• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.353-360
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• 2016

In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.

• Journal of the military operations research society of Korea
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• v.3 no.1
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• pp.97-107
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• 1977

This report examines several models, such as random or area bombardment, salvo fire and pattern fire, for the computation of target coverage when multiple rounds are fired at a target. Fractional kill of a fragment sensitive target by a fragmenting projectile as a function of the number of rounds fired is compared for two salvo fire models. The first is a standard salvo fire model in which N rounds are fired at the same aim point, in the second model single kill probability is computed for a fragment sensitive target and then fractional kill from the firing of N rounds is computed according to the assumption that the effects of each round are independent. Because the method of solution becomes very laborious for large patterns, this report gives a method only for the case of evaluating the effectiveness of stick and trianglar pattern fire. The need for the sophisticated and complicated target coverage models is demonstrated by the results of computations performed in this report.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.4
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• pp.667-676
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• 2002

Many studies on the finite element modeling for bolted joints have proceeded, but the structures with bolted joints are complicated in shape and it is difficult to find out the characteristics according to joint condition. Usually, experimental methods have been used for bolted joint analysis. A reliable and practical finite element modeling technique for structure with bolted joints is very important for engineers in industry. In this study, three kinds of model are presented; a detailed model, a practical model and a simple model. The detailed model is modeled by using 3-D solid element and gap element, and the practical model is modeled by using shell element (a portion of bolt head) and beam element (a portion of bolt body), the simple model is modeled by simplifying practical model without using gap elements. Among these models, the simple model has the least degree of freedom and show the effect of memory reduction of 59%, when compared with the detailed model.

• Radiation Oncology Journal
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• v.28 no.1
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• pp.23-31
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• 2010

Purpose: To evaluate the relationship between the normal tissue complication probability (NTCP) of 3-dimensional (3-D) radiotherapy and the radiographic parameters of 2-dimensional (2-D) radiotherapy such as central lung distance (CLD) and maximal heart distance (MHD). Materials and Methods: We analyzed 110 patients who were treated with postoperative radiotherapy for breast cancer. A two-field tangential technique, a three-field technique, and the reverse hockey stick method were used. The radiation dose administered to whole breast or the chest wall was 50.4 Gy, whereas a 45 Gy was administered to the supraclavicular field. The NTCPs of the heart and lung were calculated by the modified Lyman model and the relative seriality model. Results: For all patients, the NTCPs of radiation-induced pneumonitis and cardiac mortality were 0.5% and 0.7%, respectively. The NTCP of radiation-induced pneumonitis was higher in patients treated with the reverse hockey stick method than in those treated by other two techniques (0.0%, 0.0%, 3.1%, p<0.001). The NTCP of radiation-induced pneumonitis increased with CLD. The NTCP of cardiac mortality increased with MHD ($R^2=0.808$). Conclusion: We found a close correlation between the NTCP of 3-D radiotherapy and 2-D radiographic parameters. Our results are useful to reanalyze the previous 2-D based clinical reports about breast radiation therapy complications as a viewpoint of NTCP.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1755-1762
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• 2004

Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.86-100
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• 1998

The impingement of the fuel spray on the wall within the combustion chamber in compact high-pressure injection engines and on the intake port wall in port-fuel-inje- ction type engines is unavoidable. It is important to understand the characteristics of impinging spray because it influences on the rate of fuel evaporation and droplet distrib- ution etc. In this study, the numerical study for the characteristics of spray/wall interaction is performed to test the applicability and reliability of spray/wall impingement models. The impingement models used are stick model, reflect model, jet model and Watkins and Park's model. The head of wall-jet eminating radilly outward from the spray impingement site contains a vortex. Small droplets are deflected away from the wall by the stagnation flow field and the gas wall-jet flow. While the larger droplets with correspondingly higher momentum are impinged on the wall surface and them are moved along the wall and are rolled up by wall-jet vortex. Using the Watkins and Park's model the predicted results show the most reasonable trend. The rate of increase of spread and the height of the developing wall-spray is predicted to decrease with increased ambient pressure(gas density).

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2555-2559
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• 2003

In this study, we develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and friction-generating device. So we will make a suitable dynamic model and mechanism to control friction force using a AC servo-motor. We suggest Stick friction and Column friction model, which is occurred between roller and veneer and within veneers as well. A kind of sensor can get the velocity of roller and movement of roller vertical direction. We assume that the several things to simplify the complicate and difficult nonlinear friction phenomenon. And to create an optimal normal force, which can generate a suitable friction force, we control the movement of sorting roller and supporter as well. We introduce several results about a friction character and suggest the value of calibration of sorting roller movement and supporters as well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1698-1708
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• 2002

The main topic covered in this paper is that of the impact process, that is, where two bodies come into contact and rebound or stick together. This paper presents how to determine the rebound velocities of a microparticle that approaches a surface with arbitrary initial velocities and relate the impact process to the physical properties of the materials and to the adhesion force. Actual adhesion forces demonstrate a significant amount of energy dissipation in the form of hysteresis, and act generally in a normal to the contact surfaces. Microparticles must also contend with forces tangent to the contact surfaces, namely Coulomb dry friction. The developed model has an algebraic form based on the principle of impulse and momentum and hypothesis of energy dissipation. Finally, several analyses are carried out in order to estimate impact parameters and the developed analytical model is validated using experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.90.5-90
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• 2002

In this research, we are trying to develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and plank. So we will make a suitable dynamic model and mechanism to control the velocity feedback. We will suggest stick-slip motion model which can predict the stability behavior of this system. The control system has a feedback loop, in which the following operations are included. A kind of sensor can get the velocity of the mass to adhesive veneer. The output of result signal should be passed to a filter, then to a phase shifter, which applies an adjustable phase-shift, to a variable-gain amplifier. A shaker will be attached to the mass, which ex...

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.2
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• pp.101-106
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• 2007

Recently, according as USN application service models have been integrated each other and have become various, the need on the development of monitoring programs corresponding each service model has been risen steadily. However, if we stick to the traditional method developing independently each service model, we might pay unnecessary expenses. In this paper, we propose the monitoring program authoring tool for USN. Furthermore, we introduce an implementing example of the forest fire prevention monitoring system for verification of the proposed tool. The tool adopted the framework based programming and the S/W reusability techniques for minimizing waste of redeveloping cost.