• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.515-526
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• 2003

Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.

• Corrosion Science and Technology
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• v.7 no.4
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• pp.237-242
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• 2008

Physical properties of water, such as dielectric constant and ionic product, significantly vary with the density of water. In the supercritical conditions, since density of water widely varies with pressure, pressure has a strong influence on physical properties of water. Dielectric constant represents a character of water as a solvent, which determines solubility of an inorganic compound including metal oxides. Dissociation equilibrium of an acid is also strongly dependent on water density. Dissociation constant of acid rises with increased density of water, resulting in drop of pH. Density of water and the density-related physical properties of water, therefore, are the major governing factors of corrosion and environmentally assisted cracking of metals in supercritical aqueous solutions. This paper discusses importance of "physical properties of water" in understanding corrosion and cracking behavior of alloys in supercritical water environments, based on experimental data and estimated solubility of metal oxides. It has been pointed out that the water density can have significant effects on stress corrosion cracking (SCC) susceptibility of metals in supercritical water, when dissolution of metal plays the key role in the cracking phenomena.

• Journal of Korean Association for Spatial Structures
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• v.17 no.2
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• pp.63-70
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• 2017

In Korea, the occurrence frequency of earthquakes has recently increased, compared with the past. So, the various damages for cultural properties due to earthquake can be expected, and especially fortress structure is vulnerable to earthquake. Therefore, the resonable seismic characteristics evaluation is required to secure the safety for fortress structure with the various construction and configuration types. Also, we should consider the various applied load conditions as design variables. To this end, this study classifies fortress structures according to the construction and configuration types, and then applies the discrete element method to model and analyze fortress structures. Finally, the seismic characteristics is evaluated through slip condition due to the analysis results considering the various design variables.

• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.509-516
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• 2002

Rainfall-induced landslides in a weathered granite soil slope have mostly relative shallow slip surfaces above the groundwater table The pore-water pressure of soil above the groundwater table is usually negative. This negative pore-water pressure(or matric suction) has been found to make a large contribution to the slope stability. Therefore, the variation of in-situ matric suction profiles with time in a soil slope should be understood. In this study, a field measurement program was carried out from June to August, 2001 to monitor in-situ matric suctions and volumetric water contents in a weathered granite soil slope. The influence of climatic conditions on the variation of in-situ matric suctions could be found to decrease rapidly with depth. It could be found that decrement of matric suction induced by precipitation is affected not only by the amount and duration of rainfalls but also by the initial matric suction just prior to rainstorms. The soil-water characteristic from the field monitoring tends toward the wetting path of SWCC obtained from the laboratory test.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.4
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• pp.764-770
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• 1989

This paper analyze the steady state performance of a self-acting air lubricated slider bearing in hard disk/head system. Modified Reynolds' equation is derived from the steady state compressible Navier-Stokes equation, under slip-flow conditions. Finite difference technique and numerical procedure are described by using Newton-Raphson iteration method to slove the non-linear equations. These techniques are applied to conventional slider bearings and the effects of molecular mean free path(MMFP) for a recording surface of hard disk are shown. The calculation procedure developed here, wide applicabilities in practical head design procedures, and converges rapidly.

• Journal of Biosystems Engineering
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• v.9 no.2
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• pp.19-26
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• 1984

This study intended to develop the prediction models of the traction and field performance of two-wheel tractors by using the principles which were applied for predicting those of the four-wheel tractors. The traction model developed in this study consists of the net traction coefficient, rolling resistance coefficient and traction efficiency, Which are expressed as functions of both wheel numeric and slip. A computer program on the field performance of two-wheel tractors is also developed to predict the drawbar horsepower, traction force, traction efficiency, rotational speed of engine and engine horsepower if the characteristics of the engine performance and operational condition of the two-wheel tractor are known. Based on the developed models, the conditions of basic variables to maximize the field performance were analyzed so as to assess the existing two-wheel tractor.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.204-205
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• 2007

We have developed a new measurement system by using GPS to complement those errors. In general, GPS receivers are composed of an antenna, tuned to the frequencies transmitted by the satellites, receiver-processors, and a highly-stable clock. The GPS mounted on the roof of TT4 in KHST receives a signal from the RS232 communication port, and it is connected to the network system in TT3 after converting with TCPIP communication. It is able to track the position of vehicle and synchronize the signal from different measurement system simultaneously. Therefore it is able to chase the fault occurrence, track inspection and electrical interruptionat real-time situation more accurately. There is not an error coursed by vehicle conditions such as slip and the slide.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2012.05a
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• pp.309-317
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• 2012

Recent years have witnessed the use of micro shock tube in various engineering applications like micro combustion, micro propulsion, particle delivery systems etc. The flow characteristics occurring in the micro shock tube shows a considerable deviation from that of well established conventional macro shock tube due to very low Reynolds number and high Knudsen number effects. Also the diaphragm rupture process, which is considered to be instantaneous process in many of the conventional shock tubes, will be crucial for micro shock tubes in determining the near diaphragm flow field and shock formation. In the present study, an axi-symmetric CFD method has been applied to simulate the micro shock tube, with Maxwell's slip velocity and temperature jump boundary conditions. The effects of finite diaphragm rupture process on the flow field and the shock formation was investigated, in detail. The results show that the shock strength attenuates rapidly as it propagates through micro shock tubes.

• Communications of the Korean Mathematical Society
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• v.34 no.3
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• pp.819-839
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• 2019

We study the stabilization of 2D g-Navier-Stokes equations in bounded domains with no-slip boundary conditions. First, we stabilize an unstable stationary solution by using finite-dimensional feedback controls, where the designed feedback control scheme is based on the finite number of determining parameters such as determining Fourier modes or volume elements. Second, we stabilize the long-time behavior of solutions to 2D g-Navier-Stokes equations under action of fast oscillating-in-time external forces by showing that in this case there exists a unique time-periodic solution and every solution tends to this periodic solution as time goes to infinity.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.5
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• pp.22-27
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• 2022

An integrated front steering system and front brake system (FSFB) is developed to improve the stability and controllability of an SUV. The FSFB simultaneously controls the additional steering angle and front brake pressure. An active front steering system (AFS) and an active front brake system (AFB) are designed for comparison. The results show that the FSFB enhances the lateral stability and controllability regardless of road and running conditions compared to the AFS and AFB. As a result, the yaw rate of the SUV tracks the reference yaw rate, and the side slip angle decreases. In addition, brake pressure control is more effective than steering angle control in improving the stability and steerability of the SUV on a slippery road. However, this deteriorates comfort on dry or wet asphalt.