• International Journal of Precision Engineering and Manufacturing
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• v.4 no.2
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.203-210
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• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• Journal of the korean Society of Automotive Engineers
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• v.4 no.1
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• pp.20-30
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• 1982

Recent diesel engine has achieved high speed running comparable to that of gasoline engine as a speed improvement effort. Consequently, torsional vibration of high-speed diesel engine induced vibration nosise, reduced horsepower and the like. Viscous damper which is thought to be effective in curtailing the torsional vibration was studied over a wide range of speed. In this investigation, a water cooling, 4-cycle high-speed diesel engine(Msx. 3500 rpm)was used for the study. Theoretical analysis was made by assuming the engine to be an ideal equivalent system(length, moment of inertia) i. e. the multi-degree of freedom equivalent torsional vibration system with damper was analyzed. In the analysis, the inertia moment of suitable damper for this experiment was calculated by varying the relative damping coefficient of damper of engine for each damper. Furthermore, in the torsional vibration experiment, the torsional vibration amplitude of the crankshaft system was measured when the engine was equipped with dampers of different moments of inertia and also when the engine was equipped without dampers. The experimental results were compared with the analytical values and were found to be satisfied. The results of this investigation are summarized below; (1) It was found that for the engine equipped with dampers, the torsional vibration amplitude was reduced to about one third of those without dampers. (2) The optimum value of inertia moment of viscous damper for the engine was found to be about Id=1.05(kg.cm.s$^{2}$) (3) The optimum damping coefficient and the ratio of moment of inertia for the engine were found to be about Ca= 850(kg.cm.s), Rd=0.509, respectively (b1 dapmper).

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.1090-1092
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• 2003

A new scheme to estimate the moment of inertia in the motor drive system in very low speed is proposed in this paper. The simple speed estimation scheme, which is usually used in most servo system for low speed operation, is sensitive to the variation of the machine parameter, especially the moment of inertia. To estimate the motor inertia value, Reduced-Order Extended Luenberger Observer (ROELO) Is applied. The effectiveness of the proposed ROELO is applied by experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.4
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• pp.627-634
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• 1998

This paper proposes an algorithm which improves capacity of a state observer and low speed driving characteristics of a induction motor by inertia moment identification. In induction motet driving systems, it is difficult to obtain the accurate speed information by a low resolution encoder because the encoder pulses are very few in a low speed range. To improve this problem, state observer based on the Gopinath' theory which estimates speed and disturbance was designed, and disturbance rejection control was realized by application of the observer. Also, inertia moment of the motor was estimated and the nominal inertia of the observer was identified to minimize the error of estimated speed and disturbance. From the simulation and experimental results, it is showed that the proposed observer improved the transient response characteristics in low speed region below 6［rpm］.

• Structural Monitoring and Maintenance
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• v.5 no.4
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• pp.445-461
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• 2018

The aim of this research is to evaluate the effects of the number of spans, height of spans, number of floors, height of floors, column to beam moment of inertia ratio, and plastic joints distance of beams from columns on the ductility of moment frames. For the facility in controlling the ductility of the frames, this paper offers a simple relation instead of complex equations of different codes. For this purpose, 500 analyzed and designed frames were randomly selected, and their ductility was calculated by the use of nonlinear static analysis. The results cleared that the column-to-beam moment of inertia ratio had the highest effect on ductility, and if this relation was more than 2.8, there would be no need for using the complex relations of codes for controlling the ductility of frames. Finally, the ductility of the most frames of this research could be estimated by using the combination of genetic algorithm and artificial neural networks properly.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.498-502
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• 2004

In a link-motion mechanism, numerous links are interconnected and each link executes a constrained motion at a high speed. Due to the complicated constrained motions of the constituent links, dynamic unbalance forces and moments are generated and transmitted to the main frame. Therefore unwanted vibration is produced. This degrades productivity and precise work. Based on constrained multi-body dynamics, the kinematic analysis is carried out to enable design changes to be made. This will provide the fundamental information for significantly reducing dynamic unbalance forces and moments which are transmitted to the main frame. In this work, a link-motion punch press is selected as an example of a link-motion mechanism. To calculate the mass and inertia properties of every link comprising a link-motion punch press, 3-dimensional CAD software is utilized. The main issue in this work is to eliminate the first-order unbalance force and moment in a link-motion punch press. The mass, moment of inertia link length, location of the mass center in each link have a great impact on the degree of dynamic balancing which can be achieved maximally. Achieving good dynamic balancing in a link motion punch press is quite essential fur reliable operation at high speed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.711-717
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• 2017

Measurements of the moment of inertia of a small turbocharger rotor were studied. A measuring device was manufactured using the trifilar method and the moment of inertia of the calibration rotor was measured to verify the device. The coefficient of variation was 0.43% and the error was 0.75%. The results showed that the device is suitable for measuring the moment of inertia of a turbocharger rotor. Next, the moment of inertia for two turbine rotors and compressor wheels was measured. Those for the turbine rotors showed precise and accurate results in that the coefficients were under 1.0% and the errors were under 3.0%. On the other hand, those for the compressor wheel were precise but inaccurate in that the coefficients were under 1.0% and the errors were over 24.4%. Therefore an indirect method for the compressor wheel was suggested. The results showed that the coefficients were under 1.2% and the errors were under 7.88%.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.4
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• pp.380-388
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• 2023

This study estimates the metacentric height (GM) of a model ship by varying the transverse weight distribution, considering the effects of the roll period and moment of inertia, and compares it with the GM values measured by the inclining test. In the process, the relationship between the values is analyzed. Three types of ships-a 7-ton fishing vessel, 20-ton fishing vessel, and KRISO Very Large Crude-oil Carrier (KVLCC)-were used for the experiment and comparison. The roll period and moment of inertia were measured using the free roll decay and swing frame tests, and the GM was measured using inclining test. The estimated GM from the roll period and moment of inertia showed the same trend as the GM measured using the inclining test in the change of the weight distribution. However, the GM values measured using the inclining test were lower. Therefore, additional correction factors or parameters other than the roll period and moment of inertia are necessary for estimating GM. In the future, the relationship between the weight center and the estimated GM will be analyzed to derive the correction factors.

• Journal of Biosystems Engineering
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• v.31 no.4 s.117
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• pp.323-333
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• 2006

Introduction of a direct engine-PTO driveline to agricultural tractors has reduced production cost and increased transmission efficiency of the PTO driveline. However, this type of PTO driveline has caused a severe rattle noise in the PTO gearbox under idle conditions. This study was conducted to investigate the causes of the rattle noise and the effects of driveline parameters on it. A mathematical model was developed for a direct engine-PTO driveline. The model was proved experimentally to be accurate enough to simulate the dynamic characteristics of the PTO driveline motions. The simulation study showed that the rattle noise was caused by collisions between the driving and driven gears in the PTO gearbox due to velocity variation of the gears, which was induced by torque fluctuations from the engine. It was also found that the rattle noise decreased with the drag torque and mass moment of inertia of the engine flywheel. Smaller mass moment of inertia of the driven gears and backlash also reduced the rattle noise. However, increasing the drag torque and mass moment of the engine flywheel or decreasing the backlash and mass moment of inertia of the driven gears were limited practically by their detrimental effects on transmission efficiency, gear strength and smooth meshing of the gears.