• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• 비파괴검사학회지
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• 제29권6호
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• pp.570-578
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• 2009

Excitation and propagation of guided waves are very complex problems in pipes due to their dispersive nature. Pipes are commonly used in the oil, chemical or nuclear industry and hence must be inspected regularly to ensure continued safe operation. The normal mode expansion(NME) method is given for the amplitude with which any propagating waveguide mode is generated in the pipes by applied surface tractions. Numerical results are calculated based on the NME method using different sources, i.e., non-axisymmetric partial loading and quasi-axisymmetric loading sources. The sum of amplitude coefficients for 0~nineth order of the harmonic modes are calculated based on the NME method and the dispersion curves in pipes. The superimposed total field which is namely the angular profile, varies with propagating distance and circumferential angle. This angular profile of guided waves provides information for setting the transducer position to find defects in pipes.

• 펄프종이기술
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• 제31권5호
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• pp.57-72
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• 1999

Traditional theories of the tensile failure of paper have assumed that uniform strain progresses throughout the sheet until an imperfection within the structure causes a catastrophic break. The resistance to tensile elongation is assumed to be elastic , at first, throughout the structure, followed by an overall plastic yield. However, linear image strain analysis (LISA) has demonstrated that the yield in tensile loading of paper is quite non-uniform throughout the structure, Traditional theories have failed to define the flaws that trigger catastrophic failure. It was assumed that a shive or perhaps a low basis weight area filled that role. Studies of the fracture mechanics of paper have typically utilized a well-defined flaw around which yield and failure could be examined . The flaw was a simple razor cut normal to the direction of tensile loading. Such testing is labeled mode I analysis. The included fla in the paper was always normal to the tensile loading direction, never at another orientation . However, shives or low basis weight zones are likely to be at random angular orientations in the sheet. The effects of angular flaws within the tensile test were examined. The strain energy density theory and experimental work demonstrate the change in crack propagation from mode I to mode IIas the initial flaw angle of crack propagation as a function of the initial flaw angle is predicted and experimentally demonstrated.

• 한국소음진동공학회논문집
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• 제15권4호
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• pp.499-505
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• 2005

In this paper, a new type of pi+ezoelectric stepping motor is designed, manufactured and tested. This motor is composed of piezoelectric torsional actuator and a pair of one-way clutch bearings. The torsional actuator consists of 16-polygonal tube of piezoceramic that can produce an angular displacement associated with shear mode. One-way clutch bearing converts oscillation of torsional actuator into a continuous stepping rotation. The proposed stepping motor does not require any conversion mechanism for stepping motion like any other motors. In the design process, the shear resonance mode of piezoelectric actuator is analyzed by using a commercial finite element analysis program, and the performance of the fabricated torsional actuator is measured. $0.124^{\circ}$ of maximum angular displacement is measured in square wave excitation on the actuator only. The stepping motor is manufactured by assembling a pair of one-way clutch bearings and the torsional actuator. The maximum rotation speed of 72rpm and the blocking torque of 3.136 mNm are measured at 3540 Hz and 100V/mm. Once the proposed piezoelectric stepping motor is miniaturized, it can be used for many compact and precise moving applications.

• 한국항공우주학회지
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• 제49권2호
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• pp.129-138
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• 2021

최근 다양한 지상 및 우주 임무 수행을 위한 위성 개발이 활발히 진행되고 있음에 따라 위성의 고정밀·고기동성을 고려한 위성 자세제어 또한 요구되는 추세이다. 임무 수행 최적화를 위하여 고기동성의 제어 모멘트 자이로(Control Moment Gyros, CMG)를 위성에 장착하여 반작용 휠(Reaction Wheel, RW)과 같은 기존의 구동기에서 비롯되는 기동 제약을 완화시킬 수 있다. 또한, 구동기 자체의 제약 특성으로 인하여 위성의 각속도 제한이 발생하게 된다. 본 논문에서는 이를 고려한 CSCMG(Constant Speed CMG)장착 위성의 자세제어를 위하여 슬라이딩 모드 기반 제어기를 설계하였고, 리아푸노프 안정성을 확인하였으며 마지막으로 수치 시뮬레이션을 통하여 제어기 성능 분석을 진행하였다.

• 전기학회논문지
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• 제57권9호
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• pp.1669-1673
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• 2008

A new cycle ergometer using a Magneto-Rheological (MR) rotary brake system has been developed for rehabilitation of hemiplegia patients to reduce uneven pedaling characteristics. For this purpose, a control method to adjust the resistance of the MR rotary brake in real time based on the magnitude of the muscular force exerted by the subject has been devised so that the mechanical resistance to the pedaling can be minimized when the affected leg was engaged for pedaling. A series of experiments were carried out with and without the engagement of this real-time control mode of MR rotary brake at different pedaling rate to find out the effect of the real-time control mode. The characteristics of the pedaling for these specific conditions were analyzed based on the variations in angular velocities of the pedal unit. The results showed that the variations in the angular velocities were decreased by 42.9% with the control mode. The asymmetry of pedaling between dominant and non-dominant leg was 19.63% in non-control mode and 1.97% in the control mode. The characteristics of electromyography(EMG) in the lower limbs were also measured. The observation showed that Integrated EMG(IEMG) reduced with the control mode. Therefore, the new bicycle system using MR brake with the real time control of mechanical resistance was found to be effective in recovering the normal pedaling pattern by reducing unbalanced pedaling characteristics caused by disparity of muscular strength between affected and unaffected leg.

• 대한설비공학회지:설비저널
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• 제15권2호
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• pp.169-181
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• 1986

A numerical analysis has been conducted on the dehumidification phenomena of rotary absorptive dehumidifier. Parameters that affect the dehumidification efficiency, such as regeneration temperature, humidity, rotor angular velocity, air flow rate and regeneration section angle are studied and optimum driving conditions are determined from the results, Furthermore three new types of dehumidification method are developed to improve the efficiency They are named MODE 2, 3 and 4, while the present one MODE 1. Cooling zone has been constructed between regeneration and process Bone in MODE 2 and as a result exit temperature of the process air decreases. MODE 3 an improvement of MODE 2, recirculates the cooling air into the regeneration zone and regeneration input as well as exit temperature decreases. In MODE 4, some of tee regeneration air is recirculated and it cuts down the regeneration input. Among them MODE 3, showed the best dehumidification efficiency.

• 천문학회보
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• 제38권2호
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• pp.43.1-43.1
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• 2013

We report the preliminary results of our GMVA(Global mm VLBI Array) observation at the frequency of 86 GHz. Observation were made in the dual polarization mode (LCP and RCP), to produce the polarimetric maps with the maximum angular resolution which the array is capable of. We aim to link the source-integrated AGN polarization properties with the polarized spatial source structure, by mapping the polarized "fine structure" of the target AGN. We selected 2 targets, 0954+658 and 0716+714, which (1) have been observed multiple times by the PdBI polarimetric monitoring program; (2) have sufficient integrated fluxes ($S_{90GHz}$ > 1 Jy) ; (3) are close enough to resolve the source structure < 1 pc with given angular resolution ; and (4) are located at high northern declination for good UV coverages. As preliminary results, we present LL and RR polarized images of each target with the maximum angular resolution of ${\sim}60{\mu}as$. Extended structures, probably the jet outflows, are discovered in both sources.

• 한국소음진동공학회논문집
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• 제14권1호
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• pp.64-72
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• 2004

In this paper. we analyse and present electro-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 motions of the ring are electro-statically derived. sensed and balanced by electrodes. The equations of motion are formulated. The measuring method of angular velocities by force-to-rebalance is presented. The dynamic characteristics of a ring gyroscope are calculated and compared.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.37-43
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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.