• 대한기계학회논문집B
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• 제26권2호
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• pp.345-352
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• 2002

A suboptimal control law in turbulent pipe flow is derived and tested. Two sensing variables ∂p/∂$\theta$│$\_$w/ and ∂v$\_$$\theta$/∂γ│$\_$w/ are applied with two actuations ø$\_$$\theta$/ and ø$\_$γ/. To test the suboptimal control law, direct numerical simulations of turbulent pipe flow at Re$\_$$\tau$/=150 are performed. When the control law is applied, a 13∼23% drag reduction is achieved. The most effective drag reduction is made at the pair of ∂v$\_$$\theta$/∂γ│$\_$w/ and ø$\_$γ/. An impenetrable virtual wall concept is useful for analyzing the near-wall suction and blowing. The virtual wall concept is useful for analyzing the near-wall behavior of the controlled flow. Comparison of the present suboptimal control with that of turbulent channel flow reveals that the curvature effect is insignificant.

• 한국철도학회논문집
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• 제19권6호
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• pp.765-776
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• 2016

본 연구에서는 철도 교대를 위한 표준단면을 선정하고, 선정된 단면에 대하여 토압산정방법과 내부마찰각에 따른 직배면과 가상배면에 작용하는 주동토압을 비교 분석하였다. 또한, 기존토압과 개량시행쐐기법의 토압을 이용하여 내부마찰각에 따른 교대의 외적 안정성, 부재력 및 경제성을 분석하였다. 본 연구로부터 가상배면에서의 주동토압은 직배면에서의 주동토압보다 크며, 내부마찰각이 증가함에 따라 감소한다는 것을 알 수 있었다. 기존토압(Rankine, Coulomb, 시행쐐기법) 및 개량토압(개량시행쐐기법) 모두 내부마찰각이 증가함에 따라 부재력은 크게 감소하였고, 경제성은 향상되는 것으로 평가되었다.

• 대한기계학회논문집
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• 제19권1호
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• pp.219-230
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• 1995

The flow characteristics of a two-dimensional offset jet issuing parallel to a rough wall is experimentally investigated by using a split film probe with the modified Stock's calibration method. The mean velocity and turbulent stresses profiles in the up and down-stream locations of the wall-attachment regions are measured and compared with those of the smooth wall attaching offset jet cases. It is found that the wall-attachment region on the rough wall is wider than on the smooth wall for the same offset height and the jet speed. The position of the maximum velocity point is farther away from the wall than that for the smooth wall case because of the thick wall boundary layer established by the surface roughness. It is concluded that the roughness of the wall accelerates the relaxation process to a redeveloped plane wall jet and produces a quite different turbulent diffusion behavior especially near the wall from comparing with the smooth plane wall jet turbulence.

• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 한국산업정보학회논문지
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• 제26권4호
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• pp.11-18
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• 2021

강화 학습을 통한 실내 자율주행을 위해 가상 환경과 실제 환경에서 학습을 병행하는 방법을 제안한다. 실제 환경에서만 학습을 진행했을 경우 80시간 정도의 소요 시간이 필요하지만, 실제 환경과 가상 환경을 병행하며 학습을 진행했을 경우 50시간의 소요 시간이 필요하다. 가상 환경과 실제 환경에서 학습을 병행하면서 빠른 학습으로 다양한 실험을 거쳐 최적화된 파라미터를 얻을 수 있는 이점이 있다. 실내복도 이미지를 이용하여 가상 환경을 구성한 후 데스크톱으로 선행학습을 진행하였고 실제 환경에서의 학습은 Jetson Xavier를 기반으로 다양한 센서와 연결하여 학습을 진행하였다. 또한, 실내복도 환경의 반복되는 텍스처에 따른 정확도 문제를 해결하기 위해 복도 벽의 아랫선을 강조하는 특징점 검출을 학습하여 복도 벽 객체를 판단하고 정확도를 높일 수 있었다. 학습을 진행할수록 실험 차량은 실내복도 환경에서 복도 중앙을 기준으로 주행하며 평균 70회의 조향명령을 통해 움직인다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.713-716
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• 2000

In this study, we present a mobile robot for ultrasonic scanning of weldment. magnetic Caterpillar mechanism is selected in order to travel on the inclined surface and vertical wall. A motion control board and motor driver are developed to control four DC-servo motors. A virtual device driver is also developed for the purpose of communicating between the control board and a host PC with Dual 'port ram. To provide the mobile robot with stable and accurate movement, PID control algorithm is applied to the mobile robot control. And a vision system for detecting the weld-line are developed with laser slit beam as a light source. In the experiments, movement of the mobile robot is tested inclined on a surface and a vertical wall.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• 대한기계학회논문집A
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• 제28권8호
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• pp.1190-1195
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• 2004

A novel manipulation of microfluid width in a microchannel was presented by controlling inflation of a gas boundary. The gas boundary was formed by heating water with a microheater in a semicircular shape from a chamber which was connected symmetrically to the microchannel. The formed gas boundary inflated perpendicularly to the flow direction and, consequently, the microfluid width was narrowed. The inflation and contraction were flexibly like a virtual wall and dependent on two factors: one is the flow velocity of the microfluid and the other is the pressure inside the gas boundary. Dimensions of the chamber and the microchannel width were determined empirically as same of $300\;{\mu}m$ for stable operation. The width of microfluid was manipulated manually with the microheater and could be maintained as up to $22\;{\mu}m$. The stable focusing began to be distorted when the flow velocity exceeded 17.8 mm/s.

• Computers and Concrete
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• 제3권5호
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• pp.285-299
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• 2006

The free vibration of stiffened and damaged coupled shear walls is investigated using the mixed finite element method. The anisotropic damage model is adopted to describe the damage extent of the reinforced concrete shear wall element. The internal energy of a locally damaged shear wall element is derived. Polynomial shape functions established by Kwan are used to present the component of displacements vector on each point within the wall element. The principle of virtual work is employed to deduce the stiffness matrix of a damaged shear wall element. The stiffened system is reinforced by an additional stiffening beam at some level of the structure. This induces additional axial forces, and thus reduces the bending moments in the walls and the lateral deflection, and increases the natural frequencies. The effects of the damage extent and the stiffening beam on the free vibration characteristics of the structure are studied. The optimal location of the stiffening beam for increasing as far as possible the first natural frequency of vibration is presented.