• Journal of Ocean Engineering and Technology
• /
• v.23 no.5
• /
• pp.61-70
• /
• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• Journal of IKEEE
• /
• v.22 no.2
• /
• pp.440-445
• /
• 2018

The work presented in this paper deals with a navigation problem for a multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. In order to guide the robots along collision-free paths to reach their goal positions, a navigation method based on a combination of primary strategies has been developed. Most of these strategies are achieved by means of fuzzy logic controllers, and are uniformly applied in every robot. In order to improve the performance of the proposed fuzzy logic, the genetic algorithms were used to evolve the membership functions and rules set of the fuzzy controller. The simulation experiments verified that the proposed method effectively addresses the navigation problem.

• Proceedings of the Korean Society of Medical Physics Conference
• /
• 2002.09a
• /
• pp.136-137
• /
• 2002

We have been researching upgrade version of a stereotactic whole body frame, used for evaluating daily setup accuracy of the patient positioning during fractionated extra-cranial stereotactic radiotherapy. Currently, we are focusing on the development of a new stereotactic whole body frame, and then will handle organ movement produced by breathing at the next stage. MeV-Green is chosen for the best immobilizer possible and the epoxy board is for the frame with the dimension of 110 em in length, 50 cm in width in order to maximize transmission rate of the beam from lateral or posterior direction and to fit CT and PET scanners with an aperture of 55 cm at least. The key point of an upgraded stereotactic whole body frame will be set on the collision-free rotation of the gantry with the frame, and the development of the checking structure for the daily patient repositioning regarding internal target.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.31 no.5
• /
• pp.435-447
• /
• 2007

Recently, as MEMS and NEMS devices have been widely used in the various engineering applications, the characteristics of nanoscale systems are investigated in the limelight. However, as opposed to a macroscale system, the identification of the state of nanoscale systems is extremely hard because they can include only the order of $10^3{\sim}10^5$ molecules, which requires highly expensive and accurate experimental apparatus for an investigation. This limitations make the study on nanoscale system use computer simulations. Therefore, it is strongly required to identify the state of nanoscale system simulated in computer simulation. In this molecular dynamics(MD) study, we suggest that the potential energy of individual molecule can be used as criterion for defining the state of clusters or nanoscale systems. In addition, we compared the phase state from the potential energy with one from the radial distribution function(RDF) for verification. The comparison showed that the intermolecular potential energy can be used as a criteria distinguishing the phase state of nanoscale systems.

• Korean Institute of Interior Design Journal
• /
• v.13 no.5
• /
• pp.66-73
• /
• 2004

If we consider the origins of new architectural language in Russian, as opposed to its social dimensions, then we are looking at quite another area of pre-Revolutionary activity: art. It was Tatlin's early ‘counter-reliefs’ which first explored the way new materials might generate new artistic form. The Basis of his art is collage and the reality of materials. In 1915, he exhibited the first of his ‘counter-reliefs’, casual montages of pieces of metal that invade the space around them, making the decomposition of the forms three-dimensional. What is not in doubt is the primacy of materials in Tatlin's art. He was a key figure in the transition from art towards design and ‘construction’, the last was accomplished with ‘real materials in real space.’After the October Revolution, one of the central myths of avant-garde was the realization of a total work of art. The progress has developed in the directions to an unprecedented creative realm, situated somewhere between painting and architecture in the post-revolutionary period. Paramount among such pioneer works was Tatlin's design for a monument to the Third International in 1919. Here In an artistic form, his investigation of ‘material, volume and construction’ was clearly embodied. In the comtemporary architecture, Tatlin's concept has been a great influence on the various tendencies of spatial expressions. For example, the architecture with concept of ex-formality has many varied aspects of space composition - dynamic forms with plasticity of concrete, ex-cubic composition with free walls, disposal composition by geometric collision and superimposition, and etc.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.816-821
• /
• 2003

The pumping characteristics of a disk-type drag pump (DTDP) from free molecular flow region to the slip flow region are calculated by the direct simulation Monte Carlo (DSMC) method. In this study, the pumping performance is studied numerically for several channel depths. The interaction between molecules is modeled by variable hard-sphere (VHS). The no time counter method is used as a collision sampling technique. The clearance between rotor and stator is considered an effect on performance. Spiral channels are cut on both upper and lower sides of rotating disks, and stationary disks are planar. A three-dimensional DSMC method for the analysis of steady rarefied flows in a single-stage DTDP has been developed. Velocity and density fields were obtained by the DSMC simulation in the rotor. The present experimental data in the outlet pressure range of $7.5{\times}10^{-3}{\sim}4$ Torr were compared with the DSMC results in the single-stage DTDP. Comparison between the experimental data and DSMC results showed good agreement.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
• /
• 2011.04a
• /
• pp.258-261
• /
• 2011

실내에서 화재가 발생한 경우에 매연의 크기분포 및 형상(morphology) 변화 특성은 경보장치의 작동 및 흡입에 의한 인체피해 등과 관련되어 중요한 연구 분야이다. 이와 관련하여 많은 연구가 이루어져 왔으나 실험에 의한 연구는 각 연구마다 결과치가 정량적 또는 정성적 측면에서 많은 편차를 보이고 있고, 이론적인 연구는 몇몇 특정 조건에 대하여 제한적으로 이루어져 있어서, 실재 구획화재에 적용하는 데는 어려움이 있다. 이 연구에서는 구획화재에 대하여 발열속도이력(history of heat release rate) 및 매연발생률(soot yield) 등에 따른 매연입자의 크기분포 및 형상 변화 해석을 위한 방법을 개발하였으며, 이를 유럽표준시험화재(EN54 Part7)에 규정된 폴리우레탄폼화재(TF4)에 대하여 시험 적용하였다. 이 방법에서는 입자의 크기분포방정식(dynamic equation for the discrete-size spectrum)을 푸는데 있어서 계산시간을 줄이기 위하여 결절방법(nodal method)을 도입하였으며, 또한 실재 화재에서의 매연입자의 성장에 따른 입경범위에 맞추기 위하여 분자운동영역(free molecular region)과 연속영역(continuum region)을 포괄하는 입자크기에 적용되는 충돌빈도함수(collision frequency function)를 사용하였다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.14 no.5
• /
• pp.12-18
• /
• 2000

This paper describes the analysis of ultrasonic signal and partial discharge(PD) signal patterns for each location of particle in GIS. The characteristics of the ultrasonic signal and PD signal patterns for each location were as follows; in case of particle on the electrode, large ultrasonic signals and large PD signals occurred in positive half-cycle periodically; in case of particle on the spacer, ultrasonic signals and large PD signals occurred in negative half-cycle periodically; in case of the free moving particle, ultrasonic signals and large PD signals occurred by collision non-periodically. As a result, it was confirmed that particle in GIS could be located by the comparison and analysis of ultrasonic signal and PD signal patterns.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.11 no.2
• /
• pp.679-687
• /
• 2019

This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.7 no.3
• /
• pp.198-204
• /
• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.