• 제어로봇시스템학회논문지
• /
• 제11권6호
• /
• pp.502-509
• /
• 2005

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. The simulation results indicate that the velocity and spacing errors were slightly larger than those obtained when the wheel slip effect was not considered, that the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and that the limit for the antilock control under non-constant adhesion road conditions was determined by the minimum value of the equivalent adhesion coefficient.

• 대한조선학회지
• /
• 제21권1호
• /
• pp.21-34
• /
• 1984

This paper is concerned with the experimental investigation of transverse vibration characteristics in water of rectangular plates having an inner free cutout. Systematic experiments are carried out to investigate effects of the surrounding water on the added mass and the natural frequency of the plates due to the changes of the aspect ratio, hole size and eccentricity. The main subject is the clamped rectangular plate with a circular hole. For the purpose of comparative evaluations, some other common-type boundary conditions and hole shapes such as ellipses and rectangles are also investigated. Some of the results obtain are as follows; 1) For each given aspect ratio of the plate, there is a hole area ratio which gives a minimum value of the nondimensional frequency parameter for each mode. The hole area ratio increases as the order number of the mode increases. 2) The nondimensinal mass-increment parameter decreases as the aspect ration or the order number of the mode increases. For each given aspect ratio, the parameter the fundamental mode decreases monotonically as the hole area ratio increase. In cases of the second and higher order modes, however, each mode has a hole area ratio which gives a maximum value of the parameter for each aspect ratio more then 2/3. 3) Comparing elliptic holes with rectangular ones with same hole area ratio, nondimensional frequency parameters are almost same for each given ratio of the shorter axises to the longer one. 4) The influences of difference in boundary condion on nondimensional frequency parameters in water are similar to those in air.

• International Journal of Aeronautical and Space Sciences
• /
• 제16권4호
• /
• pp.614-623
• /
• 2015

When the speed of a coaxial rotor helicopter in forward flight increases, the wake skew angle of the rotor increases and consequently the position of the vena contracta of the upper rotor with respect to the lower rotor changes. Considering ambient air and the effect of the upper rotor, this study proposes a nonuniform inflow model for the lower rotor of a coaxial rotor helicopter in forward flight. The total required power of the coaxial rotor system was compared against Dingeldein's experimental data, and the results of the proposed model were well matched. A plant model was also developed from first principles for flight simulation, unknown parameter estimation and control analysis. The coaxial rotor helicopter used for this study was manufactured for surveillance and reconnaissance and does not have any stabilizer bar. Therefore, a feedback controller was included during flight test and parameter estimation to overcome unstable situations. Predicted responses of parameter estimation and validation show good agreement with experimental data. Therefore, the methodology described in this paper can be used to develop numerical plant model, study non-uniform inflow model, conduct performance analysis and parameter estimation of coaxial rotor as well as other rotorcrafts in forward flight.

• 항공우주시스템공학회지
• /
• 제12권5호
• /
• pp.16-23
• /
• 2018

본 논문에서는 생체모방기술을 적용한 로봇제어방법에 대해 기술한다 물방개의 유영동작을 모방하고 발생시키기 위해 푸리에 최소자승기법을 적용하여 일반식을 정립하였다. 일반식의 계수의 값을 조정하여 관측된 물방개의 유영동작과 발생시킨 모방동작의 비교를 통해 제어 파라미터가 정의되었으며 각 파라미터들의 상관관계를 밝히고 이를 파라미터 공간상에 표현하여 다양한 생체모방 동작을 쉽게 발생시킬 수 있음을 확인하였다. 추가로, 생물체의 구조적인 장점을 반영한 로봇설계에 대해 간략히 소개하였고 제안한 생체모방 발생기법은 다양한 환경에서의 로봇시스템 개발에 적용 가능함을 확인하였다.

• 한국식품조리과학회지
• /
• 제11권1호
• /
• pp.83-91
• /
• 1995

For the accurate interpretation and objective measurement of textural characteristics of fermented vegetables, first of all, the studies on the microstructure and chemical compositions of vegetable cell, and the changes in the textural properties of vegetables during salting, blanching and fermentation should be carried out. And the mechanical textural parameters were needed to compare with and analyze in relation to the sensory parameters. In this review, the thypical force-distance curves of fermented vegetables were obtained from the compression, cutting and puncture test. And it was showed that the compression force was a more effective textural parameter to express the hardness of fermented vegetables, and the sensory chewiness and toughness were related to the changes in cutting force. In the puncture test, the puncture force was related to the hardness and varied with the size and form of puncture probe; the changes in puncture force by small probe could express the decrease in hardness and crispness, whereas those by large probe could represent the changes in toughness. And the brittleness and crispness could be measured by the break point and the numbers of peak obtained from the force-distance curves.

• East Asian Economic Review
• /
• 제25권1호
• /
• pp.73-97
• /
• 2021

China has experienced many structural changes in the process of economic development over the past three decades. Using a time-varying parameter VAR model with stochastic volatility and mixture innovations, this study investigates whether such structural changes in, especially tools and operational aims of monetary policy, affect the monetary transmission mechanism. We find that impulse responses of output growth and inflation to monetary shocks have substantially increased and then reversed to decrease around 2005-2006. This time variation is mainly caused by changes in the monetary transmission mechanism, i.e., the manner in which main macroeconomic variables respond to policy shocks, rather than by changes in volatilities of exogenous shocks. The result implies that aggressive monetary policy to facilitate economic growth in the developing economies may be legitimized, unless it causes inflation seriously.

• 한국양식학회:학술대회논문집
• /
• 한국양식학회 2004년도 수산관련학회 공동학술대회 발표요지집
• /
• pp.503-504
• /
• 2004

• Communications for Statistical Applications and Methods
• /
• 제7권1호
• /
• pp.199-210
• /
• 2000

We shall propose several estimators for the shape and scale parameters I the Weibull distribution based upon the complete or truncated samples when both parameters are functions of a known exposure level and study properties for proposed several estimators

• 동력기계공학회지
• /
• 제2권2호
• /
• pp.47-54
• /
• 1998

Underwater robotic vehicles(URVs) have been an important tool for various underwater tasks such as pipe-lining, data collection, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc because they have greater speed, endurance, depth capability, and safety than human divers. As the use of such vehicles increases, the vehicle control system is one of the most critical subsystems to increase autonomy of the vehicle. The vehicle dynamics are nonlinear and their hydrodynamic coefficients are often difficult to estimate accurately. It is desirable to have an intelligent vehicle control system because the fixed-parameter linear controller such as PID may not be able to handle these changes promptly and result in poor performance. In this paper we described and analyzed a new type of fuzzy model-based controller which is designed for underwater robotic vehicles and based on Takagi-Sugeno-Kang(TSK) fuzzy model. The proposed fuzzy controller: 1) is a nonlinear controller, but a linear state feedback controller in the consequent of each local fuzzy control rule; 2) can guarantee the stability of the closed-loop fuzzy system; 3) is relatively easy to implement. Its good performance as well as its robustness to parameter changes will be shown and compared with those of the PID controller by simulation.

• 한국산업융합학회 논문집
• /
• 제2권1호
• /
• pp.35-43
• /
• 1999

The purpose of this study is to derive the optimal methodology estimating the changes of fluvial hydraulic characteristics due to semi-covering work of urban stream. First, after collecting the data of the daily maximum rainfall of Chungju gaging station, the frequency analysis was carried out with frequency factor method, which includes normal, two-parameter and three-parameter lognormal, Gumbel-Chow, pearson type III, log-pearson type III distribution, and the goodness of fit test was executed by $x^2$-test and Kormogorov-Smimov test. Using the SCS method, the effective rainfall was estimated and the peak flow was calculated by the area-routing method. The HEC-2 model was applied to calculate water surface profiles for steady, gradually varied flow at Kyohyun river system in Chungju city. The model was applied to floodplain and riverbed management to evaluate flood way encroachments and to delineate flood hazard by riverside roadway construction. The model also was used to evaluate effects on water surface profiles of river improvement and levees as well as the presence of bridges or other hydraulic structures in the floodplain.