• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.12
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• pp.3270-3275
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• 1994

Particle trajectory visualization using laser sheet was performed to investigate the corona wind flow interactions in the one-wire and two-wire type electrostatic precipitators. The corona wind generated by corona discharge was not negligible, and strong flow interactions took place owing to the induced circulatory cells. In the case of one-wire type, as the applied voltage was increased and the cross-section mean velocity was decreased, the effect of corona wind became active. In the case of two-wire type, if upstream discharge voltage was relatively higher than downstream discharge voltage, the effect of upstream corona wind was reduced.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.3
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• pp.477-484
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• 2000

Microcontamination caused by particle deposition on the head disk interface threatens the reliability of hard disk drive. Design of slider rail to control contamination becomes an important issue in magnetic recording. In this paper, how particles adhere to the slider and the disk is examined. To investigate accumulation mechanism of the particles, trajectory of the particles in a slider/disk interface is simulated with considering various forces including drag force, gravitational force, Saffman lift force, and electrostatic force. It is found that the charged particles can easily adhere to the slider or disk surface, if an electric field exists between the slider and the disk. It is supposed that the vertical motion of the particles should be related with not only Saffman force but also electrostatic force.

• Journal of Advanced Navigation Technology
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• v.24 no.5
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• pp.382-392
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• 2020

The use of unmanned aerial vehicle (UAV) have been regarded as a promising technique in both military and civilian applications. Nevertheless, due to the lack of relevant and regulations and laws, the misuse of illegal drones poses a serious threat to social security. In this paper, aiming at deriving the three-dimension optimal surveillance trajectories for group monitoring drones, we develop a group trajectory planner based on the particle swarm optimization and updating mechanism. Together, to evaluate the trajectories generated by proposed trajectory planner, we propose a group-objectives fitness function in accordance with energy consumption, flight risk. The simulation results validate that the group trajectories generated by proposed trajectory planner can preferentially visit important areas while obtaining low energy consumption and minimum flying risk value in various practical situations.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• The KSFM Journal of Fluid Machinery
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• v.5 no.1 s.14
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• pp.7-12
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• 2002

As the first step to investigate the fundamental mechanism of a dispersed two-phase flow, we studied the detailed interactions between bubble or particle motion and flow around it. Experiments were carried out with a rising bubble or particle in stagnant water in a vertical pipe. Particles with different densities, and/or different shapes were used for comparison with a bubble. We adopted 3D-PTV (Three-Dimensional Particle Tracking Velocimetry) for measuring the bubble or particle motions, and PIV (Particle Image Velocimetry) for measuring the water flow simultaneously (Hybrid PIV). The experimental results showed that the oblate spheroidal solid particle rose along the longer axis direction at the point that the inclination of the longer axis reached the maximum, and the inclination direction changed after moving. The bubble moved to the direction that the spheroid's projected width grew up to the largest, and the minor axis of the oblate spheroidal body of the bubble was parallel to the moving direction. The trajectory of the center of the particle/bubble which was measured with 3D-PTV, was marked on the section (x-y) of the pipe. It exhibited the pattern of the particle/bubble motion.

• Journal of Drive and Control
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• v.15 no.3
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• Journal of Mechanical Science and Technology
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• v.19 no.12
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• pp.2312-2320
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• 2005

The aerodynamic effects of leading-edge accretion can raise important safety concerns since the formulation of ice causes severe degradation in aerodynamic performance as compared with the clean airfoil. The objective of this study is to develop a numerical simulation strategy for predicting the particle trajectory around an MS-0317 airfoil in the test section of the NASA Glenn Icing Research Tunnel and to investigate the impingement characteristics of droplets on the airfoil surface. In particular, predictions of the mean velocity and turbulence diffusion using turbulent flow solver and Continuous Random Walk method were desired throughout this flow domain in order to investigate droplet dispersion. The collection efficiency distributions over the airfoil surface in simulations with different numbers of droplets, various integration time-steps and particle sizes were compared with experimental data. The large droplet impingement data indicated the trends in impingement characteristics with respect to particle size ; the maximum collection efficiency located at the upper surface near the leading edge, and the maximum value and total collection efficiency were increased as the particle size was increased. The extent of the area impinged on by particles also increased with the increment of the particle size, which is similar as compared with experimental data.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.4
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• pp.167-175
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• 2016

We present a method for improving adaptability of Learning from Demonstration (LfD) strategy by combining the LfD and Particle Swarm Optimization (PSO). A trajectory generated from an LfD is modified with PSO by minimizing a fitness function that considers constraints. Finally, the final trajectory is suitable for a task and adapted for constraints. The effectiveness of the method is shown with a target reaching task with a manipulator in three-dimensional space.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.13 no.3
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• pp.145-151
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• 2003

Using computational fluid dynamics (CFD) method, we investigated three-dimensional fluid flow field and particle movement with respect to the injected gas flow rate variation in typical cyclone separator system. The results of numerical investigation were deduced by coupling the analysis of fluid flow field with Wavier-stokes equation and the tracking of the particle trajectory with Langrangian approach. It was shown that the increasing of injected gas flow rate resulted in the increasing of pressure loss in the separator. This change of inner pressure had an effect on an aspect of the fluid flow in the separator. Particle movement was determined by fluid flow in the separator and was fully depended on a diameter of particles under the fixed flow rate. Increasing of injected gas flow rate was led to an increasing of the trace of particle, so the particles moved to the lower part of the separator. For this reason, the minimum diameters of the particles were decreased and increased the separation rate under the fixed particle diameter. In conclusion, the changes of injected gas flow rate have an important factor to the fluctuation of the fluid flow field and particle trajectory in the separator.

• Korean Journal of Remote Sensing
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• v.30 no.1
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• pp.13-24
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• 2014

Satellite remote sensing data have been valuable tool for volcanic ash monitoring. In this study, we present the results of application of satellite remote sensing data for monitoring of volcanic ash for three major volcanic eruption cases (2008 Chait$\acute{e}$n, 2010 Eyjafjallaj$\ddot{o}$kull, and 2011 Shinmoedake volcanoes). Volcanic ash detection products based on the Moderate Resolution Imaging Spectro-radiometer (MODIS) observation data using infrared brightness temperature difference technique were compared to the forward air mass trajectory analysis by the HYbrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model. There was good correlation between MODIS volcanic ash image and trajectory lines after the volcanic eruptions, which support the feasibility of using the integration of satellite observed and model derived data for volcanic ash forecasting.