• The Magazine of the Society of Air-Conditioning and Refrigerating Engineers of Korea
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• v.17 no.4
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• pp.382-394
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• 1988

Dynamic characteristics of thermally-forced stratification process in a square enclosure with a linear temperature profile at the side walls have been investigated through flow visualization experiment and numerical analysis. The experiment was performed on air with the Rayleigh numbers of order $10^5$. A particle tracer method is used for the flow visualization and to obtain a sudden linear temperature profile at the side walls copper blocks which already have a linear temperature profile are come into contact with the thin copper plates of the test section. Immediately a meridional circulation is developed and heat transfer takes place from the wall to the interior region by circulation of fluid and finally a thermal stratification is achieved. In the numerical study, QUICK scheme for convective terms, SIMPLE algorithm for pressure correction, and the implicit method for the time marching are adopted for the integration of conservation equations. Comparison of flow visualization and numerical results shows that the developing flow patterns are very similar in dynamic nature even though there is a time lag due to the inevitable time delay in setting up a linear temperature profile. For high Rayleigh numbers, the oscillatory motion is likely to take place and stratified region is extended. However, initial temperature adjustment process is much slower than that for low Rayleigh numbers.

• Tribology and Lubricants
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• v.35 no.4
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• pp.215-221
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• 2019

A gerotor set consists of two elements, an inner rotor and an outer rotor. The outer rotor has one more tooth than the inner rotor and has its centerline positioned at a fixed eccentricity from the centerline of the inner rotor. Although gerotors come in a variety of geometric configurations, all gerotor sets share the basic principle of having generated tooth profiles that provide continuous tight sealing during operation. The size of the gerotor is proportional to the number of teeth and the amount of eccentricity. The interior of an inner rotor with a large number of teeth has an enough space to include other machine elements. In this paper, the double gerotor mechanism, constructed by putting a small gerotor in the interior of a large inner rotor, is conceptualized. The double gerotor set is composed of an inner rotor, a planetary rotor, and an outer rotor. The inside profile of the planetary rotor corresponds to the outer rotor profile of the small gerotor, and the outside profile is the inner rotor profile of the large gerotor. In the double gerotor, the centers of the inner and the outer rotor are coincident because the eccentricities of two gerotors are balanced. The operation of a double gerotor is examined by analyzing the planetary motion, and a feasibility study for application of the double gerotor for hydraulic motors and pumps is performed. The double gerotor set has much application potential as a component of hydraulic systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.6
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• pp.966-971
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• 2008

Free-piston engine system is a new type energy converter which uses a linear motion of piston by using linear generator. In free-piston engine system, the piston is not connected to a crank-shaft. The major advantages of free-piston engine system are high efficiency and low mechanical loss from the absence of motion conversion devices. Linear generator of free-piston engine system is used as generator and starting motor. In design step, considering of back-emf and detent force characteristics for generating mode and thrust and control characteristics for starting mode is needed. In this research, generating mode of flat-type linear generator and tubular-type linear generator is analyzed by finite element analysis method and starting mode of both type linear generators is analyzed by using capability curve. Capability curve is plotted from electrical parameters of both type linear generator and motion profile is calculated from mechanical parameters.

• ETRI Journal
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• v.29 no.6
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• pp.826-828
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• 2007

Efficient downscaling in a transcoder is important when the output should be converted to a lower resolution video. In this letter, we suggest an efficient algorithm for transcoding from MPEG-4 SP (with simple profile) to H.264/AVC with spatial downscaling. First, target image blocks are classified into monotonous, complex, and very complex regions for fast mode decision. Second, adaptive search ranges are applied to these image classes for fast motion estimation in an H.264/AVC encoder with predicted motion vectors. Simulation results show that our transcoder considerably reduces transcoding time while video quality is kept almost optimal.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.346-363
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• 2015

We have performed integrated dynamics modeling for a supercavitating vehicle. A 6-DOF equation of motion was constructed by defining the forces and moments acting on the supercavitating body surface that contacted water. The wetted area was obtained by calculating the cavity size and axis. Cavity dynamics were determined to obtain the cavity profile for calculating the wetted area. Subsequently, the forces and moments acting on each wetted part-the cavitator, fins, and vehicle body-were obtained by physical modeling. The planing force-the interaction force between the vehicle transom and cavity wall-was calculated using the apparent mass of the immersed vehicle transom. We integrated each model and constructed an equation of motion for the supercavitating system. We performed numerical simulations using the integrated dynamics model to analyze the characteristics of the supercavitating system and validate the modeling completeness. Our research enables the design of high-quality controllers and optimal supercavitating systems.

• Radiation Oncology Journal
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• v.29 no.3
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• pp.206-213
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• 2011

Purpose: Intensity modulated radiation therapy (IMRT) is a high precision therapy technique that can achieve a conformal dose distribution on a given target. However, organ motion induced by respiration can result in significant dosimetric error. Therefore, this study explores the dosimetric error that result from various patterns of respiration. Materials and Methods: Experiments were designed to deliver a treatment plan made for a real patient to an in-house developed motion phantom. The motion pattern; the amplitude and period as well as inhale-exhale period, could be controlled by in-house developed software. Dose distribution was measured using EDR2 film and analysis was performed by RIT113 software. Three respiratory patterns were generated for the purpose of this study; first the 'even inhale-exhale pattern', second the slightly long exhale pattern (0.35 seconds longer than inhale period) named 'general signal pattern', and third a 'long exhale pattern' (0.7 seconds longer than inhale period). One dimensional dose profile comparisons and gamma index analysis on 2 dimensions were performed. Results: In one-dimensional dose profile comparisons, 5% in the target and 30% dose difference at the boundary were observed in the long exhale pattern. The center of high dose region in the profile was shifted 1 mm to inhale (caudal) direction for the 'even inhale-exhale pattern', 2 mm and 5 mm shifts to exhale (cranial) direction were observed for 'slightly long exhale pattern' and 'long exhale pattern', respectively. The areas of gamma index >1 were 11.88 %, 15.11%, and 24.33% for 'even inhale-exhale pattern', 'general pattern', and 'long exhale pattern', respectively. The long exhale pattern showed largest errors. Conclusion: To reduce the dosimetric error due to respiratory motions, controlling patient's breathing to be closer to even inhaleexhale period is helpful with minimizing the motion amplitude.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.