• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• 한국가시화정보학회지
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• 제20권1호
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• pp.18-28
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• 2022

In this study, a cavity shape measurement experiment was conducted by changing the diameter and the angle of attack of a disk cavitator. Since the gravity effect is proportional to the cavity volume, the larger the cavity, the greater the effect. It is concluded that the gravity effect becomes smaller as the cavitation number decreases because of a short cavity maintaining time. The cavity centerline rises in case of the positive angle of attack and descends in case of the negative angle of attack. Since the effect of the angle of attack is inversely proportional to the square of the cavity radius, the effect of the angle of attack becomes dominant in the vicinity of the cavitator. It is judged that the horizontal section of the cavity centerline cannot be extended because the factors affecting the gravity effect and the angle of attack effect are different.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2017년도 추계학술발표회
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• pp.255-255
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• 2017

• 동력기계공학회지
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• 제22권6호
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• pp.51-57
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• 2018

In Korea, the Air Quality Conservation Act and the Petroleum and Petroleum Substitute Fuel Business Act stipulate certain quality standards for fuels distributed in Korea, thereby striving to reduce vehicle performance and emissions. Domestic petroleum products import and produce all the crude oil from each oil refiner so that the quality of the petroleum product is different according to the characteristics of the crude oil. As a result, vehicles have been improved by using the physical properties calculated through the physical property measurement that has tried to improve the accuracy of the measurement of the energy consumption efficiency of the automobile by using standard fuel from abroad. In this study, the same test procedure and method as the test method of domestic gasoline vehicle emission are applied using four samples of gasoline and the latest gasoline vehicle which are actually distributed, and the performance evaluation is performed. The purpose of this study is to contribute to improvement of vehicle technology and fuel quality by collecting necessary basic data and obtaining data on the effect of differences in gasoline property on vehicle emissions. The results of the test showed that the emission of gases (NMOG, CO) from gasoline vehicles was the most influenced by the sulfur content, unlike the previous studies that the vehicles emission had the greatest influence on the distillation characteristics and the specific gravity of aromatic compounds. The catalytic reaction such as the poisoning action of the three-way catalyst which is the abatement device was interfered and the emission was increased. The distillation characteristics and specific gravity of aromatic compounds were found to affect the emission of vehicles. According to the physical properties of the fuel, the emission difference was 28.0% in the urban mode and 17.6 % in the highway mode.

• 한국정밀공학회지
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• 제33권10호
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• 한국정밀공학회지
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• 제32권7호
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• pp.661-666
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• 2015

This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.

• Journal of Animal Science and Technology
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• 제52권3호
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• pp.237-244
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• 2010

In order to investigate the physiological properties of velvet antler of elk (Cervus e. canadensis) raised in Korea, antlers (n=378) were collected from deer in 8 provinces including Gyeonggi-do (n=53), Gangwon-do (n=49), Chungcheongbuk-do (n=62), Chungcheongnam-do (n=68), Jeollabuk-do (n=52), Jeollanam-do (n=15), Gyeongsangbuk-do (n=30) and Gyeongsangnam-do (n=49). The exterior characteristics (weight, length, girth and crown) of all antlers were measured, and 18 antler samples were randomly selected for measurement of interior characteristics such as specific gravity, capacity and diameter of cross section. The mean antler weight, length of the main beam and mean length of upper section were $4.87{\pm}1.79\;kg$, $83.7{\pm}13.2\;cm$ and $40.6{\pm}11.4\;cm$, respectively. Mean girth of the top, middle and base of the main beam were $27.1{\pm}5.9\;cm$, $22.1{\pm}3.6\;cm$ and $22.9{\pm}3.6\;cm$ respectively, indicating a slight narrowing in the middle of the antler. In each of the tines, the girth at the base was markedly thicker compared to the top. The depth of the crown at the top of the antler, and the average number of crowns and tines were $14.1{\pm}7.0\;cm$, $2.1{\pm}0.6$ and $3.0{\pm}0.5$, respectively. Although there was no significant difference in mean specific gravity between top and base, mean specific gravity of main beam tended to increase from top to base of the antler with decreasing capacity. Additionally, the inner diameter of the base of the antler was significantly reduced compared to that of the top, indicating a greater integumental thickening due to mineralization. Information on the morphological and physiological properties of elk antlers is scarce. Therefore, these results may be useful in providing basic information for the physiological properties of antler, and encourage further studies on antler morphology in other deer species showing species specific differences.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.137-142
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• 2001

Since recent production system becomes that of the small quantity, large volume with high quality production, accurate and high speed inspection system is required. In such situation, noncontact 3D measurement system which utilized CCD cameras is useful technique in terms of system cost, speed of data acquisition, measuring accuracy and application. However, it has low accuracy compared with contact 3D measurement system because of the camera distortion, non uniformity of laser distribution and so on. For those reasons, in this paper precision enhancement method is studied considering radial camera distortion, and laser distribution. A distortion correction method is applied even to the standard lens. The laser slit beam trajectory is determined by 3 method: based of the Gaussian function signal approximation, the median method, the center of gravity method and the peak point of the Gaussian function method.

• 해양환경안전학회:학술대회논문집
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• 해양환경안전학회 2017년도 공동학술발표회
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• pp.254-254
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• 2017

• 한국광학회지
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• 제17권5호
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• pp.383-390
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• 2006

Shack-Hartmann 파면측정 센서는 적응광학 분야에서 파면측정용으로 가장 널리 사용되고 있다. Shack-Hartmann 센서에서 파면측정 알고리즘은 크게 점영상의 중심점 탐색 알고리즘과 파면복원 알고리즘으로 나눌 수 있다. 이 중 점영상의 중심점 탐색은 파면측정 결과에 크게 영향을 미치나 많은 연구결과에도 불구하고 최적의 중심점 측정 알고리즘 및 내부 변수 설정에 대한 일반적인 해결책은 아직 제시되지 못하고 있다. 현재, 중심점 탐색 알고리즘으로는 무게중심법(center of gravity)이 가장 널리 사용되고 있다. 본 연구에서는 중심점 탐색 알고리즘에 의한 측정 정확도 분석을 위해 무게중심법과 상관관계법(correlation)을 함께 고려하였다. 이를 위해 Shack-Hartmann 센서의 파면측정 과정을 전산모사하였고, 이로부터 중심점 탐색 알고리즘과 관련하여 무게중심법 및 상관관계법에서의 노이즈 특성을 비교, 분석하였다. 또한, 무게중심법에서 문턱값(threshold value)의 설정에 따른 파면측정의 정확도에 대한 분석을 통하여 노이즈 제거를 위한 최적의 문턱값을 제안하였다. 이와 더불어 Shack-Hartmann 센서 시스템을 구성하여 디포커스(defocus)를 발생시키고 이를 측정하는 실험을 수행함으로써 파면측정 알고리즘 및 전산모사 결과를 검증하였다.