• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.10
• /
• pp.1023-1030
• /
• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.3
• /
• pp.230-237
• /
• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.9 no.5
• /
• pp.572-578
• /
• 1985

A composite gear with involute-circular are tooth profile and a tooth profile of the rack to cut this gear are theoretictically obtained. The composite gear has involute tooth profile in the vicinity of pitch point and has circular arc tooth profiles at addendum adn dedendum. The contact ratio(M$_{c}$), chordal tooth thickness (chordal tip tooth thickness S$_{t}$, chordal root tooth thickness S$_{t}$) of the composite gear are compared with those of involute gear. When module, number of teeth and pressure angle eqaul, S$_{t}$ of composite gear is much larger than that of involute gear. Under the same conditions, S/sib t/ and M$_{c}$ of composite gear become smaller than those of involute gear.lute gear.

• The KSFM Journal of Fluid Machinery
• /
• v.15 no.6
• /
• pp.11-17
• /
• 2012

The one way fluid structure interaction analysis on advanced propeller blade for next generation turboprop aircraft. HS1 airfoil series are selected as a advanced propeller blade airfoil. Adkins method is used for aerodynamic design and performance analysis with respect to the design point. Adkins method is based on the vortex-blade element theory which design the propeller to satisfy the condition for minimum energy loss. propeller geometry is generated by varying chord length and pitch angle at design point. Blade sweep is designed based on the design mach number and target propulsion efficiency. The aerodynamic characteristics of the designed Advanced propeller were verified by CFD(Computational Fluid Dynamic) and showed the enhanced performance than the conventional propeller. The skin-foam sandwich structural type is adopted for blade. The high stiffness, strength carbon/epoxy composite material is used for the skin and PMI(Polymethacrylimide) is used for the foam. Aerodynamic load is calculated by computational fluid dynamics. Linear static stress analysis is performed by finite element analysis code MSC.NASTRAN in order to investigate the structural safety. The result of structural analysis showed that the design has sufficient structural safety. It was concluded that structural safety assessment should incorporate the off-design points.

• International Journal of Fluid Machinery and Systems
• /
• v.10 no.1
• /
• pp.63-75
• /
• 2017

Many axial fans have circular arc blades with constant thickness. It is still a challenging task to calculate their performance, i.e. to predict how large their pressure rise and pressure losses are. For this task a need for cascade data exists. Therefore, the designer needs a method which works quickly for design purposes. In the present contribution a design method for such cascades consisting of circular arc blades with constant thickness is described. It is based on a singularity method which is combined with a CFD-data-based flow loss model. The flow loss model uses CFD-data to predict the total pressure losses. An interpolation method for the CFD-data are applied and described in detail. Data of measurements are used to validate the CFD-data and parameter variations are conducted. The parameter variations include the variation of the camber angle, pitch chord ratio and the Reynolds number. Additionally, flow patterns of two dimensional cascades consisting of circular arc blades with constant thickness are shown.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.16 no.3
• /
• pp.60-65
• /
• 2008

A typical louvered-fin oil cooler can be easily contaminated under dusty environment hence resulting in poor performance of a heat exchanger. Thus, in this study, a dust-proof oil cooler has been studied with a unique shape of a 3-dimensional wavy fin since non-louvered fins could have better performance under dusty environment compared to louvered fins. Recently, they have been introduced to commercial and constructional vehicles in Japan. At first numerical analysis has been done to optimize the angle of the wavy fin so that the oil cooler developed can satisfy the target performance. The wavy fin has been then made with roll-forming and roll-pitch stands, and a prototype of an oil cooler with the wavy fin has been finally built with brazing. The performance test showed that the heat release rate of the oil cooler was well beyond the target, 4.94kW and the air-side pressure drop was below the criterion, 0.19kPa. In addition, the results showed that the numerical prediction was effective enough to design the dust-proof oil cooler that satisfies the performance criteria.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.34 no.6
• /
• pp.75-82
• /
• 2006

Tiltrotor aircraft can fly about twice faster and several times further than conventional helicopters. These aircraft provide advantages preventing compressibility of advancing side and stall of retreating side of blades because they take forward flight with tilting rotor systems. However, they have limit on forward flight speed because of the aeroelastic instability known as whirl flutter. First, the parametric study on the aeroelastic stability of the isolated rotor system has been performed in this paper. And the effects of pitch-link stiffness, gimbal spring constant, and precone angle on the whirl flutter stability of Smart-UAV have been investigated through CAMRAD II analysis.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.30 no.9 s.252
• /
• pp.873-881
• /
• 2006

The present study investigates the pressure drop characteristics in rotating two-pass ducts. The duct has an aspect ratio (W/H) of 0.5 and a hydraulic diameter $(D_h)$ of 26.67mm. Rib turbulators are attached crossly in the four different arrangements on the leading and trailing surfaces of the test ducts. The ribs have a rectangular cross section of $2mm(e){\times}3mm(w)$ and an attack angle of $70^{\circ}C$. The pitch-to-rib height ratio (pie) is 7.5, and the rib height-to-hydraulic diameter ratio $(e/D_h)$ is 0.075. The results show that the highest pressure drop among each region appears in the turning region for the stationary case, but appears in the upstream region of the second pass for the rotating case. Effects of cross rib arrangements are almost the same in the first pass for the stationary and rotating cases. In the second pass, however, heat transfer and pressure drop are high for the cases with cross NN or PP type ribs in the stationary ducts. In the rotating ducts, they are high for the cases with cross NP or PP type ribs.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.30 no.9 s.252
• /
• pp.882-890
• /
• 2006

The present study investigates the pressure drop characteristics in rotating two-pass ducts. The duct has an aspect ratio (W/H) of 0.5 and a hydraulic diameter $(D_h)$ of 26.67mm. Rib turbulators are attached parallel in the four different arrangements on the leading and trailing surfaces of the test ducts. The ribs have a rectangular cross section of $2m(e){\times}3mm(w)$ and an attack angle of $70^{\circ}C$. The pitch-to-rib height ratio (p/e) is 7.5, and the rib height-to-hydraulic diameter ratio $(e/D_h)$ is 0.075. The results show that the highest pressure drop among each region appears in the turning region for the stationary case, but appears in the upstream region of the second pass for the rotating case. Effects of parallel rib arrangements are almost the same in the first pass for the stationary and rotating cases. In the second pass, however, heat transfer and pressure drop are high for the cases with parallel NN or PP type ribs in the stationary ducts. In the rotating ducts, they are high for the cases with parallel NN or PN type ribs.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2005.10a
• /
• pp.91-94
• /
• 2005

With increasing demands for large-scale micro-optical components in the field of digital display, the establishment of large-scale fabrication technology fur polymeric patterns has become a priority. The starting point of any polymer replication process is the mold, and the mold often has flat surface. However, It is very hard to replicate large-scale micro patterns using the flat mold, because the cost of large-scale flat mold was very high, and some uniformity and releasing problems were often occurred in large scale flat molding process. In this study, a UV roll imprinting system to overcome the financial and fabrication issues of large-scale pattern replication process was designed and constructed. As a practical example of the system, a lenticular lens with radius of curvature of $223{\mu}m$ and pitch of $280{\mu}m$, which was used to provide wide viewing angle in projection TV, was designed and fabricated. The roll stamper was fabricated using direct machining process of aluminum roll base. Finally, the shape accuracy and uniformity of roll imprinted lenticular lens sheet were measured and analyzed.