• Geophysics and Geophysical Exploration
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• v.16 no.4
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• pp.225-233
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• 2013

The accuracy of the automatic NMO velocity analysis, which is used for an effective and objective NMO velocity analysis, is highly affected by the velocity resolution of the velocity spectrum. In this study, we have developed an automatic NMO velocity algorithm, where the velocity spectra are created using high-resolution bootstrapped differential semblance (BDS), and the velocity analysis on CMP gathers is performed in parallel with MPI. We also compared the velocity models from the developed automatic NMO velocity algorithm with high-resolution BDS to those from BDS. To verify the developed automatic velocity analysis module we created synthetic seismic data from a velocity model including horizon layers. We confirmed that the developed automatic velocity analysis module estimated velocity more accurately. In addition, NMO velocity which yielded a CMP stacked section, where the coherency of the events were improved, was estimated when the developed module was applied to a marine field data set.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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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.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• Structural Engineering and Mechanics
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• v.62 no.1
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• pp.65-77
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• 2017

The free vibration analysis of fluid conveying Timoshenko pipeline with different boundary conditions using Differential Transform Method (DTM) and Adomian Decomposition Method (ADM) has not been investigated by any of the studies in open literature so far. Natural frequencies, modes and critical fluid velocity of the pipelines on different supports are analyzed based on Timoshenko model by using DTM and ADM in this study. At first, the governing differential equations of motion of fluid conveying Timoshenko pipeline in free vibration are derived. Parameter for the nondimensionalized multiplication factor for the fluid velocity is incorporated into the equations of motion in order to investigate its effects on the natural frequencies. For solution, the terms are found directly from the analytical solution of the differential equation that describes the deformations of the cross-section according to Timoshenko beam theory. After the analytical solution, the efficient and easy mathematical techniques called DTM and ADM are used to solve the governing differential equations of the motion, respectively. The calculated natural frequencies of fluid conveying Timoshenko pipelines with various combinations of boundary conditions using DTM and ADM are tabulated in several tables and figures and are compared with the results of Analytical Method (ANM) where a very good agreement is observed. Finally, the critical fluid velocities are calculated for different boundary conditions and the first five mode shapes are presented in graphs.

• Journal of Korea Society of Industrial Information Systems
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• v.24 no.5
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• pp.121-127
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• 2019

This paper proposes an operator-centric velocity generation and control algorithm for differential-drive mobile robots, which are widely used in many industrial applications. Most of the previous works use a robot centric velocity generation and control for the operators to control the differential-drive mobile robots, which makes the robot control difficult for the operators. Such robot-centric control can cause the increase of accidents and the decrease of work efficiency. The experimental results with a real differential-drive mobile robot testbed demonstrate the efficiency of operator-centric mobile robot control.

• Journal of applied mathematics & informatics
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• v.41 no.2
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• pp.401-411
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• 2023

The effects of longitudinal velocity dusty fluid flow in a weak magnetic field are investigated in this paper. An external uniform magnetic field parallel to the flow of dusty fluid influences the flow of dusty fluid. Besides that, the problem under investigation is completely defined in terms of identifying parameters such as longitudinal velocity (u), Hartmann number (M), dust particle interactions β, stock resistance γ, Reynolds number (Re) and magnetic Reynolds number (Rm). While using suitable transformations of resemblance, The governing partial differential equations are transformed into a system of ordinary differential equations. The Hankel Transformation is used to solve these equations numerically. The effects of representing parameters on the fluid phase and particle phase velocity flow are investigated in this analysis. The magnitude of the fluid particle is reduced significantly. The result indicates the magnitude of the particle reduced significantly. Although some of our numerical solutions agree with some of the available results in the literature review, other results differs because of the effect of the introduced magnetic field.

• Geophysics and Geophysical Exploration
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• v.13 no.1
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• pp.31-39
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• 2010

The goal of automatic velocity analysis is to extract accurate velocity from voluminous seismic data with efficiency. In this study, we developed an efficient automatic velocity analysis algorithm by using bootstrapped differential semblance (BDS) and Monte Carlo inversion. To estimate more accurate results from automatic velocity analysis, the algorithm we have developed uses BDS, which provides a higher velocity resolution than conventional semblance, as a coherency estimator. In addition, our proposed automatic velocity analysis module is performed with a conditional initial velocity determination step that leads to enhanced efficiency in running time of the module. A new optional root mean square (RMS) velocity constraint, which prevents picking false peaks, is used. The developed automatic velocity analysis module was tested on a synthetic dataset and a marine field dataset from the East Sea, Korea. The stacked sections made using velocity results from our algorithm showed coherent events and improved the quality of the normal moveout-correction result. Moreover, since our algorithm finds interval velocity ($\nu_{int}$) first with interval velocity constraints and then calculates a RMS velocity function from the interval velocity, we can estimate geologically reasonable interval velocities. Boundaries of interval velocities also match well with reflection events in the common midpoint stacked sections.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1782-1798
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• 2004

A numerical study of a natural convection in a rectangular cavity with the low-Reynolds-number differential stress and flux model is presented. The primary emphasis of the study is placed on the investigation of the accuracy and numerical stability of the low-Reynolds-number differential stress and flux model for a natural convection problem. The turbulence model considered in the study is that developed by Peeters and Henkes (1992) and further refined by Dol and Hanjalic (2001), and this model is applied to the prediction of a natural convection in a rectangular cavity together with the two-layer model, the shear stress transport model and the time-scale bound ν$^2$- f model, all with an algebraic heat flux model. The computed results are compared with the experimental data commonly used for the validation of the turbulence models. It is shown that the low-Reynolds-number differential stress and flux model predicts well the mean velocity and temperature, the vertical velocity fluctuation, the Reynolds shear stress, the horizontal turbulent heat flux, the local Nusselt number and the wall shear stress, but slightly under-predicts the vertical turbulent heat flux. The performance of the ν$^2$- f model is comparable to that of the low-Reynolds-number differential stress and flux model except for the over-prediction of the horizontal turbulent heat flux. The two-layer model predicts poorly the mean vertical velocity component and under-predicts the wall shear stress and the local Nusselt number. The shear stress transport model predicts well the mean velocity, but the general performance of the shear stress transport model is nearly the same as that of the two-layer model, under-predicting the local Nusselt number and the turbulent quantities.

• Advances in concrete construction
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• v.9 no.1
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• pp.103-113
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• 2020

This paper deal with the critical fluid velocity response of nanocomposite pipe conveying fluid based on numerical method. The pressure of fluid is obtained based on perturbation method. The motion equations are derived based on classical shell theory, energy method and Hamilton's principle. The shell is reinforced by nanoparticles and the distribution of them are functionally graded (FG). The mixture rule is applied for obtaining the equivalent material properties of the structure. Differential quadrature method (DQM) is utilized for solution of the motion equations in order to obtain the critical fluid velocity. The effects of different parameters such asCNT nanoparticles volume percent, boundary conditions, thickness to radius ratios, length to radius ratios and internal fluid are presented on the critical fluid velocity response structure. The results show that with increasing the CNT nanoparticles, the critical fluid velocity is increased. In addition, FGX distribution of nanoparticles is the best choice for reinforcement.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.