• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.1
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• pp.31-39
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• 2013

A Quad Tilt Wing UAV is a new concept hybrid UAV having the advantages of both fixed-wing and rotary-wing aircraft. This paper presents longitudinal flight dynamic characteristics of a Quad Tilt Wing UAV. The designed Quad Tilt Wing UAV is a configuration of a tandem wing type aircraft with an actuating motor and propeller mounted at each wing. Momentum theory is used to calculate the thrust, and nonlinear modeling is performed considering lift and drag generated by slip stream effect of propellers. Also, Force and moment variation at each tilting angle is considered. Static trim on longitudinal axis is analyzed via numerical simulation. Componentwise force contribution was analyzed at each trim mode. Dynamic characteristics were evaluated through eigenvalue analysis for a linear model at each flight mode. It is verified that longitudinal dynamic characteristics are changing from unstable to stable state by continuous transition of dominant poles.

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.2
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• pp.17-28
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• 2015

In this paper, it is accomplished to design a control method for such an actuation system of simplified ON/OFF mechanism with actuation command limit. First of all, based on experimental data, the modeling works for nonlinear/linear actuation dynamics are performed, which are govern by PWM command as a control input. Using the linearized model, a classical PI control method is designed to satisfy the aimed control performance requirements, and a control algorithm is proposed to realize the required control performance in the effective control region through resolving the issue for the PWM command limit which reduces the control performance. Finally, through control simulations, the design method is verified and the corresponding control performance improvement is evaluated.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.399-404
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• 2006

The container crane is one of the most important equipment in container terminal. If its working time in cycle could be reduced then container terminal efficiency and service level can be increased. So there are many efforts to reduce working time of container crane. It means how to design the controller with good performance which has small overshoot and swing motion of container crane. We, in this paper, present a state feedback controller not based on LQ theory but RCGA which means real-coded genetic algorithms. RCGA can search state feedback gains in given objective function. several cases of simulations are carried out in order to prove the control effectiveness of the proposed methods.

• Geophysics and Geophysical Exploration
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• v.9 no.3
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• pp.241-249
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• 2006

Due to the long tectonic history and the very complex geologic formations in Korea, the anisotropic characteristics of subsurface material may often change very greatly and locally. The algorithms commonly used, however, may not give sufficiently precise computational results of traveltime data particularly for the complex and strong anisotropic model, since they are based on the two-dimensional (2D) earth and/or weak anisotropy assumptions. This study is intended to develope a three-dimensional (3D) modeling algorithm to precisely calculate the first arrival time in the complex anisotropic media. Considering the complex geology of Korea, we assume 3D TTI (tilted transversely isotropy) medium having the arbitrary symmetry axis. The algorithm includes the 2D non-linear interpolation scheme to calculate the traveltimes inside the grid and the 3D traveltime mapping to fill the 3D model with first arrival times. The weak anisotropy assumption, moreover, can be overcome through devising a numerical approach of the steepest descent method in the calculation of minimum traveltime, instead of using approximate solution. The performance of the algorithm developed in this study is demonstrated by the comparison of the analytic and numerical solutions for the homogeneous anisotropic earth as well as through the numerical experiment for the two layer model whose anisotropic properties are greatly different each other. We expect that the developed modeling algorithm can be used in the development of processing and inversion schemes of seismic data acquired in strongly anisotropic environment, such as migration, velocity analysis, cross-well tomography and so on.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.4
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• pp.253-258
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• 2016

This paper proposes a method that utilizes optimization approach for localization of an indoor mobile robot. Bayesian filters which have been widely used for localization of a mobile robot use many control parameters to take the uncertainties in measurement and environment into account. The estimation performance depends on the selection of these parameter values. Also, the performance of the Bayesian filters deteriorate as the non-linearity of the motion and measurement increases. On the other hand, the optimization approach uses fewer control parameters and is less influenced by the non-linearity than the Bayesian methods. This paper compares the localization performance of the proposed method with the performance of the extended Kalman filter to verify the feasibility of the proposed method. Measurements of ranges from beacons of ultrasonic satellite to the robot are used for localization. Mahalanobis distance is used for detection and rejection of outlier in the measurements. The optimization method sets performance index as a function of the measured range values, and finds the optimized estimation of the location through iteration. The method can improve the localization performance and reduce the computation time in corporation with Bayesian filter which provides proper initial location for the iteration.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06a
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• pp.286-289
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• 2011

제약을 갖는 부분 관찰 의사결정 과정(Constrained Partially Observable Markov Decision Process; CPOMDP)는 정책이 제약(constraint)를 만족하면서 가치 함수를 최적화하도록 일반적인 부분 관찰 의사결정과정(POMDP)을 확장한 모델이다. CPOMDP는 제한된 자원을 가지거나 여러 개의 목적 함수를 가지는 문제를 자연스럽게 모델링할 수 있기 때문에 일반적인 POMDP에 비해 더 실용적인 장점을 가진다. 본 논문에서는 CPOMDP의 확률적 최적 정책 및 근사 최적 정책을 계산할 수 있는 최적 및 근사 동적 프로그래밍 알고리즘을 제안한다. 최적 알고리즘은 동적 프로그래밍의 각 단계마다 미니맥스 이차 제약 계획 문제를 계산해야 하는 반면에 근사 알고리즘은 선형 계획 문제만을 필요로 하는 점-기반(point-based) 가치 업데이트를 이용한다. 실험 결과, 확률적 정책이 결정적(deterministic) 정책보다 더 나은 성능을 보이며, 근사 알고리즘을 통해 계산 시간을 줄일 수 있음을 보였다.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2012.04a
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• pp.313-316
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• 2012

다수의 소방공무원이 화재나 고온 조건 등에 노출되어 화상을 입고 심리적 신체적 고통 받고 있다. 화상 관련 연구는 피부조직의 비선형성, 혈류에 의한 열전달 분석의 불확실성 등 신체 내부의 복잡한 물리현상으로 인하여 국내에서는 연구가 매우 미흡한 실정이다. 이에 따라 화상 예측에 대한 연구를 기반으로 화상을 방지할 수 있는 예방법이 필요하며, 화상 예측의 기초 연구로 피부조직의 형상 모델링 및 열물성치를 정확하게 파악하는 것이 매우 중요하다. 본 연구는 피부조직의 형상 및 열물성치와 관련된 기존 연구를 수집 및 정리하여 향후 화상 예측시 좋은 결과를 얻을 수 있도록 하는 데에 그 목적이 있다.

• Proceedings of the KAIS Fall Conference
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• 2008.11a
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• pp.231-235
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• 2008

본 논문에서는 기존의 멀티미디어 스트리밍 시스템의 복잡하고 확장성이 떨어지는 문제점을 해결하기 위하여 새로운 컴포넌트를 생성하고 조합하여 작업을 동기화 할 수 있는 기법을 제안하였다. 이 기법은 복잡한 멀티미디어 처리 모듈을 단순한 선형적인 구조로 구성하여 버퍼링 모듈, 동기화 모듈, QoS 제어모듈, 비 호환 모듈간의 호환성을 보장하는 어댑터 모듈 등 효과적으로 확장 할 수 있게 설계함으로써 멀티미디어 스트리밍 시스템의 확장성과 이식성이 높아질 수 있도록 하고자 한다.

• Journal of the Korean Geotechnical Society
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• v.15 no.6
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• pp.121-130
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• 1999

The objective of this study is to perform finite element analyses(FEA) using the anisotropic hardening constitutive model on the basis of the total stress concept. An anisotropic hardening model was then developed to solve the problem and its mathematical formulations and experimental verifications were also described. In a companion paper, the constitutive equation will be formulated for accurate and efficient solutions of FEA, and coded into a nonlinear analysis program, and finally a field problem will be analyzed. The proposed model includes the failure criterion of a von Mises type and the anisotropic hardening rule based on the generalized isotropic hardening description, which can model the nonlinearity and the anisotropy of the stress-strain relationship. As a result this study could verty the experimental results for UU triaxial tests, CU triaxial tests for overconsolidated samples, and anisotropic loading tests with the rotation of principal stress axes for $K_0$consolidated samples.

• Journal of Navigation and Port Research
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• v.28 no.3
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• pp.227-232
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• 2004

Vehicle dynamics control systems are complex and non-linear, so they have difficulties in developing a controller for the anti-lock braking systems and the auto-traction systems. Currently the fuzzy-logic technique to estimate the absolute vehicle speed supplies good results in normal conditions. But the estimation error in severe braking is discontented In this paper, we estimate the absolute vehicle speed of UCT(Unmanned Container Transporter) by using the wheel speed data from standard anti-lock braking system wheel speed sensors. Radial symmetric basis function of the neural network model is proposed to implement and estimate the absolute vehicle speed, and principal component analysis on input data is used 10 algorithms are verified experimentally to estimate the absolute vehicle speed and one of them is perfectly shown to estimate the vehicle speed within 4％ error during a braking maneuver.