• Proceedings of the KSME Conference
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• 2000.04b
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• pp.497-501
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• 2000

Flow over a sphere is controlled experimentally at $Re=10^5$ using electro-magnetic actuators. The electro-magnetic actuator developed in this study is composed of the permanent magnet electro-magnet membrane and slot. Eight actuators are placed inside the sphere at equally spaced intervals on a latitudinal plane and the position of the control slot is 76 from the stagnation point. Each actuator generates a periodic blowing and suction through the slot at variable frequencies of $10{\sim}140Hz$ and variable amplitudes by controlling electric signals applied to the electro-magnet. Drag on the sphere measured using a load cell is significantly reduced with control at the forcing frequencies larger than the natural shedding frequency $({\approx}14Hz\;at\;Re=10^5)$, whereas drag is slightly increased at the forcing frequency of 10Hz. It is shown from pressure measurement that the static pressure in the rear surface of the sphere is significantly increased with control, indicating that the separation is delayed due to control. Flow visualizations also show that the detaching shear layer is more attracted to the sphere center with control, the separation bubble size is significantly reduced, and motion inside the bubble is very weak, as compared to the case of uncontrolled flow.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.226-226
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• 2000

This paper presents the control problem for the motion of sphere with robot manipulator. The robot manipulator is controlled to regulate the angle of plate for the sphere to track given trajectories on the plate. The center position of the sphere is measured with machine vision system and the advanced algorithm for center detection is proposed in which the change of shape is considered to solve the problem of image distortion. To cope with the variation of plate material and the structure of sphere (size, mass, etc.), sliding mode control, which has robustness to model uncertainty, is applied to the control of robot manipulator.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2753-2756
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• 2007

In the present study, we reduce the drag and lift fluctuations of the sphere by providing a linear proportional control. For this purpose, we measure the radial velocity along the centerline in the wake and provide blowing and suction at a part of sphere surface based on the measured velocity. Zero-net mass flow rate is satisfied during the control. This control is applied to the flow over a sphere at Re=300 and 425. We vary the sensing location at $0.8d{\leq}X_s{\leq}1.3d$ and find that the most effective sensing region coincides with the location at which minimum correlation between the lift and sensing-velocity directions occurs. As a result, the lift and drag fluctuations are significantly reduced.

• Wind and Structures
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• v.35 no.1
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• pp.1-20
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• 2022

This research work presents an experimental study's outcomes to reveal the impact of an O-ring on the flow control over a sphere placed in a turbulent boundary layer. The investigation is performed quantitatively and qualitatively using particle image velocimetry (PIV) and dye visualization. The sphere model having a diamater of 42.5 mm is located in a turbulent boundary layer flow over a smooth plate for gap ratios of 0≤G/D≤1.5 at Reynolds number of 5 × 10³. Flow characteristics, including patterns of instantaneous vorticity, streaklines, time-averaged streamlines, velocity vectors, velocity fluctuations, Reynolds stress correlations, and turbulence kinetic energy (), are compared and discussed for a naked sphere and spheres having O-rings. The boundary layer velocity gradient and proximity of the sphere to the flat plate profoundly influence the flow dynamics. At proximity ratios of G/D=0.1 and 0.25, a wall jet is formed between lower side of the sphere and flat plate, and velocity fluctuations increase in regions close to the wall. At G/D=0.25, the jet flow also induces local flow separations on the flat plate. At higher proximity ratios, the velocity gradient of the boundary layer causes asymmetries in the mean flow characteristics and turbulence values in the wake region. It is observed that the O-ring with various placement angles (𝜃) on the sphere has a considerable alteration in the flow structure and turbulence statistics on the wake. At lower placement angles, where the O-ring is closer to the forward stagnation point of the sphere, the flow control performance of the O-ring is limited; however, its impact on the flow separation becomes pronounced as it is moved away from the forward stagnation point. At G/D=1.50 for O-ring diameters of 4.7 (2 mm) and 7 (3 mm) percent of the sphere diameter, the -ring exhibits remarkable flow control at 𝜃=50° and 𝜃=55° before laminar flow separation occurrence on the sphere surface, respectively. This conclusion is yielded from narrowed wakes and reductions in turbulence statistics compared to the naked sphere model. The O-ring with a diameter of 3 mm and placement angle of 50° exhibits the most effective flow control. It decreases, in sequence, streamwise velocity fluctuations and length of wake recovery region by 45% and 40%, respectively, which can be evaluated as source of decrement in drag force.

• Strategy21
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• s.38
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• pp.47-82
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• 2015

To control the sphere, it required a strategic understanding to sphere and a power for overcome to it. In the early 20th century, the Pacific-War is a confrontation between the U.S. and the Japan for holding supremacy a pacific ocean sphere, building on maritime geopolitical perception. The Pacific ocean is a large of sphere, so if a country pursues a Pacific region supremacy, it needs a strategic perception and capability to control the sphere. After the U.S. has unified the continental, it has formed geopolitical perception in the Pacific ocean and by the way to control the Pacific ocean selected a naval power. The U.S. must have overcome a Pacific sphere for getting through to the Pacific region, this concept has developed the War Plan Orange(war plan relations with the Japan). Meanwhile, at this point of time, the Japan has recognized to a geopolitical point of view about security environment in the Pacific ocean. like as the U.S. has the War Plan Orange in mind for building on geopolitical perception of the Pacific ocean, the Japan also has learned geopolitical perception from the U.S. Because of this, the Japan has established the Interception-Attrition strategy(war plan relations with the U.S.). If we don't have overcome a sphere of the Pacific ocean, we don't hold hegemony of the Asia-Pacific region. So the analysis of perspective maritime geopolitics about the Pacific war is a meaningful study.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.11-16
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• 2002

In this paper, we present two successful results from active controls of flows over a circular cylinder and a sphere for drag reduction. The Reynolds number range considered for the flow over a circular cylinder is 40-3900 based on the free-stream velocity and cylinder diameter, whereas for the flow over a sphere it is $10^{5}$ based on the free-stream velocity and sphere diameter. The successful active control methods are a distributed (spatially periodic) forcing and a high-frequency (time periodic) forcing. With these control methods, the mean drag and lift fluctuations decrease and vortical structures are significantly modified. For example, the time-periodic forcing at a high frequency (larger than 20 times the vortex shedding frequency) produces $50{\%}$ drag reduction for the flow over a sphere at $Re=10^{5}$. The distributed forcing applied to the flow over a circular cylinder results in a significant drag reduction at all the Reynolds numbers investigated.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.199-202
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• 2006

The objective of this study is to propose methods of controlling the wake behind a sphere for drag reduction using the suboptimal control theory and surrogate management framework, respectively. The Reynolds numbers considered is 300 at which the base flow is unsteady planar symmetric. Given the cost function defined as the square of the difference between the target pressure (potential-flow pressure) and real flow pressure on the sphere surface, the suboptimal control makes the flow steady axisymmetric and produces drag reduction. Based on the actuation profile from the suboptimal control, the optimal wavy actuation profile is obtained using the surrogate management framework and produces drag reduction.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.191-194
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• 2006

In this paper, we present a detailed mechanism of drag reduction by dimples and roughness on a sphere by measuring the streamwise velocity above the dimpled and roughened surfaces, respectively. Dimples cause local flow separation and trigger the shear layer instability along the separating shear layer, resulting in generation of large turbulence intensity. With this increased turbulence, the flow reattaches to the sphere surface with high momentum near the wall and overcomes strong adverse pressure gradient formed in the rear sphere surface. As a result, dimples delay main separation and reduce drag significantly. The present study suggests that generation of a separation bubble, i.e. a closed-loop streamline consisting of separation and reattachment, on a body surface is an important flow-control strategy for drag reduction on a bluff body such as the sphere and cylinder. In the case of roughened sphere, the boundary layer flow is directly triggered by roughness and changes to a turbulent flow. Due to this change, the drag significantly decreases. As the Reynolds number further increases, transition to turbulence occurs earlier on the sphere surface. Because of faster growth of turbulent boundary layer by roughness, earlier transition thickens the boundary layer, resulting in earlier separation and drag increase with increasing Reynolds number

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.281-287
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• 2016

In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.361-366
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• 2015

In this paper, we propose a novel surveillance throwing robot which is compact, light-weight and has an efficient shock absorption mechanism. The throwing robot is designed in a spherical shape to be easily grabbed by a hand for throwing. Also, a motor-wheel linking mechanism is designed to be robustly protected from shocks upon landing. The proposed robot has a weight of 2.2kg and the diameter of its wheels is 150 mm. Through the field experiments, the designed robot is validated to withstand higher than 13Ns of impulse.