• 제어로봇시스템학회논문지
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• 제9권7호
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• pp.556-562
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• 2003

This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.

• Kyungpook Mathematical Journal
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• 제60권4호
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• pp.853-867
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• 2020

The aim of this study was to analyze the momentum and heat transfer of a rotating nanofluid with conducting spherical dust particles. The fluid flows over a stretching surface under the influence of an external magnetic field. By applying similarity transformations, the governing partial differential equations were trans-formed into nonlinear coupled ordinary differential equations. These equations were solved with the built-in function bvp4c in MATLAB. Moreover, the effects of the rotation parameter ω, magnetic field parameter M, mass concentration of the dust particles α, and volume fraction of the nano particles 𝜙, on the velocity and temperature profiles of the fluid and dust particles were considered. The results agree well with those in published papers. According to the result the hikes in the rotation parameter ω decrease the local Nusselt number, and the increasing volume fraction of the nano particles 𝜙 increases the local Nusselt number. Moreover the friction factor along the x and y axes increases with increasing volume fraction of the nano particles 𝜙.

• Structural Engineering and Mechanics
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• 제90권5호
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• pp.459-466
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• 2024

Eringen's nonlocal thermoelasticity theory is used to study wave propagations in a rotating two-temperature thermoelastic half-space with temperature-dependent properties. Using suitable non-dimensional variables, the harmonic wave analysis is used to convert the partial differential equations to ordinary differential equations solving the problem. The modulus of elasticity is given as a linear function of the reference temperature. MATLAB software is used for numerical calculations. Comparisons are carried out with the results in the context of the dual-phase lag model for different values of rotation, a nonlocal parameter, an inclined load, and an empirical material constant. The distributions of physical fields showed that the nonlocal parameter, rotation, and inclined load have great effects. When a nonlocal thermoelastic media is swapped out for a thermoelastic one, this approach still holds true.

• International Journal of Contents
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• 제11권4호
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• pp.56-69
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• 2015

This paper proposes an efficient image encryption scheme based on quintuple encryption using two chaotic maps. The encryption process is realized with quintuple encryption by calling the encrypt(E) and decrypt(D) functions five times with five different keys in the form EDEEE. The decryption process is accomplished in the reverse direction by invoking the encrypt and decrypt functions in the form DDDED. The keys for the quintuple encryption/decryption processes are generated by using a Tent map. The chaotic values for the encrypt/decrypt operations are generated by using a Gumowski-Mira map. The encrypt function E is composed of three stages: permutation, pixel value rotation and diffusion. The permutation stage scrambles all the rows and columns to chaotically generated positions. This stage reduces the correlation radically among the neighboring pixels. The pixel value rotation stage circularly rotates all the pixels either left or right, and the amount of rotation is based on chaotic values. The last stage performs the diffusion four times by scanning the image in four different directions: Horizontally, Vertically, Principal diagonally and Secondary diagonally. Each of the four diffusion steps performs the diffusion in two directions (forward and backward) with two previously diffused pixels and two chaotic values. This stage ensures the resistance against the differential attacks. The security and performance of the proposed method is investigated thoroughly by using key space, statistical, differential, entropy and performance analysis. The experimental results confirm that the proposed scheme is computationally fast with security intact.

• 소성∙가공
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• 제30권4호
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• pp.195-200
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• 2021

In this study, we investigated the dominant processing variables that would influence the microstructural development of AA6061 deformed by differential speed rolling (DSR) at ambient temperature. For this purpose, we carried out a series of DSR on the samples to investigate the effects of roll speed ratio, sample rotation, and number of operation under specific rotation. Among these, the condition with a height reduction of 75% at a speed ratio of 1:4 through rotation along rolling direction (RR) displayed the pronounced results of more homogenous matrix-structure and superior mechanical properties than the others tested in this study. This was mainly due to the cross shearing of macro-shear pattern in segment where dynamic recrystallization took place with ease throughout the sample. Thus, an average microhardness value of 101 Hv was obtained in the present sample deformed by 4-pass DSR with RR where macro cross-shearing was effectively applied.

• Journal of Computing Science and Engineering
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• 제8권4호
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• pp.187-198
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• 2014

In this paper an efficient image encryption scheme based on cyclic rotations and multiple blockwise diffusions with two chaotic maps is proposed. A Sin map is used to generate round keys for the encryption/decryption process. A Pomeau-Manneville map is used to generate chaotic values for permutation, pixel value rotation and diffusion operations. The encryption scheme is composed of three stages: permutation, pixel value rotation and diffusion. The permutation stage performs four operations on the image: row shuffling, column shuffling, cyclic rotation of all the rows and cyclic rotation of all the columns. This stage reduces the correlation significantly among neighboring pixels. The second stage performs circular rotation of pixel values twice by scanning the image horizontally and vertically. The amount of rotation is based on $M{\times}N$ chaotic values. The last stage performs the diffusion four times by scanning the image in four different ways: block of $8{\times}8$ pixels, block of $16{\times}16$ pixels, principal diagonally, and secondary diagonally. Each of the above four diffusions performs the diffusion in two directions (forwards and backwards) with two previously diffused pixels and two chaotic values. This stage makes the scheme resistant to differential attacks. The security and performance of the proposed method is analyzed systematically by using the key space, entropy, statistical, differential and performance analysis. The experimental results confirm that the proposed method is computationally efficient with high security.

• 천문학회지
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• 제25권2호
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• pp.67-78
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• 1992

Effects of cloud rotation 011 the profiles of CO J=$1{\rightarrow}0$ lines arc investigated by theoretically general ing line profiles under physical conditions similar to t he ones in large globules. The synthesized profiles are presented and their characteristics are discussed. It is found that when the Doppler shift of the observed CO lines is interpreted as the rotation velocity, the optically thin $^{13}CO$ lines underestimate the rotation velocity by up to 10 percents, while the self-reversed optically thick $^{12}CO$ lines overestimate the velocity up to 20 percents. The optically thin line is shown to be of use in probing the distribution of rotation velocity in dark globules.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2001년도 가을 학술발표회 논문집
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• pp.369-374
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• 2001

This paper deals with the buckling loads of column with rotation end restricted by rotational spring. The ordinary differential equations governing the buckling loads of such column is derived as nondimensional forms, and also its boundary conditions are derived. The buckled column model is based on the classical Bemoulli-Euler beam theory. The Runge-Kutta method and Regula-Falsi method are used to perform the integration of the differential equations and to determine the eigenvalue. The numerical methods developed herein for the buckling loads of the such column are found to be efficient and reliable. It is expected that the results obtained herein can be practically utilized in the structural engineering field.

• Steel and Composite Structures
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• 제46권6호
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• pp.759-772
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• 2023

This manuscript presents a comprehensive mathematical model to investigate buckling stability and postbuckling response of bio-inspired composite beams with helicoidal orientations. The higher order shear deformation theory as well as the Timoshenko beam theories are exploited to include the shear influence. The equilibrium nonlinear integro-differential equations of helicoidal composite beams are derived in detail using the energy conservation principle. Differential integral quadrature method (DIQM) is employed to discretize the nonlinear system of differential equations and solve them via the Newton iterative method then obtain the response of helicoidal composite beam. Numerical calculations are carried out to check the validity of the present solution methodology and to quantify the effects of helicoidal rotation angle, elastic foundation constants, beam theories, geometric and material properties on buckling, postbuckling of bio-inspired helicoidal composite beams. The developed model can be employed in design and analysis of curved helicoidal composite beam used in aerospace and naval structures.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.