• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.8
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• pp.1046-1055
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• 1997

An anisotropic k-.epsilon. turbulence model for predicting the rotating flows is proposed with the simple inclusion of a new parameter dealing with the extra straining effects in the .epsilon.-equation. This model is employed to compute the effects of Coriolis forces on fully-developed flow in a rotating channel. The predicted results indicate that the present model captures fairly well the striking rotational-induced effects on the Reynolds stresses and the mean flow distributions, including the argumentation of turbulent transport on the unstable side (pressure surface) of the channel and its damping on the stable side (suction surface).

• Journal of Industrial Technology
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• v.18
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2010.04a
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• pp.713-716
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• 2010

본 논문에서는 코리올리 효과를 가진 압전-구조 시스템의 주파수응답 해석을 효율적으로 수행하기 위한 크리로프 부공간 모델차수축소법을 제안하였다. 이 방법은 초기 유한요소모델과 축소모델의 전달함수의 계수인 모멘트를 일치시키는 방법을 이용하는 축소기법으로 이미 대형 유한요소모델의 주파수응답 해석에 효과적으로 이용되고 있다. 예제로 고려된 압전형 미소 각속도계의 해석에는 압전구동 하중과 구조체의 회전에 따른 원심력이 동시에 입력하중으로 고려되는 다중입력의 경우이므로 변환행렬 V의 생성시, block Arnoldi 과정을 이용하여 두 하중의 효과를 축소모델에 함께 고려한다. 본 문제에 제안된 축소기법을 이용한 결과, 축소모델을 이용하여 원래 시스템의 관심영역의 주파수응답을 작은 차수의 모델로도 정확하게 계산할 수 있음을 확인하였다. 본 논문에서 제안된 방법을 이용하면 다양한 가진조건과 각속도 입력 하에서의 주파수응답을 정확하고 더욱 효율적으로 계산할 수 있을 것이다.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.657-660
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• 2003

Control of multi-link robot arms is a very difficult problem because of the highly nonlinear dynamics. Decentralized control scheme is developed for control of robot manipulators based on RBF(Radial Basis Function) Neural Networks. RBF Neural Networks is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional force. The compensation controller is also proposed to estimate the bound of approximation error so that the chattering effect of the control effort can be reduced. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for two-link robot manipulator are included to show the effectiveness of controller.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.8 s.227
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• pp.921-928
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• 2004

Measurements of local heat/mass transfer coefficients in rotating two-pass ducts are presented. Ducts of three different aspect ratios (W/H), 0.5, 1.0 and 2.0, are employed with a fixed hydraulic diameter ($D_h$) of 26.7 nm. $90^{\circ}$-rib turbulators are attached on the leading and trailing walls symmetrically. The rib height-to-hydraulic diameter ratio ($e/D_h$) is 0.056, and the rib pitch-to-rib height ratio (p/e) is 10. The experimental conditions are the same as those of the previous part of the study. As the rib height-to-duct height ratio (e/H) increases, the core flow is more disturbed and accelerated in the midsections of ribs. Therefore, the obtained data show higher heat/mass transfer in the higher aspect ratio duct. Dean vortices also augment heat/mass transfer in the turn and in the upstream region of the second pass. However, the effect becomes less significant for the higher aspect ratio because the surface area increases in the present geometric condition. The effect of rotation produces heat/mass transfer discrepancy.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.1033-1043
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• 1997

In order to understand the generation mechanism of the Ulleung Eddy, we carried out a series of numerical experiments using the nonlinear 11/2 - layer model allowing the inflow of the Tsushima Current. According to our numerical results, the Ulleung Eddy was generated due to the inflow variations of the Tsushima Current. Its inflow through the Korea Strait was deflected to the east due to the Coriolis force and the nonlinear self advection. Thus, an anticyclonic motion was formed at the north of the Korea Strait. The inflow became a coastal boundary current, and finally flowed out model ocean through the eastern exit. When the speed of inflow decreased slowly, the eddy- like motion at the north of the Korea Strait changed into an enclosed anticyclonic eddy of about 200 km in diameter. The Ulleung Eddy became circular shape due to the nonlinear self advection, then changed into elliptical shape in meridional direction because of the blocking effect of the western boundary.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.1
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• pp.106-113
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• 2009

This paper presents a surface acoustic wave(SAW) micro-electro-mechanical-systems(MEMS) interdigital transducer (IDT) gyroscope with 80MHz central frequency on a $128^{\circ}\;YX\;LiNbO_3$, which is consisted of a two-port SAW resonator, metallic dots and dual delay lines for the sensor and reference oscillators. Reason for using two delay line oscillators is to extract the gyroscope effect by comparing the resonant frequencies between two oscillators and to compensate the temperature effect. Based on the coupling of modes(COM) simulation, an 80MHz two ports SAW resonator and dual delay line were fabricated and characterized by the network analyzer. Obtained sensitivity was $109Hz/deg{\cdot}s^{-1}$ in the angular rate range of $0{\sim}1000deg/s$. Good Linearity and superior directivity were observed.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Journal of the Korean institute of surface engineering
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• v.47 no.6
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• pp.323-329
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• 2014

Effects of sealant and sealing procedure on corrosion resistance of high velocity oxy-fuel (HVOF) sprayed coatings were studied. HVOF-sprayed CrC-20NiCr coatings were sealed using three commercial sealants based on phenolics and epoxy. Penetration depth of sealants, measured by fluorescent microscope technique, was between $19{\mu}m$ and $340{\mu}m$ depending on sealant, sealing condition or sealing procedure. It was found that sealing on rotation status was more effective than that on stationary specimen due to the Coriolis effect of fluid in pores of the coating. From the CASS results, corrosion resistance of properly sealed CrC-20NiCr coatings was equal to that of hexa-valent chromium plating.