• 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.

• Journal of Aerospace System Engineering
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• v.12 no.1
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• pp.1-9
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• 2018

In this study, a hybrid control method that adjusts for the existing force control technique has been presented for consideration. The proposed hybrid control technique does away with the chattering phenomenon occurring in existing force control technique and provides high shock absorption efficiency. In order to design the controller for the landing gear with MR damper, the equation of motion of the landing gear was derived. The hybrid controller was designed after constructing a simulation model using Recur-Dyne, multi-body dynamic analysis software. The hybrid controller can reduce the maximum strut force and displacement based on the skyhook controller, and is able to get the high efficiency by making it work for the additional force control technique. In addition, an effective switching control technique and input shaping technique was applied to prevent the chattering in the drop simulation. Finally, the performance of the landing characteristics was evaluated throughout the various drop simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.12
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• pp.25-34
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• 2006

In this paper, a method of designing the pitch control algorithm for the wind turbine generator system (WTGS) and results of nonlinear simulation are presented. For this, the WTGS is treated as a multibody system and the blade element and momentum theory are adopted to model the aerodynamic force and torque acting the rotor blades. For the purpose of controller design, the WTGS is approximated to 1 DOF system using the fact that the WTGS is eventually a constrained multibody system. Then a classical PID controller is designed and used to regulate the rotational speed of the generator. FORTRAN based nonlinear simulation program is written and used to evaluate the performance of the proposed controller at the various wind scenario and operational modes.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1048-1052
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• 2013

Recently, many countries have attempted to protect their satellites from damage caused by space debris. To design these collision avoidance maneuvers, optimal algorithms based on numerical simulations are widely used due to their practicality. However, these algorithms often require a great expenditure of time in order to find solutions. Therefore, in this paper, a simple analytical strategy is suggested to find the initial prediction required to find these numerical solutions for collision avoidance maneuvers by using relative dynamics for the rendezvous and docking problems. For this analytical strategy, the simple dynamics on the CW (Clohessy-Wiltshire) frame is adopted as an attempt to introduce an analytical solution.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.2
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• pp.772-778
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• 2012

In this paper, the states and the parameters in the dynamic system are simultaneously estimated by applying the UKF(Unscented Kalman Filter), which is widely used for estimating the state of non-linear systems. Estimating the parameter is very important in various fields, such as system control, modeling, analysis of performance, and prediction. Most of the dynamic systems which are dealt with in engineering have non-linearity as well as some noise. Therefore, the parameter estimation is difficult. This paper estimates the states and the parameters applying to the UKF, which is a non-linear filter and has strong noise. The augmented equation is used by including the addition of the parameter factors to the original state equation of the system. Moreover, it is simulated by applying to a 2-DOF(Degree of Freedom) dynamic system composed of the pendulum and the slide. The measurement noise of the dynamic equation is assumed to be a Gaussian distribution. As the simulation results show, the proposed parameter estimation performs better than the LSM(Least Square Method). Furthermore, the estimation errors and convergence time are within three percent and 0.1 second, respectively. Consequentially, the UKF is able to estimate the system states and the parameters for the system, despite having measurement data with noise.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.6
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• pp.219-230
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• 2017

This paper proposes a vehicle to road tracking algorithm based on vision sensor by using EKF(Extended Kalman Filter). The lateral offset, heading angle, and curvature which are obtained from vehicle to road tracking might be used as inputs to steering controller of LKAS(Lane Keeping Assist System) or for the warning decision logic of LDWS(Lane Departure Warning System). To the end, in this paper, the yaw rate, steering angle, and vehicle speed as well as lane raw points together with considering of vehicle lateral dynamics are utilized to improve the exactness and convergence of the vehicle to road tracking. The proposed algorithm has been tested at a proving ground that consists of straight and curve sections and compared with GPS datum using DGPS-RTK equipment to show the feasibility of the proposed algorithm.

• Proceedings of the Acoustical Society of Korea Conference
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• 1998.06c
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• pp.461-464
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• 1998

수중 프로펠러의 비공동 소음을 수치적으로 해석하였다. Ffowcs Williams-Hawkings 형태의 음향상사 방정식을 시간영역에서 해석하였으며 임의의 형상과 하중조건을 가지는 프로펠러의 소음 예측이 가능하도록 하였다. 또한 좌표계 변환을 통해 관찰자에 대해 상대적 운동이 있는 경우에도 소음 예측이 가능하도록 하였다. 균일/비균일 유입류 조건을 갖는 수중 프로펠러에 대해 소음 해석을 수행하였고 각각의 조건에 대해 음원별 소음 강도와 방향성을 예측하였다. 수치 해석결과 프로펠러 표면상의 압력 변화에 따른 비정상 하중에 의한 이중극 소음이 지배적인 것으로 나타났다. 이러한 음원별 접근법은 수중 프로펠러의 운용시 지배적인 소음원을 구별하고 그 특성을 파악하여 적절한 소음 제어책을 마련하는 기반이 될 것이다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.75-76
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• 2007

A mis-handling of the ship operators show high rate among the whole marine accidents. Since the port conditions have been getting worse. also as her size and speed increase, collision risk has been increased so that ship needs the automatic control system for collision. From that purpose, this research has been proceeded. The research has based on the MMG mathematical model, used Surge-Sway-Yaw motion equation, the information from the position and estimated time of collision point (DCPA and TCPA) to determine the collision risk with Fuzzy theory. To verify this system, ship was simulated when the ship encountered multitude of ships around the coast. The simulation result shows good application in avoiding ship collisions around the coast.

• Journal of the Korea Society for Simulation
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• v.29 no.2
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• pp.21-33
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• 2020

This study develops a simulator for determining the sonar sensor configuration of unmanned underwater vehicles (UUVs) based on a scenario, in order for UUVs to conduct an effective anti-submarine warfare (ASW). First, we analyze the missions and operational concepts of UUVs in the field of ASW, and then select a Hold-at-Risk scenario as the one with the highest priority. Next, for modeling the components of a simulator, the motion, acoustic characteristic, and environment condition of the platforms (UUV and target submarine) are specified. Especially, based on the beam pattern of each sonar configuration considered in this paper, the passive sonar equation is used to verify target detection, and we further estimate the azimuth and elevation of the target using amplitude and phase of the received signal, respectively. The simulation results show the performance tendency depending on the sonar sensor configurations of a UUV, and the simulator provides a high applicability under various scenarios.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.8
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• pp.1727-1734
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• 2011

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed ink jet printer. The proposed scheme estimates the impact position and compensates it by control of the jet strobe time based on the dynamic equations describing the moving trajectory of the ejected ink droplet. Compared to the conventional jet strobe control which is based on the simple synchronization with the position signal of the ink jet nozzle, the proposed control scheme provides more accurate impact position control while the carrier is moving with accelerated or decelerated speed as well as steady state speed with fluctuations. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.