• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• The KSFM Journal of Fluid Machinery
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• v.13 no.5
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• pp.22-28
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• 2010

A study has been made of cool-down process on an incompressible fluid contained in a periodically oscillating cylinder when an abrupt cooling of wall temperature is imposed. Characteristics of flow and heat transfer are investigated along the variations of oscillating frequency and amplitude. One found the flow regimes are divided into 4-modes : 1 thermal island mode, 2 thermal island mode, 4 thermal island mode and asymmetry mode. Comprehensive analysis for each mode are given with a physical mechanism on cool-down process.

• Transactions of The Korea Fluid Power Systems Society
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• v.4 no.1
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• pp.1-6
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• 2007

The typical hydraulic system of hoist is composed of a hydraulic supply unit, a directional control valve, two pilot operated check valves, two flow control valves. The capacity coefficients of flow control valves should be adjusted for the hoist to operate at moderate speed and minimize the hydraulic energy loss. However, it is difficult to adjust the four capacity coefficients of flow control valves by trial and error for optimal operation. The steady state model of the hoist hydraulic system is derived and the optimal capacity coefficients of flow control valves are obtained using the complex method that is one kind of constrained direct search method.

• Journal of Korea Water Resources Association
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• v.37 no.4
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• pp.329-339
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• 2004

The main objective of this study is to develop a GIS-based two-dimensional model for the simulation of rainfall-runoff process and overland flow of a watershed. The tasks of this study are summarized: to develop a two-dimensional model for overland flow and to construct a rainfall-runoff simulation system linked with GIS. The mathematical formulation of the model incorporates four parts: spatially varied rainfall, spatially distributed infiltration, 1-directional, 4-directional and 8-directional overland flow routing scheme, and one-dimensional channel routing scheme. For the development of stochastic model, Monte Carlo simulation method has been directly integrated into the model. GIS using Arc/Info and ArcView has been applied to prepare the model input data(elevation, soil type, rainfall data, etc.) for a simulation and to demonstrate the simulation results.

• International Journal of Fluid Machinery and Systems
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• v.9 no.3
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• pp.222-228
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• 2016

Almost 70% of the earth is covered by the ocean. Extracting the power available in the ocean using a wave energy converter has been seen to be eco-friendly and renewable. This study focuses on developing a method for analyzing a wave energy device that uses a cross-flow turbine. The motion of the ocean wave causes an internal bi-directional flow of water and the cross-flow turbine is able to rotate in one direction. This device is considered of double-hull structure, and because of this structure, sea water does not come into contact with theturbine. Due to this, the problem of befouling on the turbine is avoided. This study shows specific relationship for wave length and several motions.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1475-1480
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• 2007

Numerical analysis has been conducted to simulate pedestrian flow in the model of two-storied subway station. Because almost all the subway stations are two or three storied structure, simulations are conducted for the passengers those who get off the train and pass the wicket. Passenger flow analysis is very important factor to design the station and also to manage the operation of subway system. In the subway station, pedestrians move to the horizontal directions as well as vertical ones. Therefore, to consider the movement of pedestrians is necessary for the guarantee of safety and conveniency. As the up and down floors are connected with step, escalator and elevator, the entire movements in the multi-storied station should be simulated as like a 3-dimensional flow. Numerical schemes for the directional sweeping are developed to prevent the dependency on physical structure of station and to determine primary direction and secondary one. By using the developed program, we compared the simulation results of the effects of the location and size of exit and elapsed time.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.15 no.2
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• pp.97-122
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• 2011

Fluid dynamics driven by pumping without valves (valveless pumping) shows interesting physics. Especially, the driving function to generate valveless pump mechanism is one of important factors. We consider a closed system of valveless pump which consists of flexible tube part and stiffer part. Fluid and structure (elastic tube) interaction motions are generated by the periodic compress-and-release actions on an asymmetric location of the elastic loop of tubing. In this work, we demonstrate how important the driving forcing function affects a net flow in the valveless circulatory system and investigate which parameter set of the system gives a more efficient net flow around the loop.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.6 no.3
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• pp.226-233
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• 1994

The present paper considers the method to estimate the bottom friction driven by waves and current on rough turbulent flow. Parameter adjusting technique is suggested for the computation of bed shear stress driven by uni-directional flow. and the value of parameter is determined by comparing the computational results against Bijker's laboratory data. For the computation of combined flow bottom shear stress, two methods are presented; one is the modified Bijker approach (BYO Model) and the other is the modified Fredsoe approach (FY Model). both of which are refined by the present writer. Both models are again refined in two aspects, and tested against the Bijker's laboratory data.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.8
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• pp.1802-1809
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• 2009

Abstract The typical distribution systems have the power flow from distribution substations (sources) to customers (load) only as one direction. However, in the case where distributed generations (DG) such as PV system and wind power systems are connected to distribution systems, the DG output variations to distribution systems, so called reverse power flow, may cause the bi-directional power flow. So, the reverse power flow has severe impacts on typical power system, for example power quality problems, protection coordination problems, and so on. Especially, protection devices (sectionalizer) in primary feeder of distribution system interconnected with distributed generations may cause problems of malfunction, and then many customers could have problems like an interruption. So, this paper presents the bi-directional operation algorithm of protection devices to overcome the problems like mal-function. And, also this paper shows the effectiveness of proposed method by using both PSCAD/EMTDC software and test facility of protection devices to simulate the field distribution systems.

• Journal of Drive and Control
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• v.16 no.4
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• pp.56-64
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• 2019

Recently, as the environmental regulation for earth moving equipment has been tightened, advanced systems using electronic control have been introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control systems that provides more flexible controllability and potential for energy savings in excavators, when compared to the conventional 4-way spool valve system. To fully realize an IMV, a two-stage bi-directional flow control valve which can regulate the large amount of flow in both directions, should be developed in advance. A simple design that allows proportional flow control to apply the pilot pressure from the current-controlled solenoid to the spring loaded flow control spool and thus valve displacement, is proportional to the solenoid current. However, this open-loop type valve is vulnerable to flow force which directly affects the valve displacement. Force feedback servo of which the position loop is closed by the feedback spring which interconnects the solenoid valve and flow control spool, could compensate for the flow force. In this study, linearity for the solenoid current input and robustness against load pressure disturbance is investigated by linear analysis of the static nonlinear equations for the IMV proportional flow control valve with feedback spring. Gains of the linear system confirm the performance improvement with the feedback spring design.