• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.7
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• Proceedings of the Korean Geotechical Society Conference
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• 2006.03a
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• pp.402-413
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• 2006

Strength evaluation of soft soils is a formidable task because of difficulties in sampling, specimen preparation and setting in triaxial cells. In undrained triaxial testing, sampling disturbance, verticality of specimen and bedding effect give a great influence on shear strength measurements. In the other hand, shear wave measurements of specimens are less influenced by these factors. In this research, the bender elements were attached top cap and base pedestal of triaxial cell and shear wave velocities were measured. To initiate a methodology to evaluate shear strength indirectly by measuring shear wave velocity, a relationship between shear strength and shear wave velocity was developed with kaolinite specimens consolidated in the laboratory. Undrained shear strength turns out to increase linearly with shear wave velocity. Stress-strain curves can also be predicted with a hyperbolic model and shear wave measurements.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.663-666
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• 2002

Hard disk drived (HDD) in computer are used extensively as data storage capacity. The trend in the computer industry to produce smaller disk drives rotating at higher speeds requires an improved understanding of fluid motion in the space between disks. The distribution of pressure disturbance on disks has relation to flow structure. To investigate the flow structure, time-resolved hot-wire measurements of the circumferential velocity component were obtained for the flow between the center pair of four disks of common radius $R_2$ coretating at angular velocity ${\Omega}$ in a fixed cylindrical enclosure. Hot-wire supporter acts as an obstruction in this case. The effects of rotating speed and size of hot-wire supporter diameter between disks on the flow driven by disks were investigated. Velocity spectra at the fixed space were measured to obtain the structure of inner and outer region in flow field.

• Geomechanics and Engineering
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• v.16 no.6
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• pp.609-618
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• 2018

A new mechanical model for predicting the vibration of a pipe pile embedded in longitudinally layered visco-elastic media with radial inhomogeneity is proposed by extending Novak's plain-strain model and complex stiffness method to consider viscous-type damping. The analytical solutions for the dynamic impedance, the velocity admittance and the reflected signal of wave velocity at the pile head are also derived and subsequently verified by comparison with existing solutions. An extensive parametric analysis is further performed to examine the effects of shear modulus, viscous damping coefficient, coefficient of disturbance degree, weakening or strengthening range of surrounding soil and longitudinal soft or hard interbedded layer on the velocity admittance and the reflected signal of wave velocity at the pile head. It is demonstrated that the proposed model and the obtained solutions provide extensive possibilities for practical application compared with previous related studies.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.713-714
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• 2013

• Fibers and Polymers
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• v.7 no.4
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• pp.424-431
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• 2006

Roll drafting, a mechanical operation attenuating fiber bundles to an appropriate thickness, is an important operation unit for manufacturing staple yams. It influences not only the linear density regularity of the slivers or staple yams that are produced, but also the quality of the textile product and the efficiency of the thereafter processes. In this research, the dynamic states of the fiber bundle in the roll drafting zone were analyzed by simulation, based on the mathematical model that describes the dynamic behavior of the flowing bundle. The state variables are the linear density and velocity of the fiber bundles and we simulated the dynamics states of the bundle flow, e.g., the profiles of the linear density and velocity in the draft zone for various values of the model parameters and boundary conditions, including the initial conditions to obtain their influence on the dynamic state. Results showed that the mean velocity profile of the fiber bundle was strongly influenced by draft ratio and process speed, while the input sliver linear density has hardly affected the process dynamics. Velocity variance of individual fibers that could be supposed to be a disturbing factor in drafting was also influenced by the process speed. But the major disturbance occurred due to the velocity slope discontinuity at the front roll, which was strongly influenced by the process speed. Thickness of input sliver didn't play any important role in the process dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.7
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• pp.539-546
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• 2002

This paper presents a new direct seek control scheme that provides fast data access capability and robust performance for high-speed rotational optical disk drives (ODD). When a disk is rotating at a high speed to obtain fast data transfer in ODD, the magnitude and frequency of velocity disturbance caused by eccentric rotation of the disk increase in proportion to the rotational speed of the disk. Such disturbances make it almost impossible for the conventional seek control scheme to achieve stable and satisfactory seek performance. We analyze the problems that may arise when the conventional seek control scheme is applied to the high-speed rotational ODD and propose a new direct seek control scheme that will solve such problems. In the proposed scheme, a seek control system is designed such that its performance is guaranteed for a set of plants with parameter perturbations. The performance of the proposed seek control scheme is shown by experiments using a high-speed rotational ODD.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.40-46
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• 2013

Automatic swing door for an automotive application is considered. The equation of motion for a driver side swing door is introduced and gravity cancellation control scheme is adapted. The control scheme supposed to cancel the moment due to the tilt of the car. A speed control is suggested for door operation automation but the output of the speed control is not suppose to be precise as for the manufacturing system control. In the frame of the velocity control of the door, feedback linearization was applied for collision detection. The collision detection performance is satisfactory. The estimate of the magnitude of disturbance due to the collision is close to the actual magnitude of disturbance. Simulation study has been performed to gain insight into the system behavior. Also real test on the prototype hardware has been performed for verification purpose.

• Journal of ILASS-Korea
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• v.3 no.4
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• pp.1-7
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• 1998

The measurement of breakup length of viscous liquid jet in stagnant air was conducted by a 3CCD digital video camera. The nozzle diameters of 4, 6, 8mm with L/d=50 were selected and the dynamic viscosity of viscous liquid made of glycerine and water was in the range of $1.061\times10^{-6}m^2/s$ to $4.935\times10^{-5}m^2/s$. The critical velocity is decreased and the breakup length is increased with the increase of nozzle diameter at the same dynamic viscosity of liquid. At the same nozzle diameter, the breakup length and the critical velocity are both increased with the increase of dynamic viscosity of liquid. It is found in the theoretical analysis that the initial disturbance level is the main cause of occurrance of critical Reynolds number in the stability curve. The comparison of experimental critical Reynolds number and the empirical correlation by Tanasawa and Toyota reveals the relatively good agreement.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.4
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• pp.10-15
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• 2019

In this paper, we report a robust steering control using time delay control for the vehicle dynamics variation due to tire/road contact condition variation, the lateral disturbance force due to the side wind, and the yaw disturbance moment due to the difference between the left and right tires' pneumatic pressure. We controlled the side slip and yaw damping compensation for rapid steering at the high velocity of the vehicle. Based on the developed control, the driver can only consider the desired path without concerning on the vehicle dynamics variation, disturbances, and undesired side slip and yaw oscillations. Simulation results show that robustness from the vehicle dynamics variation and disturbances was achieved by using the developed time delay control. We evaluated the side slip and yaw damping compensation capability for the rapid steering at the high velocity of the vehicle in the cases of three control methods.