• 전기학회논문지
• /
• 제65권11호
• /
• pp.1868-1878
• /
• 2016

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

• 대한기계학회논문집
• /
• 제12권4호
• /
• pp.926-933
• /
• 1988

본 연구에서는 SIMPLER 알고리즘이 응용된 기존 2차원 타원형 프로그램을 수 정하여 압력값의 절대치가 지배방정식의 경계조건으로 사용될 수 있도록 하였으며 이 를 이용한 계산예로서, 청정실과 유사한 유로에서의 유체 유동을 수치적으로 해석하여 수정된 프로그램의 타당성을 입증하였다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2003년도 추계학술대회논문집
• /
• pp.465-470
• /
• 2003

In this study, the state-space Newmark method based on average velocity is presented to analyse the transient dynamic response for general dynamic system. The conventional Newmark method based on average acceleration cannot he directly to the first-order state-space differential equations introducing the state-space vector. To overcome this problem, the time-step integration algorithm, based on average velocity concept, suitable for the first-order state-space differential equations is proposed In results, the proposed method has %he numerical stability and order of accuracy, which is proved analytically, equal to those of the conventional Newmark method based on average acceleration. Also, the formulation for numerical solution is very simple and the calculation time Is nearly equal to that of the conventional Newmark method based on average acceleration in spite of an increase of two times over matrix size. This method will be look forward to applying the general dynamic system to calculate the transient dynamic response.

• 한국공작기계학회논문집
• /
• 제17권3호
• /
• pp.40-46
• /
• 2008

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

• Structural Engineering and Mechanics
• /
• 제40권5호
• /
• pp.595-616
• /
• 2011

Impact experiments have been carried out on concrete slabs. The first group was traditionally manufactured, densely reinforced concrete targets, and the next were ordinary Portland and calcium aluminate cement based HPSFRC (High performance steel fiber reinforced concrete) and SIFCON (Slurry infiltrated concrete) targets. All specimens were hit by anti-armor tungsten projectiles at a muzzle velocity of over 4 Mach causing destructive perforation. In Part I of this article, production and experimental procedures are described. The first group of specimens were ordinary CEM I 42.5 R cement based targets including only dense reinforcement. In the second and third groups, specimens were produced using CEM I 42.5 R cement and Calcium Aluminate Cement (CAC40) with ordinary reinforcement and steel fibers 2 percent in volume. In the fourth group, SIFCON specimens including 12 percent of steel fibers without reinforcement were tested. A high-speed camera was used to capture impact and residual velocities of the projectile. Sample tests were performed to obtain mechanical properties of the materials. In the companion Part II of this study, numerical investigations and simulations performed will be presented. Few studies exist that examine high-velocity impact effects on CAC40 based HPSFRC targets, so this investigation gives an insight for comparison of their behavior with Portland cement based and SIFCON specimens.

• 한국수자원학회논문집
• /
• 제48권4호
• /
• pp.291-298
• /
• 2015

본 연구의 목적은 하천에서 흐름방향 유속의 횡분포식에 기반하여 1차원 종분산계수를 이론적으로 유도하고 이들의 타당성을 검증하는 것이다. 이를 위해 본 논문의 전편 "I. 흐름방향 유속의 횡포식"에서는 Shiono-Knight Model (일명 SKM)을 도입하여 삼각형 단면수로에서 횡분포식을 해석적으로 유도하였다. 본 논문의 후편 "II. 종분산계수"에서는 전편에서 유도된 유속의 횡분포식을 Fischer (1968)의 삼중 적분식에 대입하여 1차원 종분산계수 이론식을 새롭게 개발하였다. 본래 SKM은 Navier-Stokes 방정식을 근간으로 개발되어 주로 직선수로이면서 사다리꼴 단면이나 복단면 수로에 적용되어 왔지만, 본 연구에서는 사행으로인한 최심선의 변동을 고려할 수 있는 삼각형을 단면형상으로 가정하였다. 유도된 해석해를 검증하기 위해 자연하천에서 실측된 유속자료와 비교 분석하였다. 또한 유도된 횡분포식을 이용하여 단면평균유속을 산정하고, 이를 Manning의 유속식의 결과와 비교 검증하였다. 본 연구에서 개발한 이론식은 비록 유속의 횡분포를 경우에 따라서 섬세하게 재현하지는 못하더라도 조도계수를 포함한 몇 가지 기본적인 수리 및 지형자료만 측량한다면 유속의 관측없이 비교적 정확한 유속분포를 산출해 낼 수 있는 장점이 있었다.

• Wind and Structures
• /
• 제38권4호
• /
• pp.245-259
• /
• 2024

In a tornadic wind field, the vertical velocity component in certain regions of tornadoes can be significant, forming one of the major differences between tornadic wind fields and synoptic straight-line wind fields. To better understand the wind characteristics of tornadoes and properly estimate the action of tornadoes on civil structures, it is important to ensure that all the attributes of tornadoes are captured. Although Doppler radars have been used to measure tornadic wind fields, they can only directly provide information on quasi-horizontal velocity. Therefore, lots of numerical simulations and experimental tests in previous research ignored the vertical velocity at the boundary. However, the influence of vertical velocity in tornadic wind fields is not evaluated. To address this research gap, this study is to use an approach to derive the vertical velocity component based on the horizontal velocities extracted from the radar-measured data by mass continuity. This approach will be illustrated by using the radar-measured data of Spencer Tornado as an example. The vertical velocity component is included in the initial inflow condition in the CFD simulation to assess the influence of including vertical velocity in the initial inflow condition on the entire tornadic wind field.

• Geomechanics and Engineering
• /
• 제3권3호
• /
• pp.189-206
• /
• 2011

Amplification based on empirical relations is widely used for seismic microzonation of urban centers. Amplifications are used to represent the site effects of a particular soil column. Many empirical correlations are available to estimate the amplification of seismic waves. These correlations are based on the ratio of shear wave velocity of foundation/rock to soil velocity or 30 m equivalent shear wave velocity ($Vs^{30}$) and are developed considering deep soil data. The aim of this work is to examine the applicability of available amplification relations in the literature for shallow engineering bedrock sites by carrying out site response studies. Shear wave velocity of thirteen sites having shallow engineering bedrock have been selected for the study. In these locations, the depth of engineering bedrock (> 760 ${\pm}$ 60 m/s) is matched with the drilled bore hole. Shear wave velocity (SWV) has been measured using Multichannel Analysis of Surface Wave survey. These sites are classified according to the National Earthquake Hazards Reduction Program (NEHRP) classification system. Amplifications for an earthquake are arrived for these sites using empirical relations and measured SWV data. Site response analysis has been carried out in SHAKE using SWV and using synthetic and real earthquake data. Amplification from site response analysis and empirical relations are compared. Study shows that the amplification arrived using empirical relations does not match with the site response amplification. Site response amplification is much more than empirical values for same shear wave velocity.

• 한국수자원학회논문집
• /
• 제48권4호
• /
• pp.299-308
• /
• 2015

본 연구의 목적은 하천에서 흐름방향 유속의 횡분포식에 기반하여 1차원 종분산계수를 이론적으로 유도하고 이들의 타당성을 검증하는 것이다. 이를 위해 본 논문의 전편 "I. 흐름방향 유속의 횡포식"에서는 SKM을 도입하여 삼각형 단면수로에서 횡분포식을 해석적으로 유도하였다. 본 논문의 후편 "II. 종분산계수"에서는 전편에서 유도된 유속의 횡분포식을 기반으로 1차원 종분산계수 이론식을 새롭게 개발하였다. 개발된 종분산계수 이론식을 검증하기 위해 전편과 동일한 하천에서 수행된 추적자 농도 실험 결과를 이용한 관측 종분산계수와 비교 분석하였다. 또한 개발된 종분산 계수식을 기존의 식들과 비교하여 본 연구에서 개발된 식의 차별점 및 우수성을 검토하였다. 결과적으로 무차원 종분산계수는 무차원 횡확산계수에 반비례하고, 하폭 대 수심비의 제곱에 비례하였다. 그리고 Manning의 조도계수의 제곱에 반비례함을 확인할 수 있었다.

• 한국태양에너지학회 논문집
• /
• 제30권4호
• /
• pp.92-99
• /
• 2010

The purpose of this study is to apply pressurized plenum under floor air conditioning system to office areas to understand characteristics of indoor thermal environment based on forms of diffusers. For doing this, the author conducted experiment of module measurement, and based on the results, analyzed indoor temperature distribution and velocity distribution based on direction of diffusion by using Computational Fluid Dynamics(CFD), and estimated the Predicted Mean Vote(PMV) of residents based on forms of diffusers to present the optimal air conditioning of the pressurized plenum under floor air conditioning system in heating. The results of this study are as follows. First, as for forms of diffusers, distributed diffusers rather than conical and grill diffusers were favorable in maintaining $24^{\circ}C$, the established temperature in heating, were active in velocity flowing, and were wide in a radius of diffusion. Second, as for position of pressurizing, the difference between upper and lower temperature was wider in center, lateral, and dispersed pressurizing (in order). As for velocity distribution, the velocity was more increased in lateral, center, and dispersed pressurizing(in order), indicating that dispersed pressurizing maintained uniform thermal environment. Third, as for diffusion direction, mixed direction showed less difference between upper and lower temperature and the difference in velocity between center and lateral part was 0.01m/1, indicating that it maintained uniform thermal environment. Fourth, as for the PMV of residents based on the forms of diffusers, the dispersed type showed(+) values above (0) when applied variably based on the position of diffuser, presenting thermal feeling of "being comfortable" to residents.