• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.2
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• pp.425-432
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• 2019

Molecular dynamics simulations were carried out to analyze the impact on turbine rotational power based on nozzle shapes. y varying two parameters, turbine rotational velocity w and initial velocities ($V_x,V_y$) for generating molecules, turbine rotation velocities of molecules in turbine entrance arc region and turbine exit arc region were calculated. Average momentums were calculated over two regions, respectively and the differences (AMD) were compared and analyzed. The optimal range of w values to enhance AMD was investigated over 4 different nozzle shapes used, and an excellent nozzle shape to achieve more turbine rotational power was drawn.

• Journal of the Korean Vacuum Society
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• v.17 no.3
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• pp.189-194
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• 2008

Measurements with a Langmuir probe, which are the most often used procedures of plasma diagnostics, can disturb plasma flows and change its characteristics quite a little because the probe should be inserted into thermal flowing plasmas. In this study, we calculated the characteristics of thermal plasmas with and without the probe into an atmospheric argon free-burning arc numerically, and investigated aerodynamic and thermal disturbances with temperature and axial velocity distributions. For the modelling of thermal plasmas, we have made two governing equations, which are on the thermal-flow and electromagnetic fields, coupled together with a commercial CFD package and user-coded subroutines. It was found that thermal disturbances happened to both sides of the probe, before and behind, seriously. Due to the aerodynamic disturbance, we could find that there were the stagnation point in front of the probe and the wake behind it. Therefore, aerodynamic and thermal disturbances caused by the probe insertion should be considered to increase the reliability of the probe diagnostics.

• Journal of Astronomy and Space Sciences
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• v.26 no.2
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• pp.229-236
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• 2009

KOorea Multi-purpose SATellite(KOMPSAT)-5 will be launched at 550km altitude in 2010. Accurate satellite position(20 cm) and velocity(0.03 cm/s) are required to treat highly precise Synthetic Aperture Radar(SAR) image processing. Ionosphere delay was eliminated using dual frequency GPS data and double differenced GPS measurement removed common clock errors of both GPS satellites and receiver. SAC-C carrier phase data with 0.1 Hz sampling rate was used to achieve precise orbit determination(POD) with ETRI GNSS Precise Orbit Determination(EGPOD) software, which was developed by ETRI. Dynamic model approach was used and satellite's position, velocity, and the coefficients of solar radiation pressure and drag were adjusted once per arc using Batch Least Square Estimator(BLSE) filter. Empirical accelerations for sinusoidal radial, along-track, and cross track terms were also estimated once per revolution for unmodeled dynamics. Additionally piece-wise constant acceleration for cross-track direction was estimated once per arc. The performance of POD was validated by comparing with JPL's Precise Orbit Ephemeris(POE).

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.447-452
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• 2004

Vacuum interrupters in order to be used in various switch-gear components such as circuit breakers, distribution switches, contactors, etc. spread the arc uniformly over the surface of the contacts. The electrodes of vacuum interrupters are made of sinter-forged Cu-Cr materials for good electrical and mechanical characteristics. Since the closing velocity is 1-2m/s and impact deformation of the electrode depends on the strain rate at that velocity, the dynamic behavior of the sinter-forged Cu-Cr is a key to investigate the impact characteristics of the electrodes. The dynamic response of the material at intermediate strain rate is obtained from the high speed tensile test machine test and at the high strain rate is obtained from the split Hopkinson pressure bar test. Experimental results from both quasi-static and dynamic compressive tests are interpolated to construct the Johnson-Cook model as the constitutive relation that should be applied to simulation of the dynamic behavior of the electrodes. The impact characteristics of a vacuum interrupter are investigated with computer simulations by changing the amount of chromium content.

• Journal of The Korean Astronomical Society
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• v.45 no.5
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• pp.117-125
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• 2012

We present $^{12}CO$ J = 2-1 line observations of G54.1+0.3, a composite supernova remnant with a mid-infrared (MIR) loop surrounding the central pulsar wind nebula (PWN). We map an area of $12^{\prime}{\times}9^{\prime}$ around the PWN and its associated MIR loop. We confirm two velocity components that have been proposed to be possibly interacting with the PWN/MIR-loop; the +53 km $s^{-1}$ cloud, which appears in contact with the eastern boundary of the PWN and the +23 km $s^{-1}$ cloud, which has CO emission coincident with the MIR loop. However, we have not found a direct evidence for the interaction in either of these clouds. Instead, we detected an 5'-long arc-like cloud at +15-+23 km $s^{-1}$ with a systematic velocity gradient of ~3 km $s^{-1}$ $arcmin^{-1}$ and broad-line emitting CO gas with widths (FWHM) of ${\leq}7km\;s^{-1}$ in the western interior of the supernova remnant. We discuss their association with the supernova remnant.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.11
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• pp.1585-1596
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• 2002

The objectives of the present study are to numerically and experimentally investigate the steady and pulsatile flow phenomena in the circular tubes, to quantitatively compare the flow characteristics of Newtonian and non-Newtonian fluids, and to find meaningful hemodynamic information through the flow analysis in the human blood vessels. The particle image velocimetry is adopted to visualize the flow fields in the circular tube. and the results from the particle image velocimetry are used to validate the results of the numerical analysis. In order to investigate the blood flow phenomena in the circular tube. constitutive equations, which are suitable to describe the rheological properties of the non-Newtonian fluids. are determined, and the steady and pulsatile momentum equations are solved by the finite volume prediction. The velocity vectors of the steady and pulsatile flow in the circular tube obtained by the particle image velocimetry arc in good agreement with those by the numerical analysis. For the given mass flow rate. the axial velocity profiles of the Newtonian and the non-Newtonian fluids appear differently. The pulsatile flow phenomena of the Newtonian and the non-Newtonian fluids are quite different from those of the steady flow.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.680-684
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• 1996

Welding systems cannot adapt to changes in the joint geometry which may occur due to a variety of reason. Automatic seam tracking technigue is essential to adjust the welding torch position in real time as it moves along the seam. Automatic tracking system must keep the welding speed constant unrelation to the change of the welding path. Therefore, the information from the laser displacement sensor must be converted into the input to operate the X-Y table and to rotate the desired torch position by proposed algorithm. In this research, laser displacement sensor is used as a seam finder in the automatic tracking system. X-Y moving table manipulated by ac servo motor controls the position and velocity of the torch-and-sensor part. DC motor controls the position and velocity of the torch. X-Y table controls the position of sensor and relative position of torch is controlled by dc motor which is mounted at sensor-and-torch part. Sensor is always ahead of torch to preview the weld line. From the experimental results, we could see the possiblity that the laser displacement sensor can be used as a seam finder in welding process and that the seam tracking system controlled by proposed algorithm is well done.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.945-950
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• 2001

Vacuum interrupters that is used in various switchgear components such as circuit breakers, distribution switches, contactors, etc. spreads the arc uniformly over the surface of the contacts. The electrode of vacuum interrupters is used sintered Cu-Cr material satisfied with good electrical and mechanical characteristics. Because the closing velocity is 1-3m/s, the deformation of the material of electrodes depends on the strain rate and the dynamic behavior of the sintered Cu-Cr material is a key to investigate the impact characteristics of the electrodes. The dynamic response of the material at the high strain-rate is obtained from the split Hopkinson pressure bar test using cylinder type specimens. Experimental results from both quasi-static and dynamic compressive tests with the split Hopkinson pressure bar apparatus are interpolated to construct the Johnson-Cook equation as the constitutive relation that should be applied to simulation of the dynamic behavior of electrodes. To evaluate impact characteristic of a vacuum interrupter, simulation is carried out with five parameters such as initial velocity, added mass of a movable electrode, wipe spring constant, initial offset of a wipe spring and virtual fixed spring constant.

• Proceedings of the KIEE Conference
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• 2002.11a
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• pp.209-211
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• 2002

A simple-structured thermal plasma generator for waste gas treatment has been studied. The thermal plasma technology applied to waste treatment has undoubtedly gained high importance owing to its outstanding properties such as flexibility, compact reactor, and clean treatment. Moreover, the thermal plasma generated by ac power has some additional advantages such as simple electrode system and easy maintenance. A prototype 200kW class plasma generator with specifications of 10-30m/sec gas velocity and 3000-5000K temperature on the center just outside of the nozzle has been designed and tested. Case studies on heat transfer, heat flow, velocity distribution, and temperature distribution using a commercial simulation package show lots of flexibility in design. The experimental results from theprototype generator show that the ac thermal plasma is easily controlled by working gas flow once it is ignited. A stabilization condition is discussed with the data from monitoring arc voltage drops with respect to gas flow rate during the test.