• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• International Journal of Aeronautical and Space Sciences
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• 제2권1호
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• pp.12-19
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• 2001

Study of turbulent mixing layers has been a popular subject from the point of view of both practical application and phenomenological importance in engineering field. Turbulent mixing layers can be applied in many fields where rapid transition to turbulence is desirable in order to prevent boundary layer separation or to enhance mixing. The ability to control mixing, structure and growth of the shear flow would obviously have a considerable impact on many engineering applications. In addition to practical applications, free shear flows are one of the simplest flows to understand the fundamental mechanism in the transition process to turbulence. After the discovery of large-scale vortical structure in free shear flows many researchers have investigated the physical mechanism of generation and dissipation processes of the vortical structure. This study investigated the role of the large-scale vortical structures in the turbulent mixing layer using LES(Large-Eddy Simulation). The result shows that the pairing interaction of the vortical structure plays an important role in the growth rate of a mixing layer. It is found that the turbulence quantities depend strongly on the velocity ratio. It is also found that the vorticity in the high-velocity-side can extract energy from the mean flow, while the vorticity in the low-velocity-side lose energy by the viscous dissipation. Finally the results suggest the guideline to obtain the desired flow by control of the velocity ratio.

• Journal of Astronomy and Space Sciences
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• 제17권2호
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• pp.181-188
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• 2000

DO Cas는 최근 Shaw (1990)에 의해 근접촉쌍성으로 분류된 공전주기 0.68일의 식쌍성이다. 짧은 공전주기를 가짐에도 불구하고 Mannino (1958) 이후 분광관측에 의한 시선속도 곡선이 발표되지 않고 있다. 그런데 Hill (1991)은 Mannino의 시선속도곡선이 오류를 포함하고 있는 것으 로 보인다고 하였다. 이 연구에서 우리는 Asiago 천문대에 의뢰하여 Mannino가 분석한 분광관측 사진건판을 입수하여 PDS로 측정하여 IRAP로 재분석하였다. 이 시선속도곡선과 1998년에 관측한 BVR 광도곡선을 Wilson-Devinney 방법으로 동시에 분석하였다. 그 결과 DO Cas가 접촉 또는 주성이 로쉬엽을 채우고 있는 접촉에 매우 가까운 준분리형 쌍성임을 확인하였으며 또한 이 계의 절대량을 구하였다.

• 한국항공우주학회지
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• 제37권10호
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• pp.998-1001
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• 2009

본 논문에서는 기존의 호밍유도법칙으로 널리 사용되는 상수 항법이득을 갖는 비례항법유도법칙이 속력 변화가 있는 경우에도 엄밀한 의미에서 최적해임을 보였다. 해석결과로부터 항법상수가 3인 경우 유도항력에 접근속력이 가중된 성능지수를 최소화하는 최적해임이 확인되었다. 비행체의 운동을 선형방정식으로 표현하고 속력변화를 고려하지 않은 기존 연구결과들과 달리 본 연구에서는 비선형 방정식을 기반으로 속력변화까지 고려하여 비례항법유도법칙의 최적성에 관한 보다 일반적인 해석 결과를 제시하였다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2000년도 한국우주과학회보 제9권2호
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• pp.96-96
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• 2000

No Abstract, See Full Text

• Journal of Astronomy and Space Sciences
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• 제9권2호
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• pp.143-153
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• 1992

Spectra of the $\zeta$ Aurigae type eclipsing binary system 32 Cygni were taken at the Asiago Observatory. Using the Gaussian fitting method we can estimate the radial velocity and equivalent widths of some metalic lines.

• Journal of Astronomy and Space Sciences
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• 제22권2호
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• pp.125-138
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• 2005

S152 분자운은 S152 분자운 복합체의 중심부에 있으며 페르세우스 나선 팔에 위치하고 있는 작고 밝은 발광 성운이다. 이 분자운까지의 광학적 거리는 3.5kpc이며 지름은 약 1.5pc으로 알려져 있다 . S152 분자운 좌측에는 초신성 잔해로 알려진 SNR G109.1-1.0이 위치하며, S152 분자운 복합체 전체 구조는 전갈 형태를 띠고 있는데, SNR G109.1-1.0과 S152 분자운이 접하는 부분은 특이한 반구 형태를 띠고 있어 많은 연구가 진행되어 왔다. 본 연구에서 FCRAO $^{12}CO(J=\;1{\to}0)$우리 은하 탐사 자료를 이용해 S152 분자운 복합체의 전체 속도 구조를 분석한 결과, 세 개의 다른 속도 성분 값 -54.5, -50.4, -48.8km $s^{-1}$ 에서 구조적인 차이를 보였다. S152 분자운 복합체의 속도 기울기는 0.21km $s^{-1}pc^{-1}$과 0.16km $s^{-1}pc^{-1}$인데 두 개의 속도 기울기 방향이 다르게 분석되었다. 이것은 S152 분자운 주변 영역이 SNR G109.1-1.0 과 상호 작용을 일으킨 후 다른 가스 운들이 병합되면서 서로 다른 진화 과정을 거친 결과로 생각된다.

• Journal of Astronomy and Space Sciences
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• 제13권1호
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• pp.48-54
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• 1996

The generalized linear impulsive correction problem is applied to make a linear programming problem for optimizing trajectory of an orbiting spacecraft. Numerical application for the stationkeeping maneuver problem of geostationary satellite shows that this problem can efficiently find the optimal solution of the stationkeeping parameters, such as velocity changes, and the points of impulse by using the revised simplex method.

• 천문학회지
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• 제34권1호
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• pp.17-24
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• 2001

We have studied the central parts of M82, which is a well-known infrared luminous, starburst galaxy, by analyzing archival data from the Infrared Space Observatory (ISO). M82 was observed at 11 positions covering $\pm$45" from the center along the major axis. We analyzed 4 emission lines, [ArIII] 8.99 ${\mu}m$, $H_2$ 17.034 ${\mu}m$, [FeII] 25,98 ${\mu}m$, and [SiII] 34,815 ${\mu}m$ from $SWSO_2$ data. The integrated flux distributions of these lines are quite different. The $H_2$ line shows symmetric twin peaks at $\~$18" from the center, which is a general characteristic of molecular lines in starburst or barred galaxies. This line appears to be associated with the rotating molecular ring at around $\~$200 pc just outside the inner spiral arm. The relative depletion of the $H_2$ line at the center may be due to the active star formation activity which dissociates the $H_2$ molecules. The other lines have peaks at the center and the distributions are nearly symmetric. The line profiles are deconvolved assuming that both intrinsic and instrumental profiles are Gaussian. The velocity dispersion outside the core is found to be $\~50 km s^{-1}$. The central velocity dispersion is much higher than $50 km s^{-1}$, and different lines give different values. The large central velocity dispersion ($\sigma$) is mostly due to the rotation, but there is also evidence for a high $\sigma$ for [ArIII] line. We also generated position-velocity maps for these four lines. We found very diverse features from these maps.

• Journal of Korean Society for Atmospheric Environment
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• 제18권E1호
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• pp.29-36
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• 2002

The selective catalytic reduction (SCR) reaction of promoter catalysts was investigated in this study. A pure anatase type of TiO$_2$ was used as support. Activation measurement of prepared catalysts was practiced on a fixed reactor packing by the glass bead after filling up catalysts in 1/4 inch stainless tube. The reaction temperature was measured by K-type thermocouple and catalyst was heated by electric furnace. The standard compositions of the simulated flue gas mixture in this study were as follows: NO 1,780ppm, NH$_3$1,780ppm, $O_2$1% and $N_2$ as balance gas. In this study, gas analyzer was used to measure the outgassing gas. Catalyst bed was handled for 1hr at 45$0^{\circ}C$, and the reactivity of the various catalyst was determined in a wide temperature range. Conversion of NH$_3$/NO ratio and of $O_2$ concentration was practiced at 1,1.5 and 2, respectively. The respective space velocity were as follows . 10,000, 15,000 and 17,000 hr-1. It was found that the maximum conversion temperature range was in a 5$0^{\circ}C$. It was also found toi be very sensitive at space velocity, $O_2$ concentration, and NH$_3$/NO ratio. We also noticed that the maximum conversion temperature of (W, Mo, Sn) -V$_2$O$_{5}$/TiO$_2$ catalysts was broad. Specially WO$_3$-V$_2$O$_{5}$TiO$_2$2 catalyst appeared nearly 100% conversion at not only above 30$0^{\circ}C$ ut also below 25$0^{\circ}C$. At over 30$0^{\circ}C$, NH$_3$ oxidation decreased with decrease of surface excess oxygen. In addition, WO$_3$-V$_2$O$_{5}$TiO$_2$ catalyst did not appear to affect space velocity, $O_2$ concentration, and NH$_3$/NO ratio.ratio.