• International Journal of Aeronautical and Space Sciences
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• v.3 no.2
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• pp.76-81
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• 2002

A numerical simulation of wake behavior behind three-dimensional wings in ground effect is done using an indirect boundary element method (Panel Method). An integral equation is obtained by applying Green's 2nd Identity on all surfaces of the flow domain. The AIC is constructed by imposing the no penetration condition on solid surfaces, and the Kutta at the wing's trailing edge. The ground effect is included using an image method. At each time step, a row of wake panels from wings' trailing edge are convected downstream following the force-free condition. The roll-up of wake vortices behind wings in close proximity is simulated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.963-968
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• 2003

The continuous process systems usually consists of various components: driven rollers. idle rolls, load-cell and so on. Even a simple fault in a single component in the line may cause a catastrophic damage on the final products. Therefore it is absolutely necessary to diagnosis the components of the continuous systems. In this paper, an adaptive eccentricity compensation method is presented. And a new diagnosis method for transverse roll shape defects on rolling process is developed. The new method was induced from analyzing the rolling mechanism by using rolling force model, tension model, Hitchcock's equation, and measured delivery thickness of materials etc. Computer simulation results also show that the proposed diagnosis methods is very effective in the diagnosis of 3-D roll shape

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.160-168
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• 1998

In this paper. the Joint reaction forces in the suspension system of a passenger car are determined to calculate the deflections and stresses in the damper strut. A mathematical model of the Roll Stabilizer Bar(RSB) is developed to include the RSB forces in the dynamics analysis. Using these RSB forces, the variations of the damper forces and spring forces due to the wheel strokes are determined in a McPherson strut suspension. The graphs of shear force diagram, bending moment diagram, bending stress and deflections are drawn by the calculated joint reaction forces.

• Journal of the Society of Naval Architects of Korea
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• v.56 no.6
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• pp.550-558
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• 2019

The roll motion of a general vessel, which is more influenced by resonance as compared to other motions, adversely affects the passenger and hull. Therefore, reducing the roll motion through an anti-rolling system is critical, and most ships use various devices such as anti-rolling tanks, bilge keels, and fin stabilizers to accomplish this. In this study, a simplified model is developed for the application of an anti-rolling device for unmanned semi-submersible vessels. The applied anti-rolling device is installed on the stern and stem of a ship using a pair of servo motors with added weight, and the motor is controlled through the Arduino. The moment of the motor is designed and implemented based on a mathematical model such that it is calculated through the restoring force according to the heel angle of the ship. The performance of the proposed system was verified by utilizing the roll damping coefficient calculated by the free-roll decay test and logarithmic decrement method and was validated by a towing tank test. The system is expected to be used for unmanned vessels to perform sustainable missions.

• Journal of Ocean Engineering and Technology
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• v.33 no.6
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• pp.518-525
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• 2019

Recently, the Sub-Committee on SDC (Ship Design and Construction) of IMO have discussed actively the technical issues associated with the second-generation intact stability criteria of ships. Generally, second generation intact stability criteria refer to vulnerability five modes ship stability which occurs when the ship navigating in rough seas. As waves passes the ship, dynamic roll motion phenomenon will affect ship stability that may lead to capsizing. Multi-tiered approach for second generation of intact stability criteria of IMO instruments covers apply for all ships. Each ship is checked for vulnerability to pure loss of stability, parametric roll, and broaching/surf-riding phenomena using L1(level 1) vulnerability criteria. If a possible vulnerability is detected, then the L2(level 2) criteria is used, followed by direct stability assessment, if necessary. In this study, we propose a new method to verify the criteria of the surf-riding/broaching mode of small ships. In case, L1 vulnerability criteria is not satisfied based on the relatively simple calculation using the Froude number, we presented the calculation code for the L2 criteria considering the hydrodynamics in waves to perform the more complicated calculation. Then the vulnerability criteria were reviewed based on the data for a given ship. The value of C, which is the probability of the vulnerability criteria for surf-riding/broaching, was calculated. The criteria value C is considered in new approach method using the Froude-Krylov force and the diffraction force. The result shows lower values when considering both the Froude-rylov force and the diffraction force than with only the Froude-Krylov force was considered. This difference means that when dynamic roll motion of ship, more exact wave force needs considered for second generation intact stability criteria This result will contribute to basic ship design process according to the IMO Second-Generation Intact Stability Criteria.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.824-828
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• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• Ocean Systems Engineering
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• v.6 no.3
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• pp.233-244
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• 2016

Tension Leg Platform (TLP) is a floating structure that consists of four columns with large diameter. The diffraction theory is used to calculate the wave force of floating structures with large dimensions (TLP). In this study, the diffraction and Froude-Krylov wave forces of TLP for surge, sway and heave motions and wave force moment for roll, pitch degrees of freedom in different wave periods and three wave approach angles have been investigated. From the numerical results, it can be concluded that the wave force for different wave approach angle is different. There are some humps and hollows in the curve of wave forces and moment in different wave periods (different wavelengths). When wave incidents with angle 0 degree, the moment of diffraction force for pitch in high wave periods (low frequencies) is dominant. The diffraction force for heave in low wave periods (high wave frequencies) is dominant. The phase difference between Froude-Krylov and diffraction forces is important to obtain total wave force.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.08a
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• pp.247-247
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• 2012

Plasmon subwavelength nanostructures enable the structurally modulated color due to the resonance conditions for the specific wavelength range of light with the nanoscale hole arrays on a metal layer. While the unique properties offered from a single layer of metal may open up the potential applications of integrated devices to displays and sensors, fabrication requirements in nanoscale, typically on the order of or smaller than the wavelength of light in a corresponding medium can limit the cost-effective implementation of the plasmonic nanostructures. Simpler nanoscale replication technologies based on the soft lithography or roll-to-roll nanoimprinting can introduce economically feasible manufacturing process for these devices. Such replication requires an optimal design of a master template to produce a stamp that can be applied for a roll-to-roll nanoimprinting. In this paper, a master mold with subwavelength nanostructures is fabricated and optimized using focused ion beam for the applications to nanoimprinting process. Au thin film layer is deposited by sputtering on a glass that serves as a dielectric substrate. Focused ion beam milling (FIB, JEOL JIB-4601F) is used to fabricate surface plasmon subwavelength nanostructures made of periodic hole arrays. The light spectrum of the fabricated nanostructures is characterized by using UV-Vis-NIR spectrophotometer (Agilent, Cary 5000) and the surface morphology is measured by using atomic force microscope (AFM, Park System XE-100) and scanning electron microscope (SEM, JEOL JSM-7100F). Relationship between the parameters of the hole arrays and the corresponding spectral characteristics and their potential applications are also discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.925-936
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• 2003

The manipulability analysis of the parallel-type rolling mill proposed in Hong et al. [1] is re-visited. The parallel rolling mill uses two Stewart platforms in opposite direction for the generation of 6 degree-of-freedom motions of each roll. The objective of this new parallel rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of rolls, and tension of the strip. New forward/inverse kinematics problems, in contrast with [1], are formulated. The forward kinematics problem is defined as the problem of finding the roll-gap and the pair-crossing angle of two work rolls for given lengths of twelve legs. On the other hand, the inverse kinematics problem is defined as the problem of finding the lengths of twelve legs when the roll-gap, the pair-crossing angle, and the position and orientation of one work roll are given. The method of manipulability analysis used in this paper follows the spirit of [1]. But, because the rolling force and moment exerted from both upper and lower rolls have been included in the manipulability analysis, more accurate results than the use of a single platform can be achieved. Two. kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.