• Ocean and Polar Research
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• 제24권4호
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• pp.491-500
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• 2002

Magnetic anomalies in the Dokdo and it's surroundings were investigated with respect to structure and origin of the Dokdo and surrounding seamounts. After normal and diurnal correction of measured magnetic data, crossover correction was applied to reduce errors between sets of magnetic anomalies. The errors from crossover operation result in decrease of about 51%, from 62.2 nT to 30.1 nT in standard deviation. Reduction-to-the-pole, second vertical derivative and analytic signal processing were applied to explore magnetic anomaly signatures in detail. Magnetic anomalies are most complicated in the 1st-Dok seamount, show SWW-NEE linear pattern in the 2nd-Dok seamount and lower to the 3rd-Dok seamount. Different magnetic anomaly patterns in three seamounts imply that three volcanic seamounts were formed at different times and are composed of rocks that were produced in different conditions. It seems that the 3rd-Dok seamount was first to form and followed by the 1st-Dok seamount. The complicated magnetic and second vertical derivative anomaly patterns in the 1st-Dok seamount may be due to subsidiary cones around crater or the presence of intruded magma bodies below sea surface and the Dokdo is probably a marginal subsidiary part of crater.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• Interaction and multiscale mechanics
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• 제4권4호
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• pp.291-311
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• 2011

To simulate the self excited torsional vibrations of rotating drill strings (DSs) in vertical bore-holes, the nonlinear wave models of homogeneous and sectional torsional pendulums are formulated. The stated problem is shown to be of singularly perturbed type because the coefficient appearing before the second derivative of the constitutive nonlinear differential equation is small. The diapasons ${\omega}_b\leq{\omega}\leq{\omega}_l$ of angular velocity ${\omega}$ of the DS rotation are found, where the torsional auto-oscillations (of limit cycles) of the DS bit are generated. The variation of the limit cycle states, i.e. birth (${\omega}={\omega}_b$), evolution (${\omega}_b<{\omega}<{\omega}_l$) and loss (${\omega}={\omega}_l$), with the increase in angular velocity ${\omega}$ is analyzed. It is observed that firstly, at birth state of bifurcation of the limit cycle, the auto-oscillation generated proceeds in the regime of fast and slow motions (multiscale motion) with very small amplitude and it has a relaxation mode with nearly discontinuous angular velocities of elastic twisting. The vibration amplitude increases as ${\omega}$ increases, and then it decreases as ${\omega}$ approaches ${\omega}_l$. Sectional drill strings are also considered, and the conditions of the solution at the point of the upper and lower section joints are deduced. Besides, the peculiarities of the auto-oscillations of the sectional DSs are discussed.