• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.117-124
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• 2001

In a SRM drive, the on/off angles of each phase switch should be accurately controlled in order to control to torque and speed in a stable way, The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor. However, as the speed increase, the amount of the switching angle deviation from the preset values is also increased by the sampling period of the microprocessor. Therefore, a low cost encoder suitable for a practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. It is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate a the practical low cost SRM drive.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 1999년도 유체기계 연구개발 발표회 논문집
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• pp.55-60
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• 1999

A centrifugal compressor was tested with three different diffusers with plate vanes. The vane inlet angle was varied from 15 to 30 dog. The higher static pressure rises are obtained with lower vane stagger angle. In the stable region the static pressure field in vaneless space is very sensitive to flow rate. The impeller has a stabilizing effect over the whole stable operating range. The diffuser has a stabilizing effect at high flow rate but is destabilizing at low flow rate.

• Bulletin of the Korean Chemical Society
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• 제10권3호
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• pp.247-250
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• 1989

The molecular structure of cyclobutylmethyl ketone (c-$C_4H_7COCH_3$) has been investigated by molecular mechanics II (MM2). For the monosubstituted cyclobutane there are two possible ring conformations, the equatorial and axial form, but for the cyclobutylmethyl ketone the equatorial form is predominant conformation. For the $COCH_3$ moiety there are two stable orientations which are the equatorial-gauche and the equatorial-trans form. The equatorial-gauche form where the C = O bond is nearly eclipsing (torsional angle ${\angle}C4-C3-C2-O10=14.5^{\circ}$) one of the ${\alpha}$C-C bonds of the four-membered ring was preferred conformer with steric energy of 13.37 kcal/mol. The equatorial-trans form where the C = O bond is nearly eclipsing (${\angle}C4-C3-C2-O10=145.0^{\circ}$) the ${\alpha}$ C-H bond of the four-membered ring was less stable conformer with steric energy of 15.40 kcal/mol.

• 한국항공운항학회지
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• 제31권2호
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• pp.1-6
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• 2023

When landing an aircraft descent-speed, wind around the airport, and regulations are important indicators for the pilot to decide whether to land in the Final Approach. In this study, in order to maintain a decent angle accessible to the airport, the pilot predicts an appropriate decent rate suitable for wind direction, wind speed, and speed to make a stable landing. To confirm this, the decent rate according to the speed and speed of wind was calculated using the information actually measured on the B737NG aircraft and compared with the theoretical figures. The purpose of this study is to ensure that the pilot can make a stable landing at a given FPM (Feet Per Minute) when a visual approach and non-normal approach is required at an airport designed with a somewhat higher descent angle.

• 한국지능시스템학회논문지
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• 제26권4호
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• pp.279-285
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• 2016

본 논문에서는 전기구동방식 궤도차량로봇의 플랫폼을 제안한다. 궤도형 이동로봇은 사람의 접근이 어려운 험지나 장비를 운반하는 등의 목적으로 군사목적, 탐사목적, 재해재난, 농업분야 등 다양한 분야에서 사용되고 있다. 주행 안정각, 측면 전복각 등의 설계조건을 반영하여 전기구동 궤도차량로봇을 설계하였다. 궤도차량로봇을 제작하고 구동시스템 제어기를 제작하였다. 제작한 궤도차량로봇을 $15^{\circ}$ 경사의 실내와 $40^{\circ}$ 경사의 실외 주행 실험을 실시하였다. 실험을 통하여 개발한 전기구동방식 궤도차량로봇의 주행이 가능함을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.160-163
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• 1988

In this paper, the adaptive controller for the turret gun is discussed which uses model reference adaptive technique based on the Lyapunov direct method. Turret gun can be decomposed into two time-invariant SISO control systems. One is for the elevation angle control and the other is for the azimuth angle control under the assumption of independence each other. Thus we only consider here about the control loop for the elevation angle.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 학술대회
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• pp.367-373
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• 2008

Spinning detonations propagating in a circular tube were numerically investigated with a one-step irreversible reaction model governed by Arrhenius kinetics. Activation energy is used as parameter as 10, 20, 27 and 35, and the specific heat ratio and the heat release are fixed as 1.2 and 50. The time evolution of the simulation results was utilized to reveal the propagation mechanism of single-headed spinning detonation. The track angle of soot record on the tube wall was numerically reproduced with various levels of activation energy, and the simulated unique angle was the same as that of the previous reports. The maximum pressure histories of the shock front on the tube wall showed stable pitch at Ea=10, periodical unstable pitch at Ea=20 and 27 and unstable pitch consisting of stable, periodical unstable and weak modes at Ea=35, respectively. In the weak mode, there is no Mach leg on the shock front, where the pressure level is much lower than the other modes. The shock front shapes and the pressure profiles on the tube wall clarified the mechanisms of these stable and unstable modes. In the stable pitch at Ea=10, the maximum pressure history on the tube wall remained nearly constant, and the steady single Mach leg on the shock front rotated at a constant speed. The high and low frequency pressure oscillations appeared in the periodical unstable pitch at Ea=20 and 27 of the maximum pressure history. The high frequency was one cycle of a self-induced oscillation by generation and decay in complex Mach interaction due to the variation in intensity of the transverse wave behind the shock front. Eventually, sequential high frequency oscillations formed the low frequency behavior because the frequency behavior was not always the same for each cycle. In unstable pitch at Ea=35, there are stable, periodical unstable and weak modes in one cycle of the low frequency oscillation in the maximum pressure history, and the pressure amplitude of low frequency was much larger than the others. The pressure peak appeared after weak mode, and the stable, periodical unstable and weak modes were sequentially observed with pressure decay. A series of simulations of spinning detonations clarified that the unsteady mechanism behind the shock front depending on the activation energy.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년 추계학술대회논문집
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• pp.367-373
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• 2008

Spinning detonations propagating in a circular tube were numerically investigated with a one-step irreversible reaction model governed by Arrhenius kinetics. Activation energy is used as parameter as 10, 20, 27 and 35, and the specific heat ratio and the heat release are fixed as 1.2 and 50. The time evolution of the simulation results was utilized to reveal the propagation mechanism of single-headed spinning detonation. The track angle of soot record on the tube wall was numerically reproduced with various levels of activation energy, and the simulated unique angle was the same as that of the previous reports. The maximum pressure histories of the shock front on the tube wall showed stable pitch at Ea=10, periodical unstable pitch at Ea=20 and 27 and unstable pitch consisting of stable, periodical unstable and weak modes at Ea=35, respectively. In the weak mode, there is no Mach leg on the shock front, where the pressure level is much lower than the other modes. The shock front shapes and the pressure profiles on the tube wall clarified the mechanisms of these stable and unstable modes. In the stable pitch at Ea=10, the maximum pressure history on the tube wall remained nearly constant, and the steady single Mach leg on the shock front rotated at a constant speed. The high and low frequency pressure oscillations appeared in the periodical unstable pitch at Ea=20 and 27 of the maximum pressure history. The high frequency was one cycle of a self-induced oscillation by generation and decay in complex Mach interaction due to the variation in intensity of the transverse wave behind the shock front. Eventually, sequential high frequency oscillations formed the low frequency behavior because the frequency behavior was not always the same for each cycle. In unstable pitch at Ea=35, there are stable, periodical unstable and weak modes in one cycle of the low frequency oscillation in the maximum pressure history, and the pressure amplitude of low frequency was much larger than the others. The pressure peak appeared after weak mode, and the stable, periodical unstable and weak modes were sequentially observed with pressure decay. A series of simulations of spinning detonations clarified that the unsteady mechanism behind the shock front depending on the activation energy.

• 대한통합의학회지
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• 제5권1호
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• pp.75-83
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• 2017

Purpose : The parameters used in architectural analysis are muscle thickness, fascicle length, pennation angle, etc. Pennation angle is an important muscle characteristic that plays a significant role in determining a fascicle's force contribution to movement. Ultrasonography has been widely used to obtain the image for measurement of a pennation angle since it is non-invasive and real-time. However, manual assessment in ultrasonographic images is time-consuming and subjective, making it difficult for using in muscle function analysis. Thus, in this study, I proposed an automatic method to extract the pennation angle from the ultrasonographic images of gastrocnemius muscle. Method : The ultrasonographic image obtained from 10 healthy participants's gastrocnemius muscle using for developed automatic measuring program. Automatic measuring program algorithm consists with preprocessing, line detection, line classification, and angle calculation. The resulting image was then used to detect the fascicles and aponeuroses for calculating the pennation angle with the consideration of their distribution in ultrasonographic image. Result : The proposed automatic measurement program showed the stable repeatability of pennation angle calculation. Conclusion : This study demonstrated that the proposed method was able to automatically measure the pennation angle of gastrocnemius, which made it possible to easily and reliably investigate pennation angle more.