• 전기학회논문지
• /
• 제67권7호
• /
• pp.871-877
• /
• 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.

• 대한기계학회논문집
• /
• 제17권12호
• /
• pp.2982-2994
• /
• 1993

Low-velocity impact responses of composite laminates are investigated using the finite element method based on various theories. In two-dimensional nonlinear analysis, a displacement field considering higher order shear deformation and large deflection of the laminate is assumed and a finite element formulation is developed using a C$^{o}$-continuous 9-node plate element. Also, three-dimensional linear analysis based on the infinitesimal strain-displacement assumptions is performed using 8-node brick elements with incompatible modes. A modified Hertzian contact law is incorporated into the finite element program to evaluate the impact force. In the time integration, the Newmark constant acceleration algorithm is used in conjuction with successive iterations within each time step. Numerical results from static analysis as well as the impact response analysis are presented including impact force histories, deflections, strains in the laminate. Impact responses according to two typical low-velocity impact conditions are compared each other.

• 비파괴검사학회지
• /
• 제37권2호
• /
• pp.84-90
• /
• 2017

An ultrasonic synthetic aperture focusing technique (SAFT) using a root mean square (RMS) velocity model is proposed for pulse-echo immersion testing to improve the computational efficiency. Considering the immersion ultrasonic testing of a steel block as an example, three kinds of imaging were studied (B-Scan, SAFT imaging based on ray tracing technology and RMS velocity). The experimental results show that two kinds of SAFT imaging have almost the same imaging performance, while the efficiency of RMS velocity SAFT imaging is almost 25 times greater than the SAFT based on Snell's law.

• International Journal of Vascular Biomedical Engineering
• /
• 제1권1호
• /
• pp.3-12
• /
• 2003

Ultrasonic pulsed Doppler velocimetry has become a standard international method of classifying carotid disease. Because the measured angle adjusted velocity increases as the Doppler angle increases, examinations should be performed at a convenient standard Doppler examination angle. An angle of 60 degrees is achievable throughout most examinations. Multiple Doppler viewing angles allow the acquisition of velocity vectors during the cardiac cycle, revealing the complex velocity patterns. Ultrasonic velocimetry (whether Doppler or time domain) is based on changes in the phase of the ultrasound echo. Other examinations can be done based on the echo phase. Slow motions of organs such as the brain can be used to monitor changes in edema. Measurements of tissue strain due to the pulsatile filling of the arterioles. This plethysmographic imaging method can display differences in tissue perfusion because of different tissue types and changes in autonomic activity.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.402-405
• /
• 1997

Based on the relative velocity method and the inverse kinematics theory, this paper presents an automated system for designing and manufacturing of an open type cylindrical cam with a rotating follower(OCRF). In the first part, this paper defines the relative velocity method for OCRF and calculates the contact point by using the coordinate transformation technique. In the second part, it generates NC Code of a CNC machine center for inverse kinematics by using the cutter location and the cutter orientation of OCRF. Finally, the automated CADICAM program developed in the paper shows an example on the desip and manufacture process of OCRF.

• International Journal of Vascular Biomedical Engineering
• /
• 제4권2호
• /
• pp.13-18
• /
• 2006

Direct injection of a fibrinolytic agent to the intra-arterial thrombosis may increase the effectiveness of thrombolysis by enhancing the permeation of thrombolytic agents into the blood clot. Permeation of fibrinolytic agents into a clot is influenced by the surface pressure, which is determined by the injection velocity of fibrinolytic agents. Computational fluid dynamic methods were used in order to predict clot lysis for different jet velocities and nozzle arrangements. Firstly, thrombolysis of a clot was mathematically modeled based on the pressure and lysis front velocity relationship. Direct injection of a thrombolytic agent increased the speed of thrombolysis significantly and the effectiveness was increased as the ejecting velocity increased. The nine nozzles model showed about 20% increase of the lysed volume, and the one and seventeen nozzles models did not show significant differences. Secondly, thrombolysis was modeled based on the enzyme transport and the fluid flow equations, and quasi steady numerical analysis was performed. Clot lysis efficiency was also increased as injection velocity increased.

• Wind and Structures
• /
• 제11권3호
• /
• pp.241-256
• /
• 2008

This paper adopts autoregressive (AR) model to simulate the wind velocity of spatial three-dimensional fields in accordance with the time and space dependent characteristics of the 3-D fields. Based on the built MATLAB programming, this paper discusses in detail the issues of the AR model deduced by matrix form in the simulation and proposes the corresponding solving methods: the over-relaxation iteration to solve the large sparse matrix equations produced by large number of degrees of freedom of structures; the improved Gauss formula to calculate the numerical integral equations which integral functions contain oscillating functions; the mixed congruence and central limit theorem of Lindberg-Levy to generate random numbers. This paper also develops a method of ascertaining the rank of the AR model. The numerical examples show that all those methods are stable and reliable, which can be used to simulate the wind velocity of all large span structures in civil engineering.

• 한국방송∙미디어공학회:학술대회논문집
• /
• 한국방송공학회 2009년도 IWAIT
• /
• pp.596-600
• /
• 2009

We are developing a simple low-cost wind velocity sensor based on small microphones. The sensor system consists of 4 microphones covered with specially shaped wind screens, 4 pre-amplifiers that respond to low frequency, and a commercial sound interface with multi channel inputs. In this paper, we first present the principle of the sensor, i.e., technique to successfully suppress the influence of external noise existing in the environment in order to determine the wind velocity and the wind direction from the output from a microphone. Then, we present an application for generating realistic motions of a virtual tree swaying in real wind. Although the current sensor outputs significant leaps in a measured sequence of directions, the interactive animations demonstrate that it is usable for such applications, if we could reduce the leaps to some degree.

• Journal of Advanced Marine Engineering and Technology
• /
• 제27권3호
• /
• pp.437-446
• /
• 2003

A large eddy simulation (LES) is performed for turbulent pipe flow. The simulation code is constructed by using a general coordinate system based on the physical contravariant velocity components. The effects of grid fineness which can be well prediction of turbulent behavior in near wall region is investigated. The subgrid scale turbulent models are applied and validated emphasis is placed on the flow details of turbulent pipe flow The calculated Reynolds number is 360 based on the wall shear velocity and the inlet pipe diameter. The predicted turbulent statistics are evaluated by comparing with the DNS data of turbulent pipe flow Performed by Eggels et al. The agreement of LES with DNS data is shown to be satisfactory. The proper grid fineness of the well prediction of turbulent pipe flow is suggested and the turbulent behavior is analyzed by depict the contour plot of fluctuating velocity components.

• 한국자동차공학회논문집
• /
• 제10권6호
• /
• pp.227-233
• /
• 2002

A vehicle longitudinal control strategy with guaranteed string stability for vehicle stop-and-go(SG) cruise control is presented in this paper. The SG cruise control systems should be designed such that string stability can be guaranteed in addition to that every vehicle in a string of SG cruise control vehicles must track any bounded acceleration and velocity profile of its preceding vehicle with a bounded spacing and velocity error. An optimal vehicle following control law based on the information of the 1311owing distance (clearance) and its velocity relative to the vehicle ahead (relative velocity) has been used and string stability analysis has been done based on the control law and constant time gap spacing policy, A validated multi-vehicle simulation package has been shown that the string stability analysis using the approximate model of the vehicle servo-loop which includes vehicle powertrain and brake control system dynamics is valid in the design of the SG cruise control law with guaranteed string stability.