사용하여 속도의존형 감쇠장치에 의해 제어되는 구조물의 응답과 제어기의 최대제어력을 예측하였다. 이를 위해, 유사 속도로부터 실제 속도를 예측하는 방법이 제안되었으며, 이 방법은 감쇠장치에 의해 증가되는 감쇠비의 실제속도에 대한 효과를 고려한다. 시간이력해석결과는 정확한 최대제어력을 예측하기 위해서는 실제속도가 사용되어야 하며, 제안된 방법에 의해 수정된 Newmark 설계 스펙트럼이 가장 전 주기구간에 걸쳐 정확한 예측 값을 산정함을 보여준다.

• 한국자동차공학회논문집
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• 제23권5호
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• pp.478-485
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• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• 전기학회논문지
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• 제62권6호
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.415-417
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• 2005

This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• 한국농공학회지
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• 제18권2호
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• pp.4089-4095
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• 1976

The safety of shore structure including the sea dipe is largely affected by typhoon. Accordingly it is desirable to analize the typhoon and determine the wind direction and velocity for use in planning and design of the structure. This method was adopted for the design of the Yong San Gang Estuary Dam. A comparative study of the results of typhoon analysis with the meteorological data obtained through actual observation is summarized as follows; (1) 62% of the typhoons occur during May to June in a year, and 62% of the typhoons which have an influence on the Korean peninsula, especially the proposed estuary dam fsite, proceed eastward through the zone in lat. 36$^{\circ}$-37$^{\circ}$N. Such typhoons occur two to three times a year on the average. (2) Data on typhoon "SARL" were used as a model case in designing the estuary dam, where it was proved that a southwesterly wind had a maximum velocity of 30m/sec in case r=150km, ${\alpha}$=120$^{\circ}$. Within the range of 22$^{\circ}$30'on the right and left side of the fetch line of the estuary dam, the wind direction varied SSW\longrightarrowSW\longrightarrowWSW, and the wind velocity varied 29m/sec\longrightarrow30m/sec\longrightarrow125m/sec. Such phenomemum lasted for five hours. (3) An analysis of data obtained during 44 years at Mok Po Meteorological Station shows that a wind with a velocity of some 25m/sec occurred twelve times in the S-direction and two times in the SW-direction, while that with a velocity of 30m/sec occurred three times in the S-direction, three times in the SSW-direction and one time in the SW-direction. The wind which had an influence on the estuary dam had a direction of SSW\longrightarrowSW\longrightarrowWSW and a velocity of min. 30m/sec. Actually, a wind with a max. velocity of 31.3m/sec occurred in the SSW-direction on March 15 and 16, 1956 where the mean velocity during two hours was 28m/sec and that during four hours was 24.6m/sec. (4) The data obtained through actual observation show that when the velocity is low, the wind with a fixed direction lasts long, and when the velocity is high, it is short-lived. It is difficult to determine the velocity of a wind which blows in a fixed direction for consecutive two or four hours. Therefore, the values obtained through typhoon analysis are larger that those obtained through actual observation, and hence, it is resonable to use the analyzed valuse for design of the estuary dam and shore structures. (5) The greatest effect was had on the estuary dam when typhoon was proceeding at a velocity of 29.71m/sec in the direction of ${\alpha}$=120$^{\circ}$(SW) at a point of R=150km from the center of the typhoon.

• 수산해양기술연구
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• 제46권2호
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• pp.165-172
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• 2010

This study was performed to estimate the swimming velocity of Pacific saury (Cololabis saira) migrated offshore Funka Bay of Hokkaido using an acoustic Doppler current profiler (OceanSurveyor, RDI, 153.6kHz) established in T/S Ushio-maru of Hokkaido University, in September 27, 2003. The ADCP's doppler shift revealed as the raw data that the maximum swimming velocity was measured 163.0cm/s, and its horizontal swimming speed and direction were $72.4{\pm}24.1\;cm/s$, $160.1^{\circ}{\pm}22.3^{\circ}$ while the surrounding current speed and direction were $19.6{\pm}8.4\;cm/s$, $328.1^{\circ}{\pm}45.3^{\circ}$. To calculate the actual swimming speed of Pacific saury in each bins, comparisons for each stratified bins must be made between the mean surrounding current velocity vectors, measured for each stratified bin, and its mean swimming velocity vectors, assumed by reference (threshold > -70dB) and 5dB margin among four beams of ADCP. As a result, the actual averaged swimming velocity was 88.6cm/s and the averaged 3-D swimming velocity was 91.3cm/s using the 3-D velocity vector, respectively.

• 오토저널
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• 제2권1호
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• pp.32-38
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• 1980

In the case of a automobile marking skid on road for a period of braking, in general, the automobile velocity just before rapid braking can be obtained by evaluating the coefficient of friction between tires and road. Up to now, the coefficient of friction has been derived from mean velocity measured by a time watch, but the automobile velocity obtained in this manner would be deviated from actual value considerably, due to errors arising from not only measuring time but other various factors. In this paper the presumption method of automobile velocity by accelerometer is presented so as to improve the accuracy of measurement, and to determine the velocity readily. The results obtained in this experiment show that the frictional coefficients between tires and road under the given experimental conditions are considered to take linear relation over the fixed velocity limits 30km/h to 50km/h while for the same limits of velocities the coefficients of friction by the time watch method are not valid ar low velocity range. It will be seen that the former is simple and reliable whilst the latter is cumbersome and unreliable.

• 한국화재소방학회논문지
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• 제20권4호
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• pp.91-97
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• 2006

본 연구는 도로터널 화재 시 최적의 방재시스템을 구축하기 위하여 실제터널의 축소모형을 대상으로 임계풍속 산정에 대한 적절성 검토를 위해 수행되었다. Froude scaling에 의해 실제터널의 약 1/29 축소모형에서 연기의 유동가시화 및 온도와의 상관관계 분석에 의해 임계풍속을 산정하였다. 실험결과 연기의 역류길이가 0이 되는 값으로 임계풍속을 산정한 결과 Kennedy 식에 의해 계산된 결과와 약 5% 이내의 차이로 근사함을 나타내었으며 연기 유동 및 온도분포의 관계는 화재강도의 변화에 큰 영향을 받지 않고 유사하게 나타났다.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2002년도 유체기계 연구개발 발표회 논문집
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• pp.370-377
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• 2002

Generally, the system of calculation for the multi-path ultrasonic flow meters can be divided into two methods by how to get the mean velocity, namely, weighting and direct method. Weighting-method derive the mean velocity through modeling in theoretical velocity profile. Direct-method derive the mean velocity though actual flow distribution. The system of calculation varies with maker's transducer configuration and integration method. Each system has merits and demerits. This paper describes the system of integration that calculates line velocity over cross-section of the circular pipe. Flow rate mr discussed in this paper is a difference between theoretical flow rate and integrated flow rate according to values of Reynolds number in symmetric flow field or theoretical flow rate and integrated flow rate according to rotated model in asymmetric flow field.