• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.5
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• pp.1330-1337
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• 1994

This study is to predict the lateral dispersion of the particles with time in a vertical pipe. Particle is released downward and located in the center of a pipe through which stationary, homogeneous turbulent air is flowing. We assume that gas turbulence velocities have a Gaussian probability density distribution and the presence of particle is not to alter turbulent structures. Particle trajectory is computed by numerically integrating the particle Lagrangian equation of motion, with a random sampling to determine the fluctuating air velocity experienced by each particle, which considered inertia effect and crossing-trajectories effect. The result shows characterestics of particle dispersion according to flow field condition and droplet size by using the parameters and scales, which expressed characterestics of flow field and particle. Predictions agree reasonably with experimental data.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.43-53
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• 2002

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.37-43
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• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• Wind and Structures
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• v.13 no.2
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• pp.95-108
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• 2010

This review paper discusses research from the last few years relating to windborne debris risk models and the essential elements of engineering damage prediction models. Generic types of windborne debris are discussed. The results of studies of debris trajectories that are relevant to damage models are described - in particular the horizontal component of debris velocity as a function of distance travelled. The merits of impact momentum versus impact kinetic energy as a relevant parameter for predicting damage are considered, and how published data from generic cannon Impact tests can be used in risk models. The quantitative variation of debris impact damage with wind speed is also discussed. Finally the main elements of previously-proposed debris damage models are described.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.292-297
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• 2013

This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.5-13
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• 2008

A smart submunition drops through the expected trajectory to have a appropriate target searching footprint for the armored ground vehicles. Parachutes can be used as a tool to decelerate and spin the submunition. Usually submunition's descent velocity, spin rate, submunition inclination angle against vertical and dynamic stability affect to its target searching footprint. Therefore it is important to design optimal parachute and load configuration for the overall system performance. In this paper we described the dynamic motion of submunition by the mathematical model of parachute and load. Through the computer simulation we can analyze the submunition footprint affected by parachute and load design.

• Journal of Astronomy and Space Sciences
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• v.20 no.4
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• pp.365-374
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• 2003

Satellite formation flying is currently an active area of research in the aerospace engineering. So it has been researched by various authors. In this study, a tracking controller using sliding mode techniques was designed to control a satellite for the satellite formation flying. In general, Hill's equations are used to describe the relative motion of the follower satellite with respect to the leader satellite. However the modified Hill's equations considering the $J_2$ perturbation were used for the design of sliding mode controller. The extended Kalman filter was applied to estimate the state vector based on the measurements of relative distance and velocity between two satellites. The simulation results show that the follower satellite tracks the desired trajectory well by thruster operations based on the sliding mode control law.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.763-768
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• 2002

This paper presents a mathematical model predicting the temperature distribution in rotating GMA welding. The bead width increases with rotation frequency at the same rotation diameter because the molten droplets are deflected by centrifugal force. The numerical solution is obtained by solving the transient three-dimensional heat conduction equation considering the heat input from the welding arc, cathode heating and molten droplets. Generally in GMA welding the heat input may be assumed as a normally distributed source, but the droplet deflection causes some changes in the heat input distribution. To estimate the heat flux distribution due to the molten droplet, the contact point where the droplet is transferred on the weld pool surface is calculated from the flight trajectory of the droplets under the arc plasma velocity field obtained from the arc plasma analysis. The numerical analysis shows a tendency of broadened bead width and shallow penetration depth with the increase of rotating frequency. The simulation results are in good agreement with those obtained by the experiments under various welding conditions.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.546-551
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• 1993

A new robust sliding mode controller is formulated for the tip position control of a single-link flexible manipulator with parameter variations. After establishing the plant model characterized by a noncollocated uncertain control system, a sliding surface which guarantees stable sliding mode motion is synthesized in an optimal manner. The surface is then modified to adapt arbitrarily given initial conditions. A discontinuous control law associated with the modified surface is designed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase of state trajectory without increasing maximum control torque as well as undesirable chattering. Furthermore, a low sensitiveness to uncertainties is obtained from inherent salient properties of the proposed control system. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.346-350
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• 1989

This paper concerned about a study on the position control of KED-1 robot manipulator using PID self-tuning controller. For two joint manipulator KED-1, KED-1 manipulator is translated into kinematics to control each joints in joint space seheme. Angle displacements of joint coordinate are transformed into reference angle velocity of each subsystem through trajectory planning. Also, time sharing technique is used to control KED-1 manipulator. A series of simulation and experiment are performed for each joint in show the valid of proposed algorithm.