• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.1150-1157
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• 1988

Two-dimensional turbulent plane jet which is under the pressure gradient in the transverse direction is studied numerically. Full Navier-Stokes equations are used to correctly account for the pressure variation in the transverse direction. Using the standard k-.epsilon. turbulence model as a closure relationship, a time marching procedure gives the velocity field. The temperature fields are obtained for two different cases : (1) Hot jet is issued into the cold still air, and (2) Hot jet is issued into the surrounding across which exists a temperature difference. The velocity and temperature fields along with other flow and heat-transfer characteristics for two different pressure gradients are presented. A simple formula that relates the jet trajectory to the pressure gradient is also proposed. The mass flux in the longitudinal direction and the jet halfwidth seem insensitive to the pressure gradient. However, the pressure gradient increases the heat flux in the longitudinal direction as well as in the transverse direction.

• Korean Chemical Engineering Research
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• v.50 no.6
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• pp.1021-1026
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• 2012

The transient mass transfer in a single droplet system consisting of 1-octanol (continuous phase)/aqueous succinic acid solution (dispersed phase) was investigated in the presence of chemical reaction, which is acid/anion exchange reaction of succinic acid and tri-n-octylamine (TOA). This succinic acid extraction by TOA can be considered to occur at the interface between organic and aqueous phase, that is, heterogeneous reaction system. The basic properties of the system such as viscosity, density, distribution coefficient, terminal velocity of droplet, and diffusion coefficient were measured experimentally or calculated theoretically, and used for theoretical calculation of characteristic parameters of mass transfer later. The effects of succinic acid concentration on the terminal velocity was negligible in the existence of TOA, although the terminal velocity increases with succinic acid concentration in the absence of TOA. On the contrary, the terminal velocity decreases with TOA concentration. While droplets falls through organic phase, the trajectory of droplets is observed to oscillate around its vertical path. A mass trnasfer cell was prepared to monitor the mass transfer behavior in a single droplet and used to measure the mean concentration of succinic acid inside droplet. The results are expressed with dimensionless parameters. Under 50 g/L succinic acid condition, the system with 0.1 mol/kg TOA showed that the molar flux decreases in proportion to the decrease of concentration gradient, while in the case of 0.5 mol/kg TOA Sh increases rapidly with time indicating the molar flux of succinic acid decreases relatively slowly compared to the decrease in concentration gradient.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.75-81
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• 2009

A study was performed to investigate the characteristics of two-phase jet injected into subsonic cross-flow using the external mixed gas blast two-phase nozzle. The shadowgraph method was adopted for the cross-flow jet visualization and PDPA system was used to measure droplet size, velocity, and volume flux. The atomization of two-phase jet is initially determined according to gas to liquid mass flow-rate ratio and the Reynolds number of cross-flows. The highest penetration trajectories of two-phase jet injected into cross-flow are governed by the momentum ratio at subsonic cross-flow. As GLR of two-phase jet injected into cross-flow increases, the droplet size decreases and the distribution area of volume flux increases. The distribution of volume flux that influenced by the counter vortex pair at the downstream of cross-flow is symmetric in shape of horseshoe.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.5
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• pp.90-97
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• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.551-556
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• 2014

This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.2
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• pp.270-279
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• 2000

Recently, according to increase in the requirement of electric power, a thermoelectric power plant equipped with pulverized coal combustion system is highly valued, because coal has abundant deposits and a low price compared with others. For efficient use of coal fuel, most of plant makers are studying to improve combustion performance and flame stability, and reduce pollutants emission. One of these studies is how to control the profile of particle injection and velocity dependant on coal nozzle configuration. Basically, nozzle which has mixed flow of gas and particle is required to have the balanced coal concentration at exit, but it is very difficult to obtain that by itself without help of other device. In this study, coal distribution and pressure drop in gas-solid flow are calculated by numerical method in nozzle with various shapes of venturi diffuser as a means to get even coal particle distribution. The tentative correlations of pressure drop and exit coal distribution are deduced as function of the height, length and reducing angle of venturi from the calculated results. When coal hurner nozzle is designed, these equations are very useful to optimize the shape of venturi which minimize uneven particle distribution and pressure drop within coal nozzle.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• v.y2005m4
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• pp.155-158
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• 2005

The spray characteristics of liquid jet minted in subsonic cross-flow were investigated numerically and experimentally. The behaviors of column, penetration and breakup of plain liquid jet in non-swirling cross-flow of air have been studied. Numerical and physical models are based on a modified KIVAII code. The primary atomization is represented by a wave model based on the KH(Kelvin-Helmholtz) instability that is generated by a high interface relative velocity between the liquid and gas flows. CCD camera has been utilized in oder to capture the spray trajectory. The nozzle diameter was 0.5 mm and its L/D ratios were between 1 and 5. Numerical and experimental results indicate that the breakup point is delayed by increasing gas momentum ratio, the penetration decreases by increasing Weber number and the turbulent or nonturbulent liquid jet is obtained at different L/D ratio.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.122-127
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• 2001

As pipelines are often used to transport gas, oil, water and oil products, there are more than one pipeline installed in the offshore field. The size and space of pipelines are various depending on the design specifications. The pipelines are to be designed and installed to secure the stability to external loads during the installation and operation period. The flow patterns are very complex around the pipelines being dependent on incoming flow velocity, pipelines size and space. To investigate the flow patterns, number of experiment are conducted with visualization equipment in a circulating water channel. The flow motion and trajectory were recorded from the laser reflected particles by camera. From the experiment the flow patterns around spaced pipelines were obtained. Also pressure gradient was measured by mano-meter to estimate the hydrodynamic forces on the behind pipeline. The results show that the various sizes and spaces can be affected in the estimation of external load. The complex flow patterns and pressure gradients can be effectively used in the understanding of flow motion and pressure gradient.

• Journal of KIISE:Software and Applications
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• v.26 no.1
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• pp.157-157
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• 1999

Researches on the gesture recognition have become a very interesting topic in the computer vision area, Gesture recognition from visual images has a number of potential applicationssuch as HCI (Human Computer Interaction), VR(Virtual Reality), machine vision. To overcome thetechnical barriers in visual processing, conventional approaches have employed cumbersome devicessuch as datagloves or color marked gloves. In this research, we capture gesture images without usingexternal devices and generate a gesture trajectery composed of point-tokens. The trajectory Is spottedusing phase-based velocity constraints and recognized using the discrete left-right HMM. Inputvectors to the HMM are obtained by using the LBG clustering algorithm on a polar-coordinate spacewhere point-tokens on the Cartesian space .are converted. A gesture vocabulary is composed oftwenty-two dynamic hand gestures for editing drawing elements. In our experiment, one hundred dataper gesture are collected from twenty persons, Fifty data are used for training and another fifty datafor recognition experiment. The recognition result shows about 95% recognition rate and also thepossibility that these results can be applied to several potential systems operated by gestures. Thedeveloped system is running in real time for editing basic graphic primitives in the hardwareenvironments of a Pentium-pro (200 MHz), a Matrox Meteor graphic board and a CCD camera, anda Window95 and Visual C++ software environment.