• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.2
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• pp.98-105
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• 2024

Due to the low accuracy of measured data obtained from low-cost GNSS and IMU devices, it was hard to secure the required accuracy of the measured position and heading angle for autonomous navigation which was conducted by a model-scale marine mobility. In this paper, a localization technique using the Extended Kalman Filter (EKF) is proposed for coping with the issue. First of all, a position and heading angle estimator is developed using EKF with the assumption of a point mass model. Second, the measured data from GNSS and IMU, including position, heading angle, and velocity are used for the estimator. In addition, the heading angle is additionally obtained by comparing the LiDAR point cloud with map information for a temporal water tank. The newly acquired heading angle is integrated into the estimator as an additional measurement to correct the inaccuracy in the heading angle measured from the IMU. The effectiveness of the proposed approach is investigated using data acquired from preliminary tests of the model-scale autonomous marine mobility.

• Transactions of Materials Processing
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• v.23 no.2
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• pp.88-94
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• 2014

The under-drive brake piston is an essential part in the automatic transmissions of automobiles. This component is manufactured by forging after blanking from S55C plate with a thickness of 6mm. It is difficult to design the plate forging process using a thick plate approach since there will be limited material flow as well as large press loads. Furthermore, the under-drive brake piston has a complex shape with a right angle step, which often results in die unfill and abrupt increase in press load. To overcome these obstacles, a separate die for filling material sufficiently to the corner of the right angle step is proposed. However, this approach induces an uncontrolled workpiece surface between the dies, resulting in flash. This excess flash degrades the tool life in the final machining after cold forging as well as increases the cycle time to obtain the net-shape of the part. In the current study, we propose an optimum process design using a conventional die shaped with the benefit of finite element analysis. This approach enhanced the process efficiency without sacrificing the dimensional accuracy in the forged part. As the result, the optimum plate forging process was done with a two stage die, which reduces weight of by 6% compared with previous process for the under-drive brake piston.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.15 no.4
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• pp.242-248
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• 2003

For reliability analysis of caisson type quay walls, an approach to include the phase difference between the caisson motion and the dynamic earth pressure is proposed. Present approach. which uses the phase difference parameter, may over-estimate earth pressure. But the proposed approach considers the phase angle instead of the phase difference in estimating resultant external load. Therefore. it is more reasonable than the previous one. Accordingly, calculation of probability of failure becomes more accurate. Numerical example is used to compare the two approaches.

• Journal of the Korean Geotechnical Society
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• v.19 no.3
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• pp.75-82
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• 2003

This paper presents the results of a study that was performed to evaluate fronds of shear strength parameters in stabilization of unbound soil-aggregate systems based on the theory of unsaturated soil mechanics. Two important shear strength parameters, effective cohesion and effective angle of internal friction were estimated by the proposed approach using the results from suction measurements and unconfined compressive strength test. In addition, the effect of different addition rates of stabilizing agent was compared. Due to the stabilization process, an increase in suction potential on engineering properties of geomaterials was observed by using dielectric constant measurements. In conclusion, the results from this study show that the proposed approach can be simply used for predicting shear strength parameters of the stabilized geomaterials.

• Computers and Concrete
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• v.23 no.5
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• pp.361-376
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• 2019

In this research, bending analysis of a micro sandwich skew plate with isotropic core and piezoelectric composite face sheets reinforced by carbon nanotube on the elastic foundations are studied. The classical plate theory (CPT) are used to model micro sandwich skew plate and to apply size dependent effects based on modified strain gradient theory. Eshelby-Mori-Tanaka approach is considered for the effective mechanical properties of the nanocomposite face sheets. The governing equations of equilibrium are derived using minimum principle of total potential energy and then solved by extended Kantorovich method (EKM). The effects of width to thickness ratio and length to width of the sandwich plate, core-to-face sheet thickness ratio, the material length scale parameters, volume fraction of CNT, the angle of skew plate, different boundary conditions and types of cores on the deflection of micro sandwich skew plate are investigated. One of the most important results is the reduction of the deflection by increasing the angle of the micro sandwich skew plate and decreasing the deflection by decreasing the thickness of the structural core. The results of this research can be used in modern construction in the form of reinforced slabs or stiffened plates and also used in construction of bridges, the wing of airplane.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.743-754
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• 2020

This study provides an insight of the nonlinear behavior of the Offshore Wind Turbine (OWT) structure using the distributed plasticity approach. The fiber section beam-column element is applied to construct the finite element model. The accuracy of the proposed model is verified using linear analysis via the comparison of the dynamic characteristics. For collapse risk assessment of OWT, the nonlinear effects considering the earthquake Incident Angle (IA) have been evaluated first. Then, the Incremental Dynamic Analysis (IDA) has been executed using a set of 20 near-fault records. Lastly, fragility curves are developed to evaluate the vulnerability of structures for different limit states. Attained results justify the accuracy of the proposed approach for the structural response against the ground motions and other environmental loads. It indicates that effects of static wind and wave loads along with the earthquake loads should be considered during the risk assessment of the OWT structure.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.130-138
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• 2024

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

• Journal of ILASS-Korea
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• v.5 no.3
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• pp.17-26
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• 2000

The main parameter commonly used to evaluate spray distribution is spray angle. Spray angle is important because it influences the axial and radial distribution of the fuel. Spray angles were measured and compared for the two non-air assisted injectors such as 2hole-2stream 4hole-1stream injectors used for port fuel injection gasoline engines with n-heptane as a fuel by three different measuring techniques, i.e., digital image processing, shadowgraphy, and spray patternator, respectively. Fuel was injected with the injection pressures of 0.2-0.35 MPa into the room temperature and atmospheric pressure environment. In digital image processing approach, the selection of the transmittance level is critical to obtain the edge of spray and hence to measure the spray angle. From the measurement results by the shadowgraphy technique, it is dear that the spray angle is varied during the spray injection period. The measurement results from spray patternator show that the different spray angles exist in different region. Spray angle increases with the increase in the injection pressure. it is suggested that the spray angle and stream separated angle should be specified when spray is characterized for 2hole-2stream injector, because spray angle is much different though stream separated angle is same. It was also considerably affected by the measurement techniques introduced in this experimental work. However, the optimal axial distance for measuring the spray angle seems to be at least 60-80 mm from the injector tip for two non-air assisted injectors.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.46-48
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• 2004

This paper presents a simple method of rotational and translational motion estimation for digital image stabilization. The scheme first computes the rotation center by taking least squares of selected local velocity vectors, and the rotational angle is found from special subset of motion vectors. And then translational motion can be estimated by the relation among movement of rotation center, rotation angle and translation movement. To show the effectiveness of our approach, the synthetic images are evaluated, resulting in better performance.