• Smart Structures and Systems
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• v.14 no.5
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• pp.943-960
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• 2014

A visually servoed paired structured light system (ViSP) was recently proposed as a novel estimation method of the 6-DOF (Degree-Of-Freedom) relative displacement in civil structures. In order to apply the ViSP to massive structures, multiple ViSP modules should be installed in a cascaded manner. In this configuration, the estimation errors are propagated through the ViSP modules. In order to resolve this problem, a displacement estimation error back-propagation (DEEP) method was proposed. However, the DEEP method has some disadvantages: the displacement range of each ViSP module must be constrained and displacement errors are corrected sequentially, and thus the entire estimation errors are not considered concurrently. To address this problem, a pose-graph optimized displacement estimation (PODE) method is proposed in this paper. The PODE method is based on a graph-based optimization technique that considers entire errors at the same time. Moreover, this method does not require any constraints on the movement of the ViSP modules. Simulations and experiments are conducted to validate the performance of the proposed method. The results show that the PODE method reduces the propagation errors in comparison with a previous work.

• Journal of Microbiology and Biotechnology
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• v.25 no.6
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• pp.887-892
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• 2015

Uricase is an important microbial enzyme that can be used in the clinical treatment of gout, hyperuricemia, and tumor lysis syndrome. A total of 127 clinical isolates of Pseudomonas aeruginosa were tested for uricase production. A Pseudomonas strain named Ps43 showed the highest level of native uricase enzyme expression. The open reading frame of the uricase enzyme was amplified from Ps43 and cloned into the expression vector pRSET-B. Uricase was expressed using E. coli BL21 (DE3). The ORF was sequenced and assigned GenBank Accession No. KJ718888. The nucleotide sequence analysis was identical to the coding sequence of uricase gene puuDof P. aeruginosa PAO1. We report the successful expression of P. aeruginosa uricase in Escherichia coli. E. coli showed an induced protein with a molecular mass of about 58 kDa that was confirmed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis and Western blotting. We also established efficient protein purification using the Ni-Sepharose column with activity of the purified enzyme of 2.16 IU and a 2-fold increase in the specific activity of the pure enzyme compared with the crude enzyme.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.3
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• pp.292-304
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• 2017

High-speed vessels are prone to the surf-riding in adverse quartering seas. The possibility of mitigating the surf-riding of the ITTC A2 fishing vessel in the design stage is investigated using the 6-DOF weakly non-linear model developed for surf-riding simulations in quartering seas. The longitudinal position of the ship's center of buoyancy (LCB) is chosen as the design parameter. The adjusting of LCB is achieved by changing frame area curves, and hull surfaces are reconstructed accordingly using the Radial Basis Function (RBF). Surf-riding motions in regular following seas for cases with different LCBs and Froude numbers are simulated using the numerical model. Results show that the surf-riding cannot be prevented by the adjusting of LCB. However, it occurs with a higher threshold speed when ship's center of buoyancy (COB) is moved towards stem compared to moving towards stern, which is mainly due to the differences on wave resistance caused by the adjusting of LCB.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.833-839
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• 2004

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of links composing of a biped robot using Real-Coded Genetic Algorithm. Generally, in order to utilize optimization algorithms, the system model and design variables must be defined. Firstly, the proposed model is a 6-DOF biped robot composed of seven links, since many of the essential characteristics of the human walking motion can be captured with a seven-link planar biped walking in the saggital plane. Next, Fourth order polynomials are used for basis functions to approximate the walking gait. The coefficients of the fourth order polynomials are defined as design variables. In order to use the method generating the optimal gait trajectory by searching the locations of mass centers of links, three variables are added to the total number of design variables. Real-Coded GA is used for optimization algorithm by reason of many advantages. Simulations and the comparison of three methods to generate gait trajectories including the GCIPM were performed. They show that the proposed method can decrease the consumed energy remarkably and be applied during the design phase of a robot actually.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.

• Journal of Ocean Engineering and Technology
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• v.32 no.1
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• pp.51-61
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• 2018

In this study, the operability of an FLBT (floating LNG bunkering terminal) was evaluated experimentally. Model tests were conducted in the KRISO (Korea Research Institute of Ships and Ocean Engineering) ocean engineering basin. An FLBT, an LNG carrier, and two LNG bunkering shuttles were moored side by side with mooring ropes and fenders. Two white-noise wave cases, one irregular wave case, and various regular wave cases were generated. The relative local motions between each LNG loading arm and its corresponding manifold in the initial design configuration were calculated from measured 6-DOF motions at the center of gravity of each of the four vessels. Furthermore, the locations of the LNG loading arms and manifolds were varied to minimize the relative local motions.

• Aerospace Engineering and Technology
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• v.3 no.2
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• pp.25-33
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• 2004

In this paper, we briefly introduce the micro-vibration test bench of KARI and the test and analysis method of RWA(Reaction Wheel Assembly) micro-vibration. The micro-vibration of RWA is measured on a KISTLER dynamic plate which can measure the time signal of 6 DOF simultaneously up to 400Hz. Measured data are extensively evaluated with respect to the wheel spin rate to identify the complicate wheel dynamic characteristics, and the static/dynamic unbalances are estimated from the extracted first harmonic component as a part of evaluation process. The estimated static and dynamic unbalances. 0.79gcm and 17.4gcm² respectively. The structural resonance mode and two rocking modes observed as a results of its frequency analysis. Several higher order harmonic components observed, which come from its rotor shape as well as the wheel bearing characteristics.

• 한국가시화정보학회:학술대회논문집
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• 2007.11a
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• pp.119-122
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• 2007

The sloshing flows in the cargo tank model of a ship are measured by PIV and are analyzed with the results. The measurement system is consisted of a Nd-Yag laser(120mJ, 15Hz). two cameras($1k\;{\times}\;1k$) and a host computer. Four experimental cases were tested for the tank model. in which swaying motions are made by 6 DOF-motion platform. The amplitudes of swaying are 9.76mm and 29.29mm, and the frequencies are 0.633Hz and 0.828Hz. The measurement regions are the vertical plane 50mm away from the front wall of the tank where a pump tower is installed. It was verified that the flow patterns of the sloshing are similar each other when the swaying amplitudes are similar.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.11 s.170
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• pp.1912-1921
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• 1999

The equipments mounted on guided-missile undertake heavy vibrational disturbance. Sometimes the equipments mounted on guided-missile go wrong so that the guided-missile flies over unintended place. For the vibration isolation of the equipments mounted on guided-missile, active vibration control was performed. In the case of active vibration technique, the stiffness matrix and the mass matrix are derived based on FEM (ANSYS5.0). Model reduction was carried out and, as a result, we got 7 DOF mass and stiffness matrix. For the sake of FEM model identification, modal experiment was carried out. With the help of Sensitivity Analysis, the natural frequencies of FEM were tuned to those of Experiment. In this work, the Sky Hook and the LQG control theory were adopted for v iteration control using stacked piezoactuator. Experiments were performed with changing excitation frequency from 10 Hz upto 200 Hz and we got frequency response function of guided-missile equipments. The magnitude of 3rd mode of guided-missile equipments is 8.6 % that of Uncontrolled in Skyhook controller and is 3.4 % that of uncontrolled in LQG controller.