• 한국정밀공학회지
• /
• 제17권1호
• /
• pp.110-119
• /
• 2000

This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation.

• 천문학회보
• /
• 제40권2호
• /
• pp.33.3-34
• /
• 2015

We present the spectroscopic study of the globular clusters (GCs) in the massive elliptical galaxy M86 in the Virgo galaxy cluster. Using the spectra obtained from the Multi-Object Spectroscopy (MOS) mode of Faint Object Camera and Spectrograph (FOCAS) on the Subaru Telescope, we measure the radial velocities for 56 GCs in M86. The mean velocity of the GCs is derived to be $<v_p>=-335{\pm}41km/s$, which is different from the velocity of the M86 nucleus ($<v_{gal}>=-224{\pm}5km/s$) within ${\sim}2.5{\sigma}$. The mean velocity ($<v_p>=-342{\pm}60km/s$) of 33 blue GCs in M86 is similar to that ($<v_p>=-314{\pm}71km/s$) of 23 red GCs. We also derive the mean velocities of the GC systems in other 16 nearby early-type galaxies (ETGs) from the radial velocity data in the literature. The mean value of the differences between the mean velocity of the GC systems in each galaxy and the nucleus velocity of their host galaxies, is almost zero except the M86 GC system. But the scatter of the differences in the blue GC system is larger than that in the red GC system. We will discuss these results in the context of GC formation in ETGs.

• Structural Engineering and Mechanics
• /
• 제64권4호
• /
• pp.427-436
• /
• 2017

Concrete technologists have used ultrasonic pulse velocity test for decades to evaluate the properties of concrete. However, the presented research work focuses on the use of ultrasonic pulse velocity test to study the degradation in steel-concrete bond subjected to increasing loading. A detailed experimental investigation was conducted by testing five identical beam specimens under increasing loading. The loading was increased from zero till failure in equal increments. From the experimentation, it was found that as the reinforced concrete beams were stressed from control unloaded condition till complete failure, the propagating ultrasonic wave velocity reduced. This reduction in wave velocity is attributed to the initiation, development, and propagation of internal cracking in the concrete surrounding the steel reinforcement. Using both direct and semidirect methods of testing, results of reduction in wave velocity with evidence of internal cracking at steel-concrete interface are presented. From the presented results and discussion, it can be concluded that the UPV test method can be successfully employed to identify zones of poor bonding along the length of reinforced concrete beam. The information gathered by such testing can be used by engineers for localizing repairs thereby leading to saving of time, labor and cost of repairs. Furthermore, the implementation strategy along with real-world challenges associated with the application of the proposed technique and area of future development have also been presented.

• 한국의학물리학회지:의학물리
• /
• 제5권1호
• /
• pp.25-39
• /
• 1994

심장 벽의 운동속도와 혈관내 혈구의 유속을 측정하기 위해, 단일 채널 3.1MHz 펄스 도플러 속도계를 제작하였다. 도플러 속도계에 사용된 초음파 펄스의 폭과 펄스 반복주파수(PRF)는 각각 1$\mu$s과 6kHz이고, 후방 산란된 반향신호의 도플러 편이는 완전간섭성(coherent) 복조방식을 이용하여 위상 측정기에 감지된다. 위상 측정기의 출력신호로부터 레인지 게이트와 샘플 홀더, 대역여파기를 이용하여 작은 영역내에 있는 초음파 산란체의 평균속도에 해당하는 도플러 신호가 얻어진다. 도플러 신호의 평균 주파수는 영점교차의 카운터에 의해 측정되며 시간의 함수로 산란체의 순간 속도를 디스플레이한다. 채널 수와 거리 분해능을 증가시키면 혈관내의 혈류속도 분포도와 총 유량 그리고 혈류가속도를 측정할 수 있다.

• 대한기계학회논문집A
• /
• 제24권2호
• /
• pp.496-505
• /
• 2000

A semi-infinite parallel crack propagated with constant velocity in two bonded anisotropic strip under anti-plane clamped displacement is analyzed. Using Fourier integral transform a Wiener-Hopf equation is derived. By solving this equation the asymptotic stress and displacement fields near the crack tip are determined, where the results give the more general expression applicable to the extent of the anisotropic material having one plane of elastic symmetry for the parallel crack. The dynamic stress intensity factor and energy release rate are also obtained as a closed form, which are the results applicable to the problem both of dynamic and static crack under the same geometry as this study. The stress intensity factor approaches zero at the critical crack velocity which is less than the shear wave velocity, but in typical case of isotropic or orthotropic material agrees with the velocity of shear wave. Also a circular shear stress around crack tip is considered, from which the stress is shown to be approximately symmetric about the horizontal axis. Referring to the maximum stress criteria, it could be shown that a brenched crack is formed by crack growth as crack velocity increases.

• 대한의용생체공학회:의공학회지
• /
• 제33권2호
• /
• pp.72-77
• /
• 2012

Phase Contrast MR Angiography(PC MRA) is excellent MRA technique for measuring the velocity of vessels in the human body. PC MRA need to at least four images for angiogram reconstruction and it caused longer scan time. Therefore, we used keyhole imaging combined PC MRA to reduce the scan time. However, keyhole imaging can lead the erroneous effects as loss of phase information or frequency discontinuous. In this study, we applied the keyhole imaging combined 2D PC MRA for improving the temporal resolution and also measured the velocity to evaluate the accuracy of phase information. We used 0.32T MRI scanner(Magfinder II, Scimedix, Korea). Using the 2D PC MRA pulse sequence, the vascular images for a human brain targeted on the Superior Sagittal Sinus(SSS) were obtained. We applied tukey window function for keyhole images to minimize the ringing artifact and erroneous factors that are induced frequency discontinuous and phase information loss. We also applied zero-padded algorithm to peripheral missing k-space lines to compare keyhole imaging results and the artifact power(AP) value was measured on the complex difference images to validate the image quality. Consider as based on our results, heavy image distortions and artifacts were shown until using at least 50% keyhole factor. Using above the 50% keyhole factors are shown well reconstructed and matched for magnitude images and velocity information measurements. In conclusion, we confirmed the image quality and velocity information of keyhole technique combined 2D PC MRA. Especially, measured velocity information through the keyhole imaging combination was similar to the velocity information of full sampled k-space image despite of frequency discontinuous and phase information loss in the keyhole imaging reconstruction process. Consequently, the keyhole imaging combined 2D PC MRA will give some clinical usefulness and advantages as improving the temporal resolution and measuring the velocity information via selecting the appropriate keyhole factor at low tesla MRI system.

• 지구물리와물리탐사
• /
• 제12권3호
• /
• pp.255-262
• /
• 2009

가스하이드레이트 개발 시 중요한 요소 중의 하나인 가스하이드레이트 부존층의 정확한 심도를 얻기 위해서는 일반적으로 고해상도 정보를 주는 VSP 탐사가 많이 수행되어왔다. 본 연구에서는 가스하이드레이트 부존지역인 울릉분지 지역의 UBGH09 시추공에서 국내 최초로 삼성분 지오폰을 사용하여 획득한 제로오프셋 VSP 탐사자료로부터 구간속도를 추출하고 corridor 중합단면도를 생성하여 지표탄성파탐사 자료와 비교해 보았다. 먼저 Phase rotation을 통하여 삼성분 지오폰으로 기록된 신호들이 실제 수직 및 두 개의 수평성분 자료들이 되도록 변환 시키고, 파동장 분리과정을 통하여 직접파와 반사파를 분리하였다. 제로오프셋 VSP 자료의 직접파로부터 추출한 구간속도를 음파검층의 구간속도와 비교한 결과 두 구간속도 모두 비슷한 양상을 나타냈다. BSR 상부의 하이드레이트 층에서는 빠른 속도를 보이고 BSR 하부에서 속도가 급격히 떨어지는 것으로 보아 BSR 하부에 유리가스가 집적되어 있는 것으로 보인다. 제로오프셋 VSP 반사파 자료로부터 corridor 중합단면도를 생성하여 지표탄성파탐사의 CMP 중합단면도와 비교한 결과 대부분의 반사이벤트들이 잘 부합하였으며, phase rotation을 적용한 결과가 phase rotation을 적용하지 않았을 경우보다 더 잘 부합하였다.또한 transverse 성분을 이용하여 만든 corridor 중합단면도와 지표탄성파 CMP 중합단면도를 비교한 결과 지표탄성파 CMP 중합 단면도 내의 모오드 변환된 PS 반사파들을 확인할 수 있었다.

• Wind and Structures
• /
• 제10권1호
• /
• pp.61-82
• /
• 2007

This paper presents a novel finite element (FE) model for analyzing coupled flutter of long-span bridges using the commercial FE package ANSYS. This model utilizes a specific user-defined element Matrix27 in ANSYS to model the aeroelastic forces acting on the bridge, wherein the stiffness and damping matrices are expressed in terms of the reduced wind velocity and flutter derivatives. Making use of this FE model, damped complex eigenvalue analysis is carried out to determine the complex eigenvalues, of which the real part is the logarithm decay rate and the imaginary part is the damped vibration frequency. The condition for onset of flutter instability becomes that, at a certain wind velocity, the structural system incorporating fictitious Matrix27 elements has a complex eigenvalue with zero or near-zero real part, with the imaginary part of this eigenvalue being the flutter frequency. Case studies are provided to validate the developed procedure as well as to demonstrate the flutter analysis of cable-supported bridges using ANSYS. The proposed method enables the bridge designers and engineering practitioners to analyze flutter instability by using the commercial FE package ANSYS.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회B
• /
• pp.2753-2756
• /
• 2007

In the present study, we reduce the drag and lift fluctuations of the sphere by providing a linear proportional control. For this purpose, we measure the radial velocity along the centerline in the wake and provide blowing and suction at a part of sphere surface based on the measured velocity. Zero-net mass flow rate is satisfied during the control. This control is applied to the flow over a sphere at Re=300 and 425. We vary the sensing location at $0.8d{\leq}X_s{\leq}1.3d$ and find that the most effective sensing region coincides with the location at which minimum correlation between the lift and sensing-velocity directions occurs. As a result, the lift and drag fluctuations are significantly reduced.

• 대한의용생체공학회:의공학회지
• /
• 제7권2호
• /
• pp.169-182
• /
• 1986

Pulsed ultrasonic Doppler system is a useful diagnostic instrument to measure blood-flow-velocity, velocity profile, and volume-blood-flow. This system is more powerful compare with 2-dimensional B-scan tissue image. A system has been deve- loped and ii being evaluated using TMS 32010 DSP. We use this DSP for the purpose of real-time spectrum analyzer to obtain spectrogram in singlegate pulsed Doppler system and for the serial comb filter to cancel clutter and zero crossing counter to estimate Doppler mean frequency in multigate pulsed Doppler system. The Doppler shift of the backscattered signals is sensed in a phase detector. This Doppler signal corresponds to the mean velocity over a some region in space defined by the ultrasonic beam dimensions, transmitted pulse duration, and transducer ban(iwidth. Multi- gate pulsed Doppler system enable the transcutaneous and simultaneous assessment of the velocities in a number of adjacent sample volumes as a continuous function of time. A multigate pulsed Doppler system processing the information originating from presented.