• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.4
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• pp.397-405
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• 2008

The position accuracy is primarily dependent on the satellite position and signal delay caused by several elements. To know the effect of the delay on the estimated positions, we simulated GPS raw data (RINEX) with GPS errors using Bernese ver5.0. GPS errors used in this paper are Ionospheric delay, Cycle slip, Troposphere, DOP and Random error. If the baseline is short, the position error according to TEC is not large, since the ionospheric delay effect can be removed by ion-free combination. However, if the baseline is long, 3 dimensional position error up to 10cm is occurred. The 3D position error of coordinates with cycle slip is hardly ever changed up to 60% of cycle slip. Because the simulated cycle slips are equally distributed on satellites, the positioning was not seriously affected by the cycle slip. Also, if percentage of cycle slip is 60%, three dimensional error is sharply increased over 1m. The position error is calculated by using the observation data (2 hours) which was selected by DOP less than 3. And its accuracy is more improved about $3{\sim}4cm$.

• Journal of Korea Water Resources Association
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• v.37 no.3
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• pp.195-206
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• 2004

One of the main factors which reduces the efficiency of a sewage treatment plant is the Inflow/Infiltration(Ⅰ/Ⅰ) in the sewer First we must calculate the quantity of Ⅰ/Ⅰ via the investigation of each sewer to establish the reduction plan of Ⅰ/Ⅰ. However, in Korea, we apply the results of a surveyed sample to the entire study area to establish the reduction plan of Ⅰ/Ⅰ. This methodology just considers the total Ⅰ/Ⅰ for the entire study area but it does not consider the quantity of Ⅰ/Ⅰ for the individual sewer systems. Therefore, we may need the model to consider the Ⅰ/Ⅰ in the individual sewer systems and we develop the model to calculate the Ⅰ/Ⅰ that happen in urban sewer systems. We estimate the Ⅰ/Ⅰ of individual systems by the developed model and the estimated Ⅰ/Ⅰ are utilized as the basic data for the establishment of Ⅰ/Ⅰ reduction plan. The observed Ⅰ/Ⅰ for the entire study area is distributed into the individual sewer systems according to their defect states. Here, the weights of defect elements are calculated using AHP(Analytic Hierarchy Process) and we perform the uncertainty analysis for considering the errors using MCS(Monte Carlo Simulation).

• Journal of Wetlands Research
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• v.14 no.2
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• pp.243-254
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• 2012

Recently, the use of radar rainfall data that can help tracking of the development and movement of rainfall's spatial distribution is drawing much attention in hydrology. The reliability of existing radar rainfall compared to gauge rainfall data on the ground has not yet been confirmed and so we have difficulties to apply the radar rainfall in hydrology. The radar rainfall for the applications in hydrology are adjusted merging method derived from gage. This study uses the Mean-Field Bias (MFB) and Statistical Objective Analysis (SOA) as correction methods to create adjusted grid-based radar rainfall data which can represent the temporal and spatial distribution of rainfall. This study used a storm event occurred in August 2010 for the adjustment of radar rainfall. In addition, the grid-based distributed rainfall-runoff model (Vflo), which enables more detailed examinations of spatial flux changes in the basin rather than the lumped hydrological models, has been applied to Gamcheon river basin which is a tributary of Nakdong River located in south-eastern part of the Korean peninsular and the basin area is $1005km^2$. The simulated runoff was compared with the observed runoff in an attempt to evaluate the usability of radar rainfall data and the reliability of the correction methods. The error range of peak discharge using each correction method was within 20 percent and the efficiency of the model was between 60 and 80 percent. In particular, the SOA method showed better results than MFB method. Therefore, the SOA method could be used for the adjustment of grid-based radar rainfall and the adjusted radar rainfall can be used as an input data of rainfall-runoff models.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.216-227
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• 2004

A new cavitating model by using bubble size distribution based on bubbles-mass has been proposed. Both liquid and vapor phases are treated with Eulerian framework as a mixture containing minute cavitating bubbles. In addition vapor phase consists of various sizes of vapor bubbles, which are distributed to classes based on their mass. The bubble number-density for each class was solved by considering the change of the bubble-mass due to phase change as well as generation of new bubbles due to heterogeneous nucleation. In this method, the bubble-mass is treated as an independent variable, and the other dependent variables are solved in spatial coordinates and bubble-mass coordinate. Firstly, we employed this method to calculate bubble nucleation and growth in stationary super-heated liquid nitrogen, and bubble collapse in stationary sub-cooled one. In the case of bubble growth in super-heated liquid, bubble number-density of the smallest class based on its mass is increased due to the nucleation. These new bubbles grow with time, and the bubbles shift to larger class. Therefore void fraction of each class is increased due to the growth in the whole class. On the other hand, in the case of bubble collapse in sub-cooled liquid, the existing bubbles are contracted, and then they shift to smaller class. It finally becomes extinct at the smallest one. Secondly, the present method is applied to a cavitating flow around NACA00l5 foil. Liquid nitrogen and liquid oxygen are employed as working fluids. Cavitation number, $\sigma$, is fixed at 0.15, inlet velocities are changed at 5, 10, 20 and 50m/s. Inlet temperatures are 90K in case of liquid nitrogen, and 90K and 1l0K in case of liquid oxygen. 110K of oxygen is corresponding to the 90K of nitrogen because of the same relative temperature to the critical one, $T_{r}$=$T/T_c^{+}$. Cavitating flow around the NACA0015 foils was properly analyzed by using bubble size distribution. Finally, the method is applied to a cavitating flow in an inducer of the LE-7A hydrogen turbo-pump. This inducer has 3 spiral foils. However, for simplicity, 2D calculation was carried out in an unrolled channel at 0.9R cross-section. The channel moves against the fluid at a peripheral velocity corresponding to the inducer revolutions. Total inlet pressure, $Pt_{in}$, is set at l00KPa, because cavitation is not generated at a design point, $Pt_{in}$=260KPa. The bubbles occur upstream of the foils and collapse between them. Cavitating flow in the inducer was successfully predicted by using the bubble size distribution.

• Journal of the Korea Society for Simulation
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• v.26 no.2
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• pp.1-8
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• 2017

High Level Architecture(HLA) is a specification for interoperation among heterogeneous simulators which are executed in a distributed environment. HLA originally allows many federates to join in a federation using a single RTI(Run-Time Infrastructure). As the target systems become more complex, the need for the interoperation of federations, performed in a RTI-RTI interoperation environment, has been growing. It can be performed by the confederation interface with the agents, which subrogate the API calls and callbacks of each federation. The existing studies have assumed that the object models of each federation are based on same HLA standard and their object descriptions are equal. Because the existing federations are usually not under this assumption, this paper proposes the integration process of object models for the federation interoperation environment. To integrate the object models for the interoperation of federations, this process resolves the differences of HLA standards, provides conversion process between objects with different descriptions and excludes the security objects. We expect that this process enhances the reusability and effectiveness of interoperation of federations in various domains.

• Journal of the Korea Computer Graphics Society
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• v.23 no.4
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• pp.11-19
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• 2017

We propose a new pipeline of fluid surface reconstruction that incorporates hybrid SDF(signed distance fields) and adaptive fluid surface techniques to finely reconstruct liquid-solid mixed surfaces. Previous particle-based fluid simulation suffer from a noisy surface problem when the particles are distributed irregularly. If a smoothing scheme is applied to reduce the problem, sharp and detailed features can be lost by over-smoothing artifacts. Our method constructs a hybrid SDF by combining signed distance values from the solid and liquid parts of the object. We also proposed a method of adaptively reconstructing the surface of the fluid to further improve the overall efficiency. This not only shows the detailed surface of the solid and liquid parts, but also the detail of the solid surface and the smooth fluid surface when both materials are mixed. We introduce the concept of guiding shape and propose a method to get signed distance value quickly. In addition, the hybrid SDF and mesh reconstruction techniques are integrated in the adaptive framework. As a result, our method improves the overall efficiency of the pipeline to restore fluid surfaces.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.7
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• pp.671-677
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• 2013

In this paper, we propose a method of near-field analysis for vehicle LF antennas in order to estimate the accurate reading range of a smart key. The LF antenna consists of a ferrite core and a conducting wire which is coated with polyethylene for insulation, and it is mounted at the rear bumper frame of a commercial vehicle. The reading range of a smart key is measured at nine azimuthal directions distributed around the rear bumper, and then, the received power at each maximum reading range is measured by using a spectrum analyzer. The measurement shows that the maximum reading range exists between 1.38 m and 1.53 m, and the radiated power is between -83.6 dBmW and -75.0 dBmW. We further conducted EM simulation to estimate the reading range and the received power under the same condition that we applied for the measurement. The results demonstrate that an accurate reading range and received power can be achieved by simulation.

• Journal of Internet Computing and Services
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• v.17 no.6
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• pp.17-23
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• 2016

In the future network such as Internet of Things (IoT), the number of computing devices are expected to grow exponentially, and each of the things communicates with the others and acquires information by itself. Due to the growing interest in IoT applications, the broadcasting in Opportunistic ad-hoc networks such as Machine-to-Machine (M2M) is very important transmission strategy which allows fast data dissemination. In distributed networks for IoT, the energy efficiency of the nodes is a key factor in the network performance. In this paper, we propose a fuzzy logic based probabilistic multi-hop broadcast (FPMCAST) algorithm which statistically disseminates data accordingly to the remaining energy rate, the replication density rate of sending node, and the distance rate between sending and receiving nodes. In proposed FPMCAST, the inference engine is based the fuzzy rule base which is consists of 27 if-then rules. It maps input and output parameters to membership functions of input and output. The output of fuzzy system defines the fuzzy sets for rebroadcasting probability, and defuzzification is used to extract a numeric result from the fuzzy set. Here Center of Gravity (COG) method is used to defuzzify the fuzzy set. Then, the performance of FPMCAST is evaluated through a simulation study. From the simulation, we demonstrate that the proposed FPMCAST algorithm significantly outperforms flooding and gossiping algorithms. Specially, the FPMCAST algorithm has longer network lifetime because the residual energy of each node consumes evenly.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.403-411
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• 2016

Recently, the number of occurrences of inundation and the severity of flood damage has increased rapidly as the frequency of localized heavy rainfall and the ratio of impervious area increased in urban areas. Most local governments focus on employing structural measures (e.g., the construction of detention reservoirs/pump stations, rehabilitation of drainage and sewer pipes) to prevent urban inundation. On the other hand, the effectiveness of implementing such structural measures is being dimished because there are already many inundation prevention facilities. The limitation of structural measures can be overcoming by employing non-structure measures, such as flood alerts and the operation of drainage facilities. This study suggests the pump operation rule (i.e., suggesting pump stop level) for a new detention reservoir operating method, which triggers the operation of a pump based on the water level at the monitoring node in urban drainage system. In the new reservoir operation, a total of 48 rainfall events are generated by the Huff distribution for determining the proper pump stop level. First, the generated rainfall events are distributed as frequencies, quartiles, and durations. The averaged system resilience value was determined to range from 1.2 m to 1.5 m is based on the rainfall-runoff simulation with rainfall generated by the Huff distribution. In this range, 1.2 m was identified considering the safety factor of 1.25 by the Standard on sewer facilities in 2011.