• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.494-500
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• 2002

본 연구의 목적은 DGPS와 자이로 센서를 장착하여 무인으로 콤바인을 직선주행, 선회 및 곡선주행, 직진주행 중 1 m 오프셋(offset) 주행시켰을 때, 무인 자율주행의 성능을 분석하고 개선하는데 있다. 콤바인의 무인자율주행 시스템은 콤바인의 현재위치를 인식하고, 주행하고 있는 콤바인의 주행방향을 감지하여 미리 설정된 경로를 따라 자율적으로 주행하며, 주행 중에 장애물이 검출되면 정지할 수 있도록 개발하였다. 콤바인의 무인 자율주행시스템은 DGPS의 입력 신호로부터 콤바인의 현재위치를 결정하고, 자이로 센서의 입력신호로부터 주행방향을 알 수 있다. 또한 장애물의 감지를 위한 초음파 센서, 콤바인의 주행방향을 조정하는 유압 작동부, 좌.우의 조향레버를 조정하는 서보모터 시스템, 마이크로 컴퓨터로 구성된 제어기와 입출력 인터페이스로 구성되어 있다. 콤바인 자율주행시스템의 프로그램은 DGPS 신호, 자이로 센서 등을 수신하는 수신 프로그램, DGPS 신호등으로부터 관련 변수들을 분석하여 콤바인의 조향수준을 결정하고, 유압실린더 등을 제어하는 제어 프로그램과 콤바인의 이동경로를 저장하는 저장 프로그램으로 구성되어 있다. 콤바인의 무인주행 실험결과 RMS 오차는 50 m 직선주행에서 7.52 cm, 20 m 직선주행 후 1 m 오프셋 된 30 m의 직선주행에서 21.85 cm, 20 m 직선주행 후 90$^{\circ}$선회하여 25 m 직선주행에서 7.55 cm, 반지름 23 m의 원주 사분면 곡선주행에서는 25.98 cm로 각각 나타났다. 소 구획의 포장에서 벼는 가로 방향으로 25~30 cm, 세로 방향으로 15~20 cm의 간격으로 심어져 있다. DGPS 신호에 의한 위치 결정을 할 때 자체 오차 10 cm를 고려하여도 콤바인이 직선구간 및 선회구간을 주행하며 수확작업이 가능함을 알 수 있었다. 그러나 곡선구간에서는 최대오차가 65.5 cm로 매우 크게 나타나, 콤바인을 무인 자율주행으로 수확하기에는 어려움이 있는 것으로 나타났다. 실제 포장은 이론적인 완전한 직선보다는 작은 굴곡이 있는 곡선의 형태가 이루어져 있으므로 주행 오차를 감소하기 위해서는 기계시각을 이용하면 보다 정밀한 조향을 이룰 수 있을 것으로 예상된다. 포장에서 DGPS 신호, 자이로 센서 등을 이용한 콤바인의 무인주행 장치는 무인 수확작업을 위한 가능성을 보여주었고, 일부의 센서의 기능을 개선하면 만족한 성능을 나타낼 수 있을 것으로 판단된다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.6
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• pp.973-991
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• 2022

Globally, several countries with sea are using eco-friendly energy resources through offshore wind power development by overcoming the weak point of the existing power generation method. The sea has the advantage of being able to develop large scale wind farms in wide waters, but the installation of marine structures threatens the safe operation of vessels. Accordingly, a standard guideline for safe navigation by analyzing the mutual effects between ship routes and offshore wind site was presented by the PIANC. Nonetheless, the standard guideline calculated the same safe distance in all situations. Therefore, this study developed a calculation model for an optimal safe distance between ship routes and offshore wind sites by reflecting the ship's maneuvering, encounter situations, environmental force, traffic density, offshore wind power generators, and channel types. As a result of the validation simulation, the developed model showed that the optimal safe distance was secured.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.26 no.2
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• pp.192-203
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• 1990

여러 가지 다른 형태의 노즐을 공기 선회식 버너와 공기의 선회가 없는 버너(CB-125 Burner)에 장치하여 공기 분사식으로 오일을 분사하여 연소로에서 연소시켰다. 연소로는 길이 3m에 약 1m 상(3) 의 연소공간을 가졌으며 상부에는 열전대를 장치하고 하부에는 물이 흐르는 관을 설치하여 열효율을 계산할 수 있게 설계하였다. 연소로 연돌부에는 CO 하(2), CO, O 하(2) 가스 분석기를 사용하여 과잉공기량과 고온계로 배기가스 온도를 측정하도록 하였다. 모든 측정치는 연소곡선과 효율곡선에 의하여 얻어진 상수를 이용하여 계산한 연소로 성능방정식에 의하여 평가하였다. 실험치에 의해 계산한 벽면 열손실량과 열전달 공식에 의해 산출한 열손실량을 비교 분석하여 측정치의 정확도를 추정하고 과잉공기의 효과도 검토하였다. 그 결과 본 연구에서 사용된 두 종류의 버너와 여러 형태의 노즐이 오일 연소시 열효율 면에서 큰 차이를 보이지 않고 있음을 알았다.

• Journal of the Korean Society for Marine Environment & Energy
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• v.4 no.1
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• pp.70-74
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• 2001

In this paper, we studied the maneuvering performances of a ship with flapped rudder. PMM tests were carried out for a ship model with horn type rudder or flapped rudder. The Abkowitz's model was used as a basic mathematical model to simulate the maneuvering motions. The maneuvering motions of a ship with flapped rudder were compared with those of a ship with horn-type rudder. As a result, it was found that the turning ability of a ship with flapped rudder was remarkably improved.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.5
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• pp.552-557
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• 2015

A numerical simulation studies were performed to investigate a manoeuvring characteristics as function of stern hull form with the mathematical model. In order to consider the effect of the stern hull form and obtain the manoeuvring characteristics, a parameter($C_{wa}$) which is aft. water plane area coefficient is modified. Because modifying $C_{wa}$(${\pm}2%$) means that the stern hull form is modified to V-type or U-type, the numerical simulation was performed with this modified $C_{wa}$. A changing trend for the manoeuvring characteristics not only in deep water but also in shallow water such as directional stability, turning and zig-zag was investigated and presented as the results. Present study showed that the manoeuvrability in shallow water largely changed when the draught and water depth ratio(=d/H) become 0.5, and the stern hull form can affect to the manoeuvrability of a vessel navigating in restricted water depth. In addition, it showed that approaching the stern hull to U-type makes the advance and tactical diameter of turning motion large and the overshoot angle of zig-zag motions small. Otherwise, it showed approaching the stern hull form to V-type makes the advance and tactical diameter of turning motion small and the overshoot angle of zig-zag motions large in the present study.

• Clean Technology
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• v.23 no.2
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• pp.205-212
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• 2017

We investigated the performance of a jet loop reactor (JLR) with the two-fluid venturi-type swirl nozzle (TVSN) during experiment for ammonia removal by air stripping from a synthetic wastewater, and compared it with that of a JLR with the two-fluid venturi-type conventional nozzle (TVCN), with the variation of pH, liquid circulation rate ($Q_L$), and air flow rate ($Q_G$). Their performance levels were compared based on the ammonia removal efficiency and overall mass transfer coefficient ($K_La$). Investigated parameters in a JLR were pH (10-12), air flow rate ($Q_G=5-20L\;min^{-1}$), and liquid circulation rate ($Q_L=25-35L\;min^{-1}$). Throughout the experiment, the ammonia removal efficiency and $K_La$ in a JLR with TVSN was higher than in a JLR with TVCN. This may be due to the enhanced turbulent intensity by swirling flow formed in the JLR with TVSN compared to that with TVCN. Further, we obtained higher $K_La$ when pH, $Q_L$ and $Q_G$ were increased. In particular, $K_La$ was increased more efficiently by increasing $Q_G$ than by increasing pH and $Q_L$.

• Journal of the Korean Society of Marine Environment & Safety
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• v.14 no.2
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• pp.157-162
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• 2008

The ship's maneuverability is the important factor to avoid ship's collisions. The ship's maneuverability is usually measured in a deep water, and the turning ability is decreased and the course stability is improved in a shallow water. The variation of the turning ability could cause the risk of collision. In this paper, we proposes application technique of Variable Safe-Guard Ring to consider the shallow water effect and to be simple to estimate the grade of collision risk simultaneously. Through the mathematical simulation, the availability of new method was varified. Therefore this method is expected enough to support a maneuver for collision avoidance.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2008.04a
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• pp.133-134
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• 2008

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.892-895
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• 2017

As a component development of heavy duty industrial gas turbine combustor development program, pressure swirl simplex injector was designed and tested to figure out spray characteristics and performance. Injector flow rate as a function of pressure drop was measured and compared to the design target. Also spray shape was analyzed qualitatively and spray cone angle was measured from spray visualization image using shadowgraph. The flow test result showed that the injector was designed and manufactured correctly according to the design target and spray cone angle was measured from shadowgraph result. As a next step, PDA (Phase Doppler Anemometry) measurement is planned to figure out more specific spray performance and characterization.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.11
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• pp.103-109
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• 2012

Samsung Thales has developed a small-sized autonomous underwater vehicle "BOTO" verified by a mathematical model simulation. The hydrodynamic coefficients and drag force were experimented at circulating water channel for validating cruising performance of the AUV. Based on the mathematical model, we simulated turning radius and way-point tracking on horizontal plane using way-point tracking algorithm. In this paper we introduce the vehicle system and the sea trial test results will be shown.