• Water for future
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• v.27 no.4
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• pp.123-133
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• 1994

The kinematic and diffusion models using simplified momentum equations of the full dynamic equation have been frequently used for numerical flow simulations, because they have several computational advantages compared to the full dynamic model. In this paper, the more generally acceptable application ranges of the kinematic and diffusion finite difference models were investigated based on three major parameters, which are channel bed slopes So, dimensionless depth increasing numbers Gw at upstream boundary and Froude numbers Fr. The applicable ranges were obtained by comparing the relative magnitudes of the local acceleration, convective acceleration, pressure, gravity and friction terms in the full dynamic equation. In the simulations, a Courant number of 0.5 was used and the channel bed slopes were changed from 0.00001 to 0.05. Also, Froude numbers of 0.1, 0.5 and 0.9 were employed. In this paper, it is indicated that the applicable ranges of kinematic models are increased with increasing of Froude numbers. However, the applicable ranges of diffusion models are decreased with increasing of Froude numbers. Finally, 9 figures were proposed as a guideline in the application of kinematic and diffusion finite difference models based upon the allowable deviation compared to the full dynamic model. With applying the proposed criteria, it is expected that the flow simulations in the channels, streams or rivers are more efficiently achieved.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.72.1-72.1
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• 2017

Energetic ionized gas outflows driven by active galactic nuclei (AGN) have been studied as a key phenomenon related to AGN feedback. To probe the kinematics of the gas in the narrow line region, [O III] ${\lambda}5007$ has been utilized in a number of studies, showing non-virial kinematic properties due to AGN outflows. We statistically investigate whether the $H{\alpha}$ emission line is influenced by AGN driven outflows, by measuring the kinematic properties based on the $H{\alpha}$ line profile, and by comparing them with those of [O III]. Using the spatially integrated spectra of ~37,000 Type 2 AGNs at z < 0.3 selected from the SDSS DR7, we find a non-linear correlation between $H{\alpha}$ velocity dispersion and stellar velocity dispersion, which reveals the presence of the non-gravitational component, especially for AGNs with a wing component in $H{\alpha}$. The large $H{\alpha}$ velocity dispersion and velocity shift of luminous AGNs are clear evidence of AGN outflow impacts on $H{\alpha}$ emitting gas, while relatively smaller kinematic properties compared to those of [O III] imply that the observed outflow effect on the $H{\alpha}$ line is weaker than the case of [O III].

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• Structural Engineering and Mechanics
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• v.44 no.6
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• pp.775-799
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• 2012

This work approaches the structural performance of masonry arches that have a small ratio between number of vossoirs and span length. The aim of this research is to compare and validate three different methods of analysis (funicular limit analysis F.L.A., kinematic limit analysis K.L.A. and plane stress Finite Element Analysis F.E.A.) with an experimental campaign. 18 failure tests with arches of different shapes and boundary conditions have been performed. The basic failure mechanism was the formation of enough hinges in the geometry. Nevertheless, in few cases, sliding between vossoirs also played a relevant influence. Moreover, few arches didn't reach the collapse. The FLA and KLA didn't find a solution close to the experimental values for some of the tests. The low number of vossoirs and joints become a drawback for an agreement between kinematic mechanism, equilibrium of forces and geometry constraints. FLA finds a lower bound whereas KLA finds an upper bound of the ultimate load of the arch. FEA is the most reliable and robust method and it can reproduce most of the mechanism and ultimate loads. However, special care is required in the definition of boundary conditions for FEA analysis. Scientific justification of the more suitability of numerical methods in front of classic methods at calculating arches with a few vossoirs is the main original contribution of the paper.

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.9.2-9.2
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• 2005

• Korean Journal of Hydrosciences
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• v.1
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• pp.15-25
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• 1990

Spatially varied unsteady flow in a groave-like channel of a sloping roof is analyzed by numerical solution of Saint Venant equations. Depth variations are discussed with different slopes and bed roughness of the channel. Time to equilibrium is found to be inversely proportional to the kinematic flow number. The design of roof drainage system by different schemes is included.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.3
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• pp.79-85
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• 2001

We obtain a solution of inverse kinematic of 3 axis manipulator by using a self-organizing neral network(SONN) with a fuzzy compensator. The self-organizing neural network using the gaussian potential function as the activation function has one hidden layer in the first learning time. The network obtains the optimal number of node by increasing the number of hidden layer node through the learning, and the fuzzy compensator has the optimal loaming rate of neutral network. In this results, we can confirmed that the learning rate is improved and the rapid convergence to the steady-state.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.455-458
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• 2006

The Real Time Kinematic (RTK) technique is the most productive and accurate GPS positioning method today, as it can be determinate position within few centimeters instantly. This method is widely used for applications such as surveying, structure monitoring and machine guidance etc. In order to perform RTK processing for large scale systems (i.e. precise vehicle monitoring with many rovers), many expensive RTK receivers and same number of bidirectional communication units have to be installed to collect observation data communicate with the reference site and monitor its RTK solutions. Moreover, if applications require remote control or apply sensing instruments, we have to install computers at each rover. To limit expense and complexity of system management with a large number of rovers, we have developed server based RTK processing platform to share RTK function for all rovers. The system can be process many GPS stations with a single personal computer. we have also developed a specialized dual frequency GPS receiver unit without on-board RTK processing capability to reduce receiver cost in order to demonstrate the advantage of our server based RTK platform. This paper describes the concept of our server based RTK platform and specialized GPS receiver unit with existing applications in Japan.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1771-1776
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• 2003

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.