• 한국자동차공학회논문집
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• 제4권3호
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• pp.168-175
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• 1996

Except the collision avoidance performance related to the rapid lane change, the 4WS vehicle has better dynamic stability and handling performance than the conventional 2WS vehicle which has close relation with the driver's safety, a 4WS conrol method with the effect of steering wheel angular velocity is proposed based on the fact that the driver steers abruptly the steering wheel to avoid the collision. And the effects of the proposed 4WS control method are investigated on the dynamic stability and handling performance by using the ISO lane change test code.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.4-4
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• 2000

In this paper, the backstepping control method that is useful for cascade systems is applied to the slew maneuver of the spacecraft. The quaternion is used for representing the attitude of the spacecraft, because the reference trajectory of angular velocity has simple mathematical form. The conventional backstepping control has severa] problems such as slow convergence, trivial cancelling of nonlinear terms, and excessive control input. To overcome these problems, the modified backstepping control method which is redesign of Lyapunov function is proposed. To design a tracking function for angular velocity, it is necessary to estimate the process of maximum angular velocity, and therefore the estimation procedure using Bellman-Gronwall inequality is developed. To verify the effectiveness of the proposed control law, numerical simulation is performed and the results are compared with the exiting control scheme.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.669-672
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• 2003

This paper proposes a tracking algorithm for receiving satellite signal. Tracking algorithm uses the angular velocity of vehicle and the slope of received satellite signal for searching the maximum level of signal. The tracking algorithm is composed of two parts. One is the routine to maintain the acceptable signal in spite of the variation of angular velocity. The other is the fine tuning routine to search the maximum signal level by giving the weight factors to the slope of signal. Experimental results show that the proposed algorithm is efficient and stable.

• 대한기계학회논문집A
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• 제27권11호
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• pp.1824-1830
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• 2003

The vibrational system of this study is consisted of a rotating cantilever pipe conveying fluid and the tip mass. The equation of motion is derived by using the Lagrange equation. The influences of the rotating angular velocity and the velocity of fluid flow in a cantilever pipe have been studied on the dynamic characteristics of a rotating cantilever pipe by the numerical method. The effects of a tip mass on the dynamic response of a cantilever pipe are also studied. The tip-amplitude and maximum tip-deflection of each direction are directly proportional to the tip mass of the cantilever pipe in steady state. It identifies that the influence of the fluid velocity and the rotating angular velocity of the cantilever pipe give much variation the bending tip-displacement of steady state and the bending tip-displacement of non-steady state, respectively. The influence of the rotating angular velocity gives much the deflection of axial direction.

• 대한임베디드공학회논문지
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• 제17권2호
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• 한국소음진동공학회논문집
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• 제17권10호
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• pp.976-982
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• 2007

In this paper the vibration system is consisted of a rotating cantilever pipe conveying fluid and tip mass. The equation of motion is derived by using the Lagrange's equation. The system of pipe conveying fluid becomes unstable by flutter. Therefore, the influence of a rotating angular velocity, mass ratio, the velocity of fluid flow and tip mass on the stability of a cantilever pipe by the numerical method are studied. The critical flow velocity for flutter is proportional to the angular velocity and tip mass of the cantilever pipe. Also, the critical flow velocity and stability maps of the pipe system are obtained by changing the mass ratios.

• 동력기계공학회지
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• 제13권1호
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• pp.33-38
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• 2009

In this study, the nose of cam in the automobile engine was modelled into circular disk to analyze the torsional vibration of the cam shaft. The distance between disks was fixed, but the diameter of disks was changed. The torsional vibration of the cam shaft was studied experimentally by the motion of the modelled disk with changing the disk diameter. And the sizes of the modelled disk were selected not to show the natural frequencies over all the experimental ranges. The torsional vibration meter used in this study has a laser system with non-contact measurement method, which can measure both torsional angular vibration velocity and torsional angular vibration displacement simultaneously. The Experimental analysis shows that the characteristics of the torsional vibration in the horizontal rotating shaft can be considerably affected by the arrangement of the modelled disks.

• 대한의용생체공학회:의공학회지
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• 제35권3호
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• pp.35-41
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• 2014

In this study, joint angles of the lower extremity and inertial sensor data such as accelerations and angular velocities were measured during a ski simulator exercise in order to evaluate the skill of skiers. Twenty experts and twenty unskilled skiers were recruited for the study. All expert skiers held the certificates issued by the Korea Ski Instructors Association. A three-dimensional motion capture system and two inertial sensors were used to acquire joint movements, heel acceleration and heel angular velocity during ski simulator exercises. Pattern variation values were calculated to assess the variations in ski simulator motion of expert and unskilled skiers. Integral ratio of roll angular velocity was calculated to determine the parallel alignment of the two feet. Results showed that ski experts showed greater range of motion of joint angle, peak-to-peak amplitude(PPA) of heel acceleration and PPA of heel angular velocity than unskilled skiers. Ski experts showed smaller pattern variations than unskilled skiers. In addition, the integral ratio of roll angular velocity in ski experts was closer to 1. Inertial sensor data measurements during the ski simulator exercises could be useful to evaluate the skill of the skier.

• 천문학회지
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• 제38권2호
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• pp.249-252
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• 2005

We present results of the velocity-resolved spectroscopy of the [Fe II] $\lambda$1.644${\mu}m$ emission toward outflow sources with the Subaru Telescope at the angular resolution of 0.apos;16 ${\~}$ 0.apos;5 arcseconds. The observed sources are L1551 IRS 5, DG Tau, HL Tau and RW Aur, which are located in the Taurus-Aurigae Molecular Cloud, one of the closest star forming regions (0.apos;1 = 14 AU). We were able to resolve outflow structure in the vicinity of the sources at a scale of a few tens of AU. The position-velocity diagram of each object shows two velocity components: the high velocity component (HVC: 200 - 400 km $s^{-l}$) and the low velocity component (LVC: 50 - 150 km $s^{-l}$), which are clearly distinct in space and velocity. The HVC may be a highly collimated jet presumed from its narrow velocity width and high velocity. The LVC, on the other hand, may be a widely opened disk wind inferred from its broad velocity width and low velocity. The spectrum taken perpendicular to the L1551 IRS 5 outflow at its base shows that the LVC has a spatially wide subcomponent, supporting the above interpretation. We demonstrated that the [Fe II] 1.644 $\mu$ spectroscopy is a very powerful tool for the studies of fast jets and winds that directly emanate from star-disk systems.

• 한국운동역학회지
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• 제25권3호
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• pp.311-322
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• 2015

Objective : The purpose of this study was to investigate the effects of landing height and knee joint muscle fatigue on the movement of the lower extremity during cutting after landing. Method : Subjects included 29 adults (age: $20.83{\pm}1.56years$, height: $172.42{\pm}9.51cm$, weight: $65.07{\pm}10.18kg$). The subjects were asked to stand on their dominant lower limb on jump stands that were 30 and 40 cm in height and jump from each stand to land with the dominant lower limb on a force plate making a side step cutting move at a $45^{\circ}$ angle with the non-dominant lower limb. The fatigue level at 30% of the knee extension peak torque using an isokinetic dynamometer. Results : The results showed that the difference of landing height increased maximum range of motion and angular velocity of hip, knee, and ankle joints in the sagittal plane, and in the angular velocity of motion of the hip joint in the sagittal plane. The maximum range of motion of the knee joint in the sagittal plane and the frontal plane decreased on landing from both heights after the fatigue exercise. The angular velocity of the hip joint in the sagittal plane, and the maximum range of motion of the hip joint in the transverse plane decreased for both landing heights after the fatigue exercise. The angular velocity of the hip joint in the frontal plane decreased for the 30 cm landing height after the fatigue exercise. On the other hand, the angular velocity and maximum range of motion of the ankle joint in the sagittal plane for both landing heights, and the angular velocity and maximum range of motion of the ankle joint in the frontal plane increased on landing from the 40 cm height after the fatigue exercise. Conclusion : Different landing heights of 30 and 40 cm and 30% fatigue of peak torque of knee extensor found a forefoot and stiff landing strategy, when cutting after landing. These results might be due to decline in the shock absorption capability of the knee joint and the movement capability related to cutting while increasing the contribution of the ankle joint, which may cause increased ankle joint injuries.