• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• International Journal of High-Rise Buildings
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• v.12 no.4
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• pp.335-341
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• 2023

This study proposes a novel rotary direct evaporative cooler and investigates the potential of a moisture-wicking fabric as a cooling pad for the proposed evaporative cooler. The rotary direct evaporative cooler rotates the cooling pad to reduce the water and energy consumption of the pump compared to those of existing direct evaporative coolers. A moisture-wicking fabric is considered as the material of the cooling pad, because of its high moisture-wicking property, enhancing water evaporation. Experiments are performed under various inlet air conditions while measuring the air temperature, relative humidity, air velocity, and differential pressure. The evaporative cooling efficiency and impacts of the inlet air temperature and air velocity on the cooling performance are also evaluated. The results demonstrate the potential of the moisture-wicking fabric as cooling pad of direct evaporative cooler.

• Advances in nano research
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• v.16 no.6
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• pp.579-591
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• 2024

This study explained the effects of radiation, magnetic field, and nanoparticle shape on the peristaltic flow of an Upper-Convected Maxwell nanofluid through a porous medium in an asymmetric channel for a better understanding of cooling and heating mechanisms in the presence of magnetic fields. These phenomena are modeled mathematically as a system of non-linear differential equations, that are solved under long-wavelength approximation and low Reynolds number conditions using the perturbation method. The results for nanofluid and temperature described the behavior of the pumping characteristics during their interaction with (the vertical position, thermal radiation, the shape of the nanoparticle, and the magnetic field) analytically and explained graphically. Also, the combined effects of thermal radiation parameters and some physical parameters on pressure rise, pressure gradient, velocity, and heat distribution are pointed out. Qualitatively, a reverse velocity appears with combined high radiation and Grashof number or combined high radiation and low volume flow rate. At high radiation, the spherical nanoparticle shape has the greatest effect on heat distribution.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.1
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• pp.25-30
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• 2000

In present paper, mass transfer over a flat plate with film condensation including noncondesable gas is analyzed with the help of similarity methods. Couette flow was assumed in liquid film and boundary-layer approximation was used in the ambient flow. Governing equations were transformed into the ordinary differential equtions by the similarity methods. Runge-Kutta and shooting method were used in order to fine the effect of mass transfer on the velocity and concentrations at the liquid-vapor interface.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.4
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• pp.43-51
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• 1989

Free jet was investigated experimentally and numerically in range of Reynolds number from 9900 to 21000. The working fluid was air; the mean velocity components and turbulent quantities were measured by a hot-wire anemometer. In numerical computations, the governing partial differential equations of elliptic type were solved with conventional k- ${\epsilon}$ turbulence model. The measurements show that the jet increased linearly in flow direction, and that similarity for each turbulent quantity such as Reynolds shear stress, or turbulent kinetic energy was revealed in the fully developed region. The computational results show good agreements with experiments.

• The Journal of the Acoustical Society of Korea
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• v.3 no.1
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• pp.9-15
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• 1984

Thermoacoustic oscillation induced by a heater in a tube with air current is studied theoretically. Linearized perturbation equations are derived in dimensionless form under the assumption that the system is one dimensional. The equation to predict the acoustic power generation from a heating surface is derived and calculated by solving differential equations numerically. The effect of the mean velocity of the air current is illustrated. The energy conversion mechanism is shown by pressure-volume diagram like a heat engine.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1996.09a
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• pp.31-36
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• 1996

It is important to measure the vehicle flow in controlling the traffic system. This report deals with a traffic flow measurement system using the differential spatial filters. This system can measure the velocity the length and height profile of the vehicle. The detector is located above the traffic lane. This provides the system with the following advantages : one is that each lane can be monitored without an influence of the other lanes the other is that the system construction is simple and can be set easily.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.649-654
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• 2000

The non-linear differential equations of motion of a fluid conveying curved pipe are derived by making use of Hamiltonian approach. The extensible dynamics of the pipe is based on the Euler-Bernoulli beam theory. Some significant differences between linear and nonlinear equations and the basic analysis results are discussed. Using eigenfrequency analysis, it can be shown that the natural frequencies are changed with flow velocity.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.310-313
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• 2005

The conical fluidizing system of a binary mixture of Geldart C powders and Geldart A particles was defined as the conical powder-particle fluidized bed. We used a cold conical powder-particle fluidized bed model having a 0.104m-I.D. and 0.6m-high with an apex angle of $10^{\circ}$ for fluidization of a binary powder-particle mixture of 50 $vol\%$ fine carbon black powders (HI-900L, Korea Carbon Black Co.) and coarse alumina particles $(90{\mu}m)$ under different superficial gas velocities (0-0.1 m/s). The differential bed pressure drop increases with increasing gas velocity, and it goes from zero to a maximum value with increasing or decreasing gas velocity. In the conical fluidized beds of fine powders, demarcation velocities of the partial fluidization, full fluidization, partial defluidization was not observed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.10
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.