• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.103-107
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• 2006

At present, most efforts tend to develop a INS which is only based linear accelerometers, because of the low cost micro-machining gyroscopes lack of the accuracy needed for precise navigation application and possible achieving the required levels of precise for micro-machining accelerometer. Although it was known in theory that a minimum of six accelerometers are required for a complete description of a rigid body motion, and any configuration of six accelerometers (except for a "measure zero " set of six-accelerometer schemes) will work. Studies on the feasible configuration of GF-INS indicate that the errors of angular velocity resolved from the six accelerometers scheme are diverged with time or have multi solutions. The angular velocity errors are induced by the biases together with the position vectors of the accelerometers, therefore, in order to treat with the problem just mentioned, researchers have been doing many efforts, such as the extra three accelerometers or the magnetometers may be taken as the reference information, the extended Kalman filter (EKF) involved to make the angular velocity errors bound and be estimated, and so on. In this paper, the typical configurations of GF-INS are introduced; for each type GF-INS described, the solutions to the angular velocity and the specific force are derived and the characteristic is indicated; one of the corresponding extend Kalman filters are introduced to estimate the angular errors; parts of the simulation results are presented to verify the validity of the equations of angular velocity and specific force and the performance of extend Kalman filter.

• 전기의세계
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• 제28권4호
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• pp.53-63
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• 1979

Interface recombination velocity in $Al_{x}$G $a_{1-x}$ As-GaAs and $Al_{0.85}$, G $a_{0.15}$ As-GaA $s_{1-y}$S $b_{y}$ heterojunction systems is studied as a function of lattice mismatch. The results are applied to the design of highly efficient III-V heterojunction solar cells. A horizontal liquid-phase epitaxial growth system was used to prepare p-p-p and p-p-n $Al_{x}$G $a_{1-x}$ As-GaA $s_{1-y}$S $b_{y}$-A $l_{x}$G $a_{1-x}$ As double heterojunction test samples with specified values of x and y. Samples were grown at each composition, with different GaAs and GaAs Sb layer thicknesses. A method was developed to obtain the lattice mismatch and lattice constants in mixed single crystals grown on (100) and (111)B oriented GaAs substrates. In the AlGaAs system, elastic lattice deformation with effective Poisson ratios .mu.$_{eff}$ (100=0.312 and .mu.$_{eff}$ (111B) =0.190 was observed. The lattice constant $a_{0}$ (A $l_{x}$G $a_{1-x}$ As)=5.6532+0.0084x.angs. was obtained at 300K which is in good Agreement with Vegard's law. In the GaAsSb system, although elastic lattice deformation was observed in (111) B-oriented crystals, misfit dislocations reduced the Poisson ratio to zero in (100)-oriented samples. When $a_{0}$ (GaSb)=6.0959 .angs. was assumed at 300K, both (100) and (111)B oriented GaAsSb layers deviated only slightly from Vegard's law. Both (100) and (111)B zero-mismatch $Al_{0.85}$ G $a_{0.15}$As-GaA $s_{1-y}$S $b_{y}$ layers were grown from melts with a weight ratio of $W_{sb}$ / $W_{Ga}$ =0.13 and a growth temperature of 840 to 820 .deg.C. The corresponding Sb compositions were y=0.015 and 0.024 on (100) and (111)B orientations, respectively. This occurs because of a fortuitous in the Sb distribution coefficient with orientation. Interface recombination velocity was estimated from the dependence of the effective minority carrier lifetime on double-heterojunction spacing, using either optical phase-shift or electroluminescence timedecay techniques. The recombination velocity at a (100) interface was reduced from (2 to 3)*10$^{4}$ for y=0 to (6 to 7)*10$^{3}$ cm/sec for lattice-matched $Al_{0.85}$G $a_{0.15}$As-GaA $s_{0.985}$S $b_{0.015}$ Although this reduction is slightly less than that expected from the exponential relationship between interface recombination velocity and lattice mismatch as found in the AlGaAs-GaAs system, solar cells constructed from such a combination of materials should have an excellent spectral response to photons with energies over the full range from 1.4 to 2.6 eV. Similar measurements on a (111) B oriented lattice-matched heterojunction produced some-what larger interface recombination velocities.ities.ities.s.

• 비파괴검사학회지
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• 제30권5호
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• pp.458-463
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• 2010

음향 비선형성은 재료 물성의 미세한 변화에 민감하기 때문에, 이를 측정하는 비선형 초음파 기술은 재료의 열화나 피로를 평가할 수 있는 기법으로 연구되어 왔다. 하지만 벌크파를 이용하는 일반적인 비선형 초음파 기법은 얇은 판재에 적용하는 것에는 여러 한계가 있다. 이와 같은 경우에는 비선형 Lamb 파의 사용을 생각할 수 있지만, Lamb 파는 벌크파와 매우 다른 전파 특성을 가지고 있어 그 비선형 특성에 대한 별도의 연구를 필요로 한다. 이를 위해 본 연구에서는 Lamb 파에서 비선형성에 의해 전파하면서 누적 성장할 수 있는 2차 고조파 모드의 발생 조건을 분석하였으며, 그 결과 네 가지 조건, 즉 (1) phase matching, (2) non-zero power flux, (3) group velocity matching, (4) non-zero out-of-plane displacement 를 제시하였다. 그리고 제시된 조건으로 알루미늄 판재에 대책 실험한 결과 이론 예측과 동일하게 전파 거리에 따라 2차 고조파 성분의 크기와 비선형 파라미터가 증가하였고, Al6061-T6 과 Al1100-H14에서 측정된 상대적인 비선형 파라미터의 비율이 이론적인 비율과 근접함을 보였다.

• 대한수학회지
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• 제37권5호
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• pp.779-791
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• 2000

The nonlinear stage of the evolution of free boundary between a light fluid and a heavy fluid driven by an external force is studied by a potential flow model with a source singlarity. The potential flow model is applied to a bubble and spije evolution for constantly accelerated interface (Rayleigh-Taylor instability) and impulsively accelerated interface (Richtmyer-Meshkow instability). The numerical results of the model show that, in constantly accelerated intergace, bubble grows with constant velocity and the spike falls with gravitational acceleration at later times, while the velocity of the bubble in impulsively accelerated interface decay to zero asymp flow model for the bubble and spike for constantly accelerated interface and impulsively accelerated interface.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• 대한기계학회논문집A
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• 제22권3호
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• pp.519-528
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• 1998

A numerical method is presented for the dynamic analysis of cam and follower. Contact and separation between the cam and the follower are analyzed by imposing dynamic contact condition. The correct solution is obtained without spurious oscillation by imposing the velocity and acceleration constraints as well as the displacement constraint on the possible contact point. The constraints are satisfied by iteratively reducing the constraint errors toward zero, and a simple time integration of ordinary differential equation is employed for the solution of the equation of motion. The solution procedure associated with the iterative scheme is presented, and numerical simulations are conducted to demonstrate the accuracy of the solution.

• Journal of Advanced Marine Engineering and Technology
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• 제20권1호
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• pp.1-12
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• 1996

The fully developed tubulent momentum and heat transfer induced by the square- ribbed roughness elements on both the inner and outer wall surfaces in the concentric annuli are studied analytically based on a modified turbulence model. Heat transfer coefficients for two conditions, i.e, a) inner wall heated as constant heat flux and outer wall insulated b) inner wall insulated and outer wall heated as constant heat flux, are investigated. The analytical results of the fluid flow are verified by experiment. The experiment is done with a pitot tube and a X-type hot wire anemometer to measure the time mean velocity profiles, zero shear stress positions, maximum velocity profiles and friction factors, and etc. The resulting momentum and heat transfer are discussed in terms of various parameters, such as the radius ratio, the relative roughness, the roughness density, Nusselt number and Prandtl number.

• 한국자동차공학회논문집
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• 제4권5호
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• pp.26-36
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• 1996

The fully developed turbulent momentum and heat transfer induced by the square-ribbed roughness elements on both the inner and outer wall surfaces in concentric annuli are studied analytically based on a modified turbulence model. The analytical results of the fuid flow are verified by experiment. The experiment is done with a pitot tube and a X-type hot wire anemometer to measure the time mean velocity profiles, zero shear stress positions, maximum velocity positions and friction factors, and etc. shown in Fig.1. The resulting momentum and heat transfer are discussed in terms of various parameters, such as the radius ratio, the relative roughness, the roughness density, Reynolds number, Nusselt bumber and Prand시 number. The study demonstrates that certain artificial roughness elements may be used to enhance heat transfer rates with advantage from the overall efficiency point of view by investigating turbulent flows and heat transfer in Fig.1.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.176-178
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• 2003

This paper presents a new velocity estimation strategy of a non-salient permanent magnet synchronous motor(PMSM) drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system which has the information of rotor position error. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error to aero. For zero and low speed operation, the PI gains of rotor position tracking controller have a variable structure. The PI tuning formulas are derived by analyzing this control system using the frequency domain specifications such as phase margin and bandwidth assignment.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.130-135
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• 2001

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed on this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.