• Journal of the Korean Mathematical Society
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• v.55 no.2
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• pp.471-506
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• 2018

In this article, some projection methods (or fractional-step methods) are proposed and analyzed for the micropolar Navier-Stokes equations (MNSE). These methods allow us to decouple the MNSE system into two sub-problems at each timestep, one is the linear and angular velocities system, the other is the pressure system. Both first-order and second-order projection methods are considered. For the classical first-order projection scheme, the stability and error estimates for the linear and angular velocities and the pressure are established rigorously. In addition, a modified first-order projection scheme which leads to some improved error estimates is also proposed and analyzed. We also present the second-order projection method which is unconditionally stable. Ample numerical experiments are performed to confirm the theoretical predictions and demonstrate the efficiency of the methods.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.302-307
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• 2005

A novel neuro controller based simple neuro-structure with modified error function is introduced in this paper. This controller consists of two independent controllers, known as the voltage regulator and the angular controller. The voltage regulator is used to modify terminal voltage for the purpose of tracking a reference voltage. The angular controller is utilized to guarantee the stability of the system. In this structure each neuron uses a linear hard limit activation function that depends on the controlled variable and its derivatives. There is no need for parameter identification or any off-line training data. Two proposed controllers are merged by a smooth switch to build a complete controller. The effectiveness of the proposed novel control action is demonstrated through some computer simulations on a Single-Machine Infinite-Bus (SMIB) power system.

• Proceedings of the KIEE Conference
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• 2005.10b
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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.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.2-134
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• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• Journal of KSNVE
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• v.9 no.3
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• pp.461-465
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• 1999

This paper presents theoretical analyses for unstable vibrations caused by the couple of bending and torsion in a rotating shaft driven through a universal joint. A driving shaft is assumed to be rigid and to rotate with a constant angular velocity. The driven shaft system consists of a flexible shaft with a circular section and a symmetrical rotor attached at a point between the shaft ends. Equations of motion derived hold with an accuracy of the second order of shaft deformations, and are analyzed by the asymptotic method. The vibrations become unstable when the driving shaft rotates with the angular velocity to be approximately equal to half of the sum of the natural frequencies for whirling and torsional vibrations.

• Corrosion Science and Technology
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• v.5 no.1
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• pp.23-26
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• 2006

Recent development of ultrafine grained (UFG) low carbon steels by using equal channel angular pressing (ECAP) and their room temperature tensile properties are reviewed, focusing on the strategies overcoming their inherent mechanical drawbacks. In addition to ferrite grain refinement, when proper post heat treatments are imposed, carbon atom dissolution from pearlitic cementite during ECAP can be utilized for microstructural modification such as uniform distribution of nano-sized cementite particles or microalloying element carbides inside UFG ferrite grains and fabrication of UFG ferrite/martensite dual phase steel. The utilization of nano-sized particles is effective on improving thermal stability of UFG low carbon ferrite/pearlite steel but less effective on improving its tensile properties. By contrast, UFG ferrite/martensite dual phase steel exhibits an excellent combination of ultrahigh strength, large uniform elongation and extensive strain hardenability.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.163-167
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• 2007

A field emission electron gun including 3 electrodes including one cathode and two anodes is very important for high resolution electron microscope. To have functions to control the initially-emitted electron beam, two anodes act as an electrostatic lens according to equipotential lines by adjusting the spot size, intensity, and working distance. To verify the action of the electron beam by the electrostatic lens by changing several parameters such as electrode shape, displacement and applied voltage to the electrodes, the two lenses were design and simulated and then their performances were analyzed with angular beam intensity(distribution), electrical optic axis variation and their stability.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.2
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• pp.146-150
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• 2009

An Intelligent active roll angle controller design algorithm is discussed. The detailed mathematical formulation and analysis are discussed, and then modeling and design method for active roll angle controller are presented. This paper proposes a design method based upon intelligent robust controller design algorithm to control actively roll angle for improving cornering performance problems. The intelligent robust controller is designed for steady speed driving vehicle system model with representation of steering angle and yaw angular velocity parameters for cornering stability. And the detailed formulation and analysis for the objective vehicle system are investigated.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.4
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• pp.382-389
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• 2017

We are developing a prototype underwater glider for subsea payload delivery. The idea is to use a glider to deliver payloads for subsea installations. In this type of application, the hydrodynamic forces and dynamic stability of the glider is of particular importance, as it has implications on the glider's endurance and operation. In this work, the effect of two different wing forms, rectangular and tapered, on the hydrodynamic characteristics and dynamic stability of the glider were investigated, to determine the optimal wing form. To determine the hydrodynamic characteristics, tow tank resistance tests were carried out using a model fitted alternately with a rectangular wing and tapered wing. Steady-state CFD analysis was conducted using the hydrodynamic coefficients obtained from the tests, to obtain the lift, drag and hydrodynamic derivatives at different angular velocities. The results show that the rectangular wing provides larger lift forces but with a reduced stability envelope. Conversely, the tapered wing exhibits lower lift force but improved dynamic stability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.1083-1088
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• 2004

This paper deals with the vibration and stability of a circular cylindrical shaft, modeled as a tapered thin-walled composite beam and spinning with constant angular speed about its longitudinal axis, and subjected to an axial compressive force. Hamilton's principle and the assumed mode method are employed to derive the governing equations of motion. The resulting eigenvalue problem is analyzed, and the stability boundaries are presented for selected taper ratios and axial compressive force combinations. Taking into account the directionality property of fiber reinforced composite materials, it is shown that for a shaft featuring flapwise-chordwise-bending coupling, a dramatic enhancement of both the vibration and stability behavior can be reached. It is found that by the structural tailoring and tapering, bending natural frequencies, stiffness and stability region can be significantly increased over those of uniform shafts made of the same material. In addition, the particular case of a classical beam with internal damping effect is also included.