• 한국ITS학회 논문지
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• 제8권2호
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• pp.100-107
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• 2009

이동 셀룰라 시스템에서 단말의 속도를 알아내는 것은 효율적인 시스템 운영을 위해 꼭 필요한 일이다. 그동안 여러 가지 이동체의 속도 추정 방안이 제안되어 왔는데, 이 논문에서는 적응형 어레이 안테나를 이용해 간단하게 속도를 추정하는 방안을 제안한다. 제안하는 방안은 이동체의 속도를 이동 거리 정보와 상주시간 정보를 이용해 추정한다. 이 방안은 추가적인 코스트 부담 없이 정확하게 속도를 추정할 수 있다. 제안하는 방안의 성능 분석을 위해 본 논문에서는 수학적 분석과 시뮬레이션을 수행하였고 그 결과 제안하는 방안이 만족할만한 성능을 보여주는 것을 알 수 있었다.

• 전기학회논문지
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• 제58권5호
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• pp.1010-1018
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• 2009

An inertial navigation system for pedestrian position tracking is proposed, where the position is computed using inertial sensors mounted on shoes. Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it needs to reset errors frequently. During normal walking, there is an almost periodic zero velocity instance when a foot touches the floor. Using this fact, estimation errors are reduced and this method is called the zero velocity updating algorithm. When implementing this zero velocity updating algorithm, it is important to know when is the zero velocity interval. The gait states are modeled as a Markov process and each state is estimated using the hidden Markov model smoother. With this gait estimation, the zero or nearly zero velocity interval is more accurately estimated, which helps to reduce the position estimation error.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.634-640
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• 2011

When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo motor which is much more applied to current, velocity and position controller robots.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국정밀공학회지
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• 제34권4호
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• pp.265-272
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• 2017

Velocity ripple in manufacturing processes reduces productivity and limits the precision of the product. In practice, the frequency and phase of velocity ripples always change minutely, which makes it impossible to compensate for the ripple by simply inserting an opposite feed-forward signal in the system. In this study, an active-phase compensation algorithm was developed to enable the velocity-ripple controller to track the phase change of the ripples in real time. The proposed controller can compensate for the velocity ripple whatever its cause, including disturbance by the torque ripple. The algorithm consists of three functional modules: the velocity-ripple extractor, the synchronized integrator, and the phase shifter. Experimental results showed that the proposed controller clearly reduces velocity ripples with phase variation.

• 대한임베디드공학회논문지
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• 제13권6호
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• pp.321-328
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• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• 한국수소및신에너지학회논문집
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• 제28권1호
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• pp.85-91
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• 2017

To develop a pressurized chemical looping combustor, effect of pressure on minimum fluidization velocity and transition velocity to fast fluidization was investigated in a two-interconnected pressurized fluidized bed system using oxygen carrier particle. The minimum fluidization velocity was measured by bed pressure drop measurement with variation of gas velocity. The measured minimum fluidization velocity decreased as the pressure increased. The transition velocity to fast fluidization was measured by emptying time method and decreased as the pressure increased. Gas velocity in the fuel reactor should be greater than the minimum fluidization velocity and gas velocity in the air reactor should be greater than the transition velocity to fast fluidization to ensure proper operation of two interconnected fluidized bed system.

• 한국소음진동공학회논문집
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• 제17권8호
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• pp.701-707
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• 2007

In this paper the vibration system is composed of a rotating cantilever pipe conveying fluid. The equation of motion is derived by using the Lagrange's equation. Generally, the system of pipe conveying fluid becomes unstable by flutter. Therefore, the influence of the rotating angular velocity, mass ratio and the velocity of fluid flow on the stability of a cantilever pipe by the numerical method are studied. The influence of mass ratio, the velocity of fluid, the angular velocity of a cantilever pipe and the coupling of these factors on the stability of a cantilever pipe are analytically clarified. The critical fluid velocity ($u_{cr}$) is proportional to the angular velocity of the cantilever pipe. In this paper Flutter(instability) is always occurred in the second mode of the system.

• 한국소음진동공학회논문집
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• 제17권10호
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• pp.976-982
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• 2007

In this paper the vibration system is consisted of a rotating cantilever pipe conveying fluid and tip mass. The equation of motion is derived by using the Lagrange's equation. The system of pipe conveying fluid becomes unstable by flutter. Therefore, the influence of a rotating angular velocity, mass ratio, the velocity of fluid flow and tip mass on the stability of a cantilever pipe by the numerical method are studied. The critical flow velocity for flutter is proportional to the angular velocity and tip mass of the cantilever pipe. Also, the critical flow velocity and stability maps of the pipe system are obtained by changing the mass ratios.

• 동력기계공학회지
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• 제8권1호
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• pp.30-35
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• 2004

This paper represents the numerical analysis on effect of the environmental velocity for circular heating source with heat generation. In general heating system, the oil and sheath heater is widely used, but these systems have many problems. So, the heating source with carbon ingredient has been researched in many country about manufacture, thermal and electrical properties. In this research, a circular heating source was studied through numerical analysis on several conditions of unsteady state, beat generation and environmental velocity. The temperature distributions at steady state is appeared as a non-linear pattern with variations of environmental velocity. So, the correlation equation between temperature at steady state and environmental velocity was obtained.