• Journal of Advanced Marine Engineering and Technology
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• v.30 no.3
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• pp.369-375
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• 2006

Large eddy simulation has been applied to simulate turbulent flow around a cubic obstacle mounted on a channel surface for a Reynolds number of 40000(based on the incoming bulk velocity and the obstacle height) using a Smagorinsky model and a Lagrangian dynamic model. In order to develop the LES to the practical engineering application, the effect of upwind scheme, turbulent sub-grid scale model were investigated. The computed velocities. turbulence quantifies, separation and reattachment length were evaluated by compared with the previous experimental results.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.7
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• pp.939-947
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• 1997

An experimental study of the skin friction measurement in a turbulent boundary-layer has been carried out. The skin friction measurements are made using the laser interferometer skin friction (LISF) meter, which optically detects the rate of thinning of an oil applied to the test surface. This technique produces reliable skin friction data over a wide range of flow situations up to 3-dimensional complicated flows with separation, where traditional skin friction measurement techniques are not applicable. The present measured data in a turbulent boundary-layer on a flat plate using the LISF technique shows a good comparison with the result from the previous velocity profile techniques, which proves the validity of the present technique. An extensive error analysis is carried out for the present technique yielding an uncertainty of about .+-.8%, which makes them suitable for CFD code validation purposes. Finally the measurements of the skin friction in a separated region after a surface-mounted obstacle are also presented.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1765-1770
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• 2003

This paper describes a study of the spin-up of a free-surface fluid in a rectangular container in which an internal cylindrical obstacle is mounted. Experiments and numerical analysis have been carried out for a variety of obstacle position. Increase in the speed of background rotation and near wall position of cylindrical obstacle results in the complex flow structures. Numerical and experimental results agree well with each other and the Ekman-pumping model is also applied to this flow.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.10
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• pp.1979-1989
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• 1992

An experimental study has been performed to investigate the horseshoe vortex system formed around cylindrical obstacles mounted vertically on the surface over which a boundary layer is formed. To measure the mean velocity of the flow field, a five-hole Pitot tube has been used. In addition, surface static pressure measurements and surface flow visualization were also performed. From the five-hole probe measurements, vorticity distribution was deduced numerically and the streamwise velocity distribution was also examined. To consider the effect of the leading-edge shape on the formation of the horseshoe vortex, a qualitative comparison was made between the three-dimensional flows around a circular cylinder and a wedge-type cylinder. The five-hole probe measurements showed a single primary vortex which exists immediately upstream of the obstacles, and endwall flow visualization showed the existence of a corner vortex. As the vortex passes around the obstacle, the vortex strength is reduced and the vortex core moves radially outward. Due to this horseshoe vortex, the fluid momentum is found to decrease along the streamwise direction. Since the horseshoe vortex formed around a wedge-type cylinder has weaker strength and is confined to a narrower region than that around a circular, the possibility that the secondary flow loss due to the horseshoe vortex can be reduced through a change of the leading- edge shape is proposed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.8
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• pp.2593-2600
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• 1996

A modified k-$\varepsilon$ turbulence model having a generality is proposed in the present study, in which the constant $C_{\varepsilon2}$in the $\varepsilon$-equation is simply changed as a functional form of a new parameter both satisfying the tensor invariant condition and representing the extra straining effect on complex shear flows. With this model turbulent shear flows over two-dimensional obstacles placed in a channel are numerically studied for different blockage ratios and aspect ratios. Comparing with the available experimental data, the predicted results with the present model provide definite improvements over the standard model's results and work fairly well with the experimental data on the size of the recirculation zone, as well as mean velocity, wall static pressure, turbulent kinetic energy and Reynolds stresses.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.832-835
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• 2004

In this paper, we implement a sensor which can perceive obstacles. We constructed it with a laser emitting a structured light and a small pc camera. It is cheap and can measure the precise sizes of the obstacles. Ultrasonic arrays and laser scanners are used generally to perceive obstacles in the autonomous mobile robot until now. However we knew that they can perceive big obstacles well, but cannot perceive small obstacles on the ground by experiments. We mounted this equipment to our robot and use it to perceive the obstacles of the front side. Our robot can recognize the obstacles of 10mm height. We expect that this equipment will be useful because it is cheap but work well.

• Journal of Biosystems Engineering
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• v.41 no.2
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• pp.67-74
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• 2016

Purpose: Many tractors have adopted the horizontal control system designed to maintain the three-point mounted implements in horizontal position when they are tilted sideways. The control system rotates the implement in the opposite direction to the inclination of rear axle of the tractor. However, the current control system was found to have poor performance in accuracy and response. A new control system was therefore developed to improve the performance. Methods: The new control system was designed to get the response of the implement to be started earlier by using the tilt information from the front axle of the tractor. By this approach, the rotation of the implement can be adjusted as required to make it horizontal at the expected time, even though the response is slow. The optimal values of the control parameters for the new system were determined by computer simulation and validated by a performance test conducted with an obstacle of 120 mm height on a flat concrete surface. The performance of the control system was evaluated by the root mean square error (RMSE) of the rotation angle of the implement with respect to the actual inclination of the rear axle. Results: The new control system reduced the RMSE of the current control system by 44.6% indicating a high performance improvement. The inclination of the front axle was easily obtained from a sensor mounted on the front axle of the tractor and used as input to the new control system. Conclusions: The method of getting the response of the implement to be started earlier by utilizing the inclination information of the front axle can be applied to improve the performance of the current control system at least cost.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.3
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• pp.246-254
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• 2001

In this paper, we described an approach to the automation of visual inspection of BGA solder joint defects of surface mounted components on printed circuit board by using neural network. Inherently, the BGA solder joints are located underneath its own package body, and this induces a difficulty of taking good image of the solder joints by using conventional imaging systems. To acquire the cross-sectional image of BGA sol-der joint, X-ray cross-sectional imaging method such as laminography and digital tomosynthesis has been cur-rently utilized. However, the cross-sectional image obtained by using laminography or DT methods, has inher-ent blurring effect and artifact. This problem has been a major obstacle to extract suitable features for classifi-cation. To solve this problem, a neural network based classification method is proposed int his paper. The per-formance of the proposed approach is tested on numerous samples of printed circuit boards and compared with that of human inspector. Experimental results reveal that the method provides satisfactory perform-ance and practical usefulness in BGA solder joint inspection.