• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.524-528
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• 2006

A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commanded by a user. We found that when there was smaller load inertia, a larger restoration displacement occurred. Therefore, the load can be identified by issuing a predefined command to measure the restoration displacement, which enables us to construct a controller that can limit the angular velocity of the load by planning the motion. Experimental results show the performance of the controller with different loads.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.6
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• pp.598-605
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• 1988

A kinematic control method for the redundant robot manipulator is proposed, where redundancy is utilized to avoid the limit of joint positions and velocities. For the given tadk, the joint positions are obtained in such a way that each joint is placed as close to its center point as possible by considering the velocity limit. The robot is, therefore, controlled so that the joints move with the acceptable velocities and lie within the reachable ranges. To show the validities of the proposed method, two examples are illustrated by computer simulations for the RHINO-XR robot with sliding base.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.213-214
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• 1998

The important role of the ultrasonic Doppler system in the modem clinical medicine is to provide the clinical information of the vascular system. The ultrasonic pulsed wave(PW) Doppler system, a kind of the ultrasound Doppler system, is more available than the ultrasonic continuous wave(CW) Doppler system because it can evaluate the velocity and the direction of blood flow as well as the depth of vessel. However, the ultrasonic PW Doppler system has the disadvantage that the range of evaluating velocity of blood flow is limited(Nyquist limit). In order to solve this limit, we propose the algorithm for eliminating this aliasing in this paper. In addition, we propose the efficient signal processing algorithm.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.5
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• pp.93-100
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• 1994

Friction-induced vibration characteristics of automotive brake lining pad are investigated on the basis of experimental observations from a pin-on-disk type friction-induced vibration experimental apparatus. The measured responses of the experimental apparatus show limit cycles of quasi-harmonics type and beat phenomena due to the velocity dependence of friction force. To deduce the friction coefficient vs. relative velocity Lienard method is adopted with least square fit. It shows Scurve which characterizes a quasi-harmonic vibration. The calculation of amplitudes and friquencies of the limit cycles is done using slowly changing phase and amplitude method. The theoretical and numerical results show fairly good agreements with those of experiments.

• Journal of the Semiconductor & Display Technology
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• v.6 no.1 s.18
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• pp.31-36
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• 2007

Effect of coulomb friction and backlash on the single loop position control has been studied for the precision position control. We have showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, we have made an inner loop with a classical velocity and torque controller which was forcing the current of d axis to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear encoder for sensing a position of the loader. Also, we have used least squares fit(LSF) observer for reducing noise when we got velocity from position outputs. We have shown a good result by using the dual loop through simulation and experiment.

• Computers and Concrete
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• v.6 no.1
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• pp.79-93
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• 2009

In the present paper, a methodology has been presented for the reliability assessment of concrete barriers that lie at a certain depth in the soil, and a missile (a rigid projectile) impacts the top of the soil cover normally, and subsequently after penetrating the soil cover completely it hits the barrier with certain striking velocity. For this purpose, using expressions available in the literature, striking velocity of missile at any depth of soil has been derived and then expressions for the depths of penetration in crater and tunnel region of concrete barrier have been deduced. These depths of penetration have been employed for the derivation of limit state functions. Using the derived limit state functions reliability assessment of underground concrete barrier has then been carried out through First Order Reliability Method (FORM). To study the influence of various random variables on barrier reliability, sensitivity analysis has also been carried out. In addition, a number of parametric studies is conducted to obtain the results of practical interest.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1430-1435
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• 2004

The present paper is devoted to the modeling based on an averaging approach for microchannel heat sinks. Firstly, analytic solutions for velocity and temperature distributions for low-aspect-ratio microchannel heat sinks are presented by using the averaging approach. When the aspect ratio of the microchannel is smaller than 1, analytic solutions accurately evaluate thermal resistances of heat sinks while the previous model cannot predict thermal resistances. Secondly, asymptotic solutions for velocity and temperature distributions at low-aspect-ratio limit and at high-aspect-ratio limit are presented by using the scale analysis. Asymptotic solutions are very simple, but shown to predict thermal resistances accurately.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.389-393
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• 2005

When the high-speed train running on the track, there is a speed limit which track distortion is unusually increased according to condition of track and roadbed. This speed limit is called critical velocity, and physical parameter value increased very greatly. These phenomenon happened as high-speed train were developed, studied regularly through TGV 100 running test in France. As research result until now, the main reason is soft roadbed's capacity. Wave propagation and track support capacity is varied by the site characteristics. This paper achieved theoretical examination about resonance band(speed and frequency) that occurred in roadbed on the base rock in point of geotechnical engineering. The examination of resonance divides with ground response analysis, critical band analysis by the shear wave velocity of roadbed, train critical speed through the ground stratum.

• Journal of Integrative Natural Science
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• v.6 no.1
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• pp.53-56
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• 2013

We are interested in the rate of convergence of solutions of 2D Navier-Stokes equations in a smooth bounded domain as the viscosity tends to zero under Navier friction condition. If the initial velocity is smooth enough($u{\in}W^{2,p}$, p>2), it is known that the rate of convergence is linearly propotional to the viscosity. Here, we consider the rate of convergence for nonsmooth velocity fields when the gradient of the corresponding solution of the Euler equations belongs to certain Orlicz spaces. As a corollary, if the initial vorticity is bounded and small enough, we obtain a sublinear rate of convergence.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.