• 한국해양공학회지
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• 제29권3호
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• pp.270-282
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• 2015

A submerged body moving near the free surface needs to maintain its attitude and position to accomplish missions. It is necessary to validate the performance of a designed controller before a sea trial. The hydrodynamic coefficients of maneuvering are generally obtained by experiments or computational fluid dynamics, but these coefficients have uncertainty. Environmental loads such as the wave exciting force and suction force act on the submerged body when it moves near the free surface. Thus, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, the six-degree-of-freedom equations of motions for the submerged body are constructed. The suction force is calculated using the double Rankine body method. An adaptive control method based on an artificial neural network and proportional-integral-derivative control are used for the depth controller. Simulations are performed under various depth and speed conditions, and the results show the effectiveness of the designed controller.

• 한국안전학회지
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• 제22권6호
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• pp.27-34
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• 2007

Static or dynamic elastomeric O-ring seals are installed between joining parts, and play key roles of high pressure-tightening. Sealing performance and structural safety of the O-ring are dependent on groove design, plain diameter, squeeze and applications such as pressure and temperature. In this study, to solve O-ring problem squeezed and highly pressurized under laterally one-sided constrained condition, hyperelastic FE analyses are performed, and FE results are compared with measured ones by computer-aided tomography, deformed shape and extrusion depth of the O-ring. Through the comparisons, FE analysis technique was verified. In order to evaluate design sensitivity, Taguchi method was used to select FE analysis cases. Adjustment parameters are clearance gap, groove comer radius, plain diameter and squeeze. By means of verified FE analysis technique, it has been analysed how the parameters have effects on contact stress fields, internal stress fields, and extrusion depths. Sealing performance has been evaluated based on contact stress fields and contact widths, and structural safety on internal stress and strain, extrusion lengths.

• 한국컴퓨터정보학회논문지
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• 제27권11호
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• pp.47-55
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• 2022

최근 우리나라에서도 인공지능 모델을 이용한 수온예측 관련 연구가 활발히 진행되고 있으나 한반도 주변 해역의 수온을 예측한 대부분의 연구는 주로 해수면 온도 예측에 중점을 두고 진행되었다. 반면 본 연구는 XBT(eXpendable Bathythermograph, 소모성 연직수온측정기) 데이터와 기계 학습 모델(RandomForest, XGBoost, LightGBM)을 사용하여 잠수함 작전 및 대잠전(Anti-Submarine Warfare)에 있어서 군사적으로 중요한 동해의 수직 수온분포를 예측하였다. 동해 특정해역의 해수면부터 수심 200m까지 측정된 XBT 데이터를 이용하여 모델을 학습시키고 절대 평균 오차(MAE, Mean Absolute Error)와 수직 수온분포 그래프를 통해 예측정확도를 평가하였다.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• 한국추진공학회지
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• 제11권1호
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• pp.27-33
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• 2007

각이 있는 얇은 콘 제품을 생산하기 위한 가공법으로는 전단 스피닝에 의한 성형방법이 많이 이용되고 있으며 이는 다른 가공방법에 비해 성형에 필요한 힘이 적게 들고 전단 스피닝에 의해 가공된 제품의 기계적인 강도가 우수하며 표면 품질이 우수하기 때문이다. 따라서 전단 스피닝 기술은 산업현장에서 폭 넓게 이용되고 있다. 특히 전단 스피닝과 유동성형은 자동차, 항공, 방위산업에 자주 이용되고 있다. 본 논문에서는 전단 스피닝에 대한 유한요소해석을 통해 가공깊이와 롤의 리드각이 성형력에 미치는 영향을 살펴보았다. 다양한 가공깊이와 롤의 리드각 조건에서 축 및 반경방향의 성형력을 구하였다.

• 한국추진공학회지
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• 제9권4호
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• pp.16-22
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• 2005

두께가 얇고 길이가 긴 튜브 제품을 생산하기 위한 가공법으로는 유동성형에 의한 성형방법이 많이 이용되고 있으며 이는 다른 가공방법에 비해 성형에 필요한 핀이 적게 들고 유동성형에 의해 가공된 제품의 기계적인 강도가 우수하며 표면 품질이 우수하기 때문이다. 따라서 유동성형 기술은 산업현장에서 폭 넓게 이용되고 있다. 특히 스피닝과 유동성형은 자동차, 항공, 방위산업에 자주 이용되고 있다. 본 논문에서는 3개의 롤러를 가지는 후방유동성형에 대한 유한요소해석을 통해 가공깊이와 가공속도가 성형력에 미치는 영향을 살펴보았다. 다양한 가공깊이와 가공속도 조건에서 축방향과 반경방향의 성형력을 구하였다.

• The Journal of the Acoustical Society of Korea
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• 제17권1E호
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• pp.54-65
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• 1998

This study attempts to test the classifying performance of a neural network and thereby examine its applicability to the signals distorted in a shallow water environment. Linear frequency modulated(LFM) signals are simulated by using an acoustic model and also measured through sea experiment. The network is constructed to have three layers and trained on both data sets. To get normalized power spectra as feature vectors, the study considers the three transforms : shot-time Fourier transform (STFT), wavelet transform (WT) and pseudo Wigner-Ville distribution (PWVD). After trained on the simulated signals over water depth, the network gives over 95% performance with the signal to noise ratio (SNR) being up to-10 dB. Among the transforms, the PWVD presents the best performance particularly in a highly noisy condition. The network performs worse with the summer sound speed profile than with the winter profile. It is also expected to present much different performance by the variation of bottom property. When the network is trained on the measured signals, it gives a little better results than that trained on the simulated data. In conclusion, the simulated signals are successfully applied to training a network, and the trained network performs well in classifying the signals distorted by a surrounding environment and corrupted by noise.

• 한국군사과학기술학회지
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• 제27권3호
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• pp.395-405
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• 2024

This study provides a thorough examination of Unmanned Ground Vehicles(UGVs), focusing on crucial technologies and trends across major global markets. It includes an in-depth patent analysis revealing the dominant positions of the United States and the European Union in this field. Additionally, it underscores substantial advancements made by China, Japan, and Korea since 2010. Using Latent Dirichlet Allocation(LDA)-based patent text mining, the study identified key technology areas in UGV development, such as advanced control systems, navigation technologies, power supply mechanisms, and sensing and communication tools. Through linear regression analysis, the study predicted the future paths of these technology areas, offering important insights into the evolving world of UGV technology. The findings can provide strategic guidance for stakeholders in the defense, commercial, and academic sectors, pointing out the future directions in UGV advancements.

• 한국추진공학회지
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• 제27권1호
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• pp.9-16
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• 2023

본 연구에서는 고체추진기관 내 연소관단열재의 열분해와 삭마를 고려하여 단열재의 열응답을 예측할 수 있는 일차원 해석기법을 개발하였다. 모델링에는 연소관단열재 내부에서 발생하는 열분해로 인한 물성변화, 숯층의 팽창 및 분해가스 이동을 고려하였다. 또한 연소가스로부터의 복사/대류 열유속을 경계조건으로 적용하였으며 단열재 표면에서 발생하는 화학적 삭마속도를 대수식으로 모델링하였다. 해석기법 검증을 위해 열전대가 설치된 시험모터에 대한 해석을 수행하였다. 해석으로 도출된 온도분포는 시험과 유사한 값을 나타냈으며 시험과 예측 열파괴두께의 오차는 0.1 mm 내외였다.

• 대한금속재료학회지
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• 제48권3호
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• pp.225-234
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• 2010

Salt bath nitriding, which has been developed recently by domestic company, is an emerging ecofriendly surface treatment. The salt bath nitriding is accompanied by the electrolysis process in the pretreatment step, and this whole processis called Pseudo-Electrolysised Salt bath Nitriding (PESN). The PESN creates only $NH_3$ and non-toxic salts without harmful $CN^{-}$ or toxic gas such as that found in previous salt bath nitriding. In general, ion nitriding and gas nitriding create high hardness and a strong brittle white layer on the surface. However, the PESN shows a thin white and gray layer. The PESN was applied to the defense material, 3%Cr-Mo-V steel, to study the surface characteristics at $480^{\circ}C$, $530^{\circ}C$, and $580^{\circ}C$ for 4 hrs, 20 hrs, 40 hrs, and 60 hrs of nitriding time condition. As a result, the best nitriding layer was found at $530^{\circ}C$ for 40 hrs. If we improve corrosion resistance and nitriding layer depth, the PESN will be able to be applied to the defense industry parts.