• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.342-345
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• 2005

This paper describes dynamics analysis of a small training boat and a new type of ship's autopilot not only to keep her course but also to reduce her roll motion. Firstly, statistical analysis through multi-variate auto regressive model is carried out using the real data collected from the sea trial on an actual small training boat Sazanami after the navigational system of the boat was upgraded. It is shown that the roll motion is strongly influenced by the rudder motion and it is suggested that there is a possibility of reducing the roll motion by controlling the rudder order properly. Based on this observation, a new type of ship's autopilot that takes the roll motion into account is designed using the muti-variate modern control theory. Lastly, digital simulations by white noise are carried out in order to evaluate the proposed system and a typical result is demonstrated. As results of simulations, the proposed autopilot had good performance compared with the original data.

• Fibers and Polymers
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• v.7 no.4
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• pp.424-431
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• 2006

Roll drafting, a mechanical operation attenuating fiber bundles to an appropriate thickness, is an important operation unit for manufacturing staple yams. It influences not only the linear density regularity of the slivers or staple yams that are produced, but also the quality of the textile product and the efficiency of the thereafter processes. In this research, the dynamic states of the fiber bundle in the roll drafting zone were analyzed by simulation, based on the mathematical model that describes the dynamic behavior of the flowing bundle. The state variables are the linear density and velocity of the fiber bundles and we simulated the dynamics states of the bundle flow, e.g., the profiles of the linear density and velocity in the draft zone for various values of the model parameters and boundary conditions, including the initial conditions to obtain their influence on the dynamic state. Results showed that the mean velocity profile of the fiber bundle was strongly influenced by draft ratio and process speed, while the input sliver linear density has hardly affected the process dynamics. Velocity variance of individual fibers that could be supposed to be a disturbing factor in drafting was also influenced by the process speed. But the major disturbance occurred due to the velocity slope discontinuity at the front roll, which was strongly influenced by the process speed. Thickness of input sliver didn't play any important role in the process dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.621-630
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• 2006

The T-50 advanced trainer aircraft combines advanced aerodynamic features and a fly-by-wire flight control system in order to produce a stability and highly maneuverability. The flight control system both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 employs the RSS concept in order to improve the aerodynamic performance in longitudinal axis and the longitudinal control laws employ the dynamic inversion with proportional-plus-integral control method. And, lateral-directional control laws employ the blended roll system both beta-betadot feedback and simple roll rate feedback with proportional control method in order to guarantee aircraft stability. This paper details the design process of developing lateral-directional control laws, utilizing the requirement of MIL-F-8785C and MIL-F-9490D. And, this paper propose the analysis of aircraft characteristics such as dutch-roll mode, roll mode, spiral mode, gain and phase margin about gains for lateral-directional inner loop feedback.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.121.4-121
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• 2001

We propose an off-line methodology for detecting a faulty backup roll that generates eccentricity components, under the condition that the feeding velocity, equivalently the angular velocity of roll, is not constant. From a newly devised speed angle conversion algorithm, we transform all process data into those of a virtual process under a constant feeding speed. This indirectly way, we can apply a spectral analysis to the original process. In addition, we develop an online detection method of roll eccentricity based on newly designed PLG sensor. This PLG sensor is robust because of applying magnetic proximity sensnors and non-contact measurement method.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.5
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• pp.648-657
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• 2002

This paper presents a numerical analysis on the solidification characteristics in twin-roll strip casting. Unstructured fixed-grid system was employed to deal with phase change. Melting of pure gallium was analyzed to confirm the validity of present program in both structured and unstructured grid systems. An algorithm for simultaneous calculation of the temperature in the roll and the molten metal pool was developed. The flow field in the pool and heat transfer features between pool and roll were shown. The effect of process parameters was also studied. Since the geometry of the molten metal Pool significantly deforms along the casting direction, unstructured grid system is more efficient. The unstructured grid system gives almost the same accuracy, even though the number of grids is only 60% of the structure done.

• Journal of the Korean Society of Safety
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• v.23 no.4
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• pp.13-18
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• 2008

This study deals with finish roll forming by forced displacement can be conceived as a method of eliminating errors in conventional form rolling under constant loads. This method produces a high-precision tooth profile by low-speed form rolling when a high rigid screw or cam is used at the pressurized section. Tooth profile is decided in the beginning of roll forming and ${\delta}_{max}$ mainly increases if the number of roll forming process is increased. Gear class is improved by one or two class after roll forming if the gear has convex type error and pressure angle error in KS 4 class. If the gear have concave type error and pressure angle error and pressure angle error, gear class is not improved in theory, but improved a little in practice. In the finishing roll forming, it inevitably yields both the concaving of tooth profile and plastic deflection of addendum of teeth. Experiments show that the concaving and the plastic deflection are successfully reduced, the accuracy of tooth profile reaches to KS 0 class.

• Polymer(Korea)
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• v.35 no.6
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• pp.574-579
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• 2011

3-Roll coating process as a key application technology for manufacturing automotive pre-painted metal-sheets has been studied. The 3-Roll coating system for this study consists of pick-up roll for picking up and distributing coating liquid from the reservoir, metering roll to properly meter coating liquid in metering gap regime, and applicator roll for directly transferring liquid into metal-sheet surface. Flow dynamics and operable coating windows of a polymeric paint (primer) with shear-thinning rheological property have been correlated with processing parameters such as speed ratio and metering gap between pick-up and metering rolls. In the uniform coating regime, dry coating thickness increased with increasing metering gap or decreasing speed ratio. Ribbing and cascade instabilities were observed in low speed and high speed ratio conditions, respectively. It is revealed that lower speed ratio makes severity and wavelength of the ribbing increase, aggravating flow instability in coating systems.

• 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 Ocean Engineering and Technology
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• v.35 no.1
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• pp.1-12
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• 2021

As increasing the international community's awareness of greenhouse gas reduction, the demand for eco-friendly ship fuel has accelerated recently. The fundamental aim of this study is to develop a new type of fully electrified ferry for passengers and cars considering Korean domestic coastal environmental conditions. Several technical difficulties are encountered in applying a fully electric propulsion system based on removable battery systems into a ship due to limitations imposed by the batteries' size and capacity. This paper reviews and analyzes marine environment regulations strengthened recently, technology trends related to fully electric propulsion vessels in each country, and Korean domestic coastal environments. We propose a new fully electrified car ferry design with a displacement of 400 t applied in Korea. It is powered by removable battery systems pre-charged in a safe inland charging station. The mobile battery system is developed to enable roll-on and roll-off using wheels. The characteristics of the ship motion are analyzed based on the weight and location of the battery systems. We expect our battery systems to be applicable to larger ships in the future.