• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.385-389
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• 2009

This paper deals with the enhancement of the complex potential navigation for wheeled mobile robots. The circle theorem from complex function theory is used to avoid an obstacle, and the enhancement to avoid multiple obstacles is proposed. The limit cycle navigation can be combined for robot to kick the ball to the intentioned direction. Avoiding step and superposing twin vortices can be applied to adjust the direction of robot's trajectory. The proposed method is verified through a set of simulation works, and the feasibilities for the enhancement of complex potential theory are successful.

• Journal of Mechanical Science and Technology
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• v.20 no.12
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• pp.2292-2314
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• 2006

Efficient numerical method is developed for the prediction of aerodynamic noise generation and propagation in low Mach number flows such as aeolian tone noise. The proposed numerical method is based on acoustic/viscous splitting techniques of which acoustic solvers use simplified linearised Euler equations, full linearised Euler equations and nonlinear perturbation equations as acoustic governing equations. All of acoustic equations are forced with immersed surface dipole model which is developed for the efficient computation of aerodynamic noise generation and propagation in low Mach number flows in which dipole source, originating from unsteady pressure fluctuation on a solid surface, is known to be more efficient than quadrupole sources. Multi-scale overset grid technique is also utilized to resolve the complex geometries. Initially, aeolian tone from single cylinder is considered to examine the effects that the immersed surface dipole models combined with the different acoustic governing equations have on the overall accuracy of the method. Then, the current numerical method is applied to the simulation of the aeolian tones from twin cylinders aligned perpendicularly to the mean flow and separated 3 diameters between their centers. In this configuration, symmetric vortices are shed from twin cylinders, which leads to the anti-phase of the lift dipoles and the in-phase of the drag dipoles. Due to these phase differences, the directivity of the fluctuating pressure from the lift dipoles shows the comparable magnitude with that from the drag dipoles at 10 diameters apart from the origin. However, the directivity at 100 diameters shows that the lift-dipole originated noise has larger magnitude than, but still comparable to, that of the drag-dipole one. Comparison of the numerical results with and without mean flow effects on the acoustic wave emphasizes the effects of the sheared background flows around the cylinders on the propagating acoustic waves, which is not generally considered by the classic acoustic analogy methods. Through the comparison of the results using the immersed surface dipole models with those using point sources, it is demonstrated that the current methods can allow for the complex interactions between the acoustic wave and the solid wall and the effects of the mean flow on the acoustic waves.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.247-252
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• 2001

The flow around free end of a finite circular cylinder(FC) embedded in an atmospheric boundary layer has been investigated experimentally. The experiments were carried out in a closed-return type subsonic wind tunnel with varying aspect ratio of the finite cylinder mounted vertically on a flat plate. The wake structures behind a 2-D cylinder and a finite cylinder located in a uniform flow were also measured for comparison. Reynolds number based on the cylinder diameter was about Re=20,000. A hot-wire anemometer was employed to measure the wake velocity and the mean pressure distributions on the cylinder surface were also measured. The flow past the FC free end shows a complicated three-dimensional wake structure and flow phenomenon is quite different from that of 2-D cylinder. The three-dimensional flow structure was attributed to the downwashing counter rotating vortices separated from the FC free end. As the FC aspect ratio decreases, the vortex shedding frequency is decreased and the vortex formation length is increased compared to that of 2-D cylinder. Due to the descending counter-rotating twin-vortex, in the region near the FC free end, regular vortex shedding from the cylinder is suppressed and the vortex formation region is hardly established. In the wake center region, the mean velocity for the FC located in atmospheric boundary layer has large velocity deficit, compared to that of uniform flow.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.1
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• pp.105-116
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• 2003

The flow structure around the free end of a finite circular cylinder (FC) embedded in an atmospheric boundary layer (ABL) over open terrain was investigated experimentally with varying the free end shape. The experiments were carried out in a closed-return type subsonic wind tunnel. A finite cylinder with an aspect ratio (L/D) of 6 was mounted vertically on a long flat plate. The Reynolds number based on the cylinder diameter is about Re=7,500. The velocity fields near the FC free end were measured using the single-frame double-exposure PIV method. As a result, for the FC with a right-angled free end, there is a peculiar vortical structure, showing counter-rotating twin vortices near the FC free end. It is caused by the interaction between the entrained irrotational fluids from both sides of FC and the downwash flow from the FC free-end.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.187-192
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• 2006

Helicopter noise has been considered as one of major design factors like a performance and safety since the public acceptance, comfortability and stealth aspects were important for customers. According to the airworthiness regulation, the noise levels in throe different flight conditions shall comply with the specific limits. Main and tail rotors noise is most dominant in far field due to the low and mid range frequency characteristics. It is an air-born noise so That the accurate aerodynamic data is necessary for the accurate noise prediction. In KARI, low noise main and tail rotors as well as analysis codes have been developed since 2000. The approach for low noise main rotor is a kind of tip modifications, so called twin vortices tip to reduce the BVI noise. Analysis results show the 9.3dB reduction in terms of pseudo EPNL. The uneven spacing concept is applied for low noise tail rotor. Three or four decibel noise reduction is achieved by new optimized uneven spacing. Rotor noise and aerodynamic prediction codes have been improved also.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.12
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• pp.1821-1830
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• 2001

The flow around free end of a finite circular cylinder (FC) embedded in an atmospheric boundary layer has been investigated experimentally. The experiments were carried out in a closed-return type subsonic wind tunnel with varying aspect ratio of the finite cylinder mounted vertically on a flat plate. The wakes behind a 2-D cylinder and a finite cylinder located in a uniform flow were measured for comparison. Reynolds number based on the cylinder diameter was about Re=20,000. A hot-wire anemometer was employed to measure the wake velocity and the mean pressure distributions on the cylinder surface were also measured. The flow past the FC free end shows a complicated three-dimensional wake structure and flow phenomenon is quite different from that of 2-D cylinder. The three-dimensional flow structure was attributed to the downwashing counter rotating vortices separated from the FC free end. As the FC aspect ratio decreases, the vortex shedding frequency decreases and the vortex formation length increases compared to that of 2-D cylinder. Due to the descending counter-rotating twin-vortex, near the FC free end, regular vortex shedding from the cylinder is suppressed and the vortex formation region is hardly distinguished. Around the center of the wake, the mean velocity for the FC located in atmospheric boundary layer has large velocity deficit compared to that of uniform flow.