• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.12-20
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• 2007

The aiming ability is a key to improve the accuracy performance of the gun pointing system in the ground military vehicle. This paper describes the new detection method of chatter vibration using disturbance acceleration in the pointing structure. In order to analysis the vibration trends of the pointing system occurred while the vehicle driving, acceleration data obtained from vehicle was processed by using data processing algorithm with moving average and Hilbert transform. The specific mode constants of acceleration were obtained from various disturbances. Vehicle velocity, road condition and property of pointing structure were considered as factors which make the change of vibration trend in vehicle dynamics. Finally, back propagation neural networks have been applied to the pattern recognition of the classification of vibration signal in various driving conditions. Results of signal processing were compared with other condition result and analysed.

• Advances in aircraft and spacecraft science
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• 제4권3호
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• pp.281-296
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• 2017

The axial-injection end-burning hybrid rocket proposed twenty years ago by the authors recently recaptured the attention of researchers for its virtues such as no ${\zeta}$ (oxidizer to fuel mass ratio) shift during firing and good throttling characteristics. This paper is the first report verifying these virtues using a laboratory scale motor. There are several requirements for realizing this type of hybrid rocket: 1) high fuel filling rate for obtaining an optimal ${\zeta}$; 2) small port intervals for increasing port merging rate; 3) ports arrayed across the entire fuel section. Because these requirements could not be satisfied by common manufacturing methods, no previous researchers have conducted experiments with this kind of hybrid rocket. Recent advances in high accuracy 3D printing now allow for fuel to be produced that meets these three requirements. The fuel grains used in this study were produced by a high precision light polymerized 3D printer. Each grain consisted of an array of 0.3 mm diameter ports for a fuel filling rate of 98% .The authors conducted several firing tests with various oxidizer mass flow rates and chamber pressures, and analysed the results, including ${\zeta}$ history, using a new reconstruction technique. The results show that ${\zeta}$ remains almost constant throughout tests of varying oxidizer mass flow rates, and that regression rate in the axial direction is a nearly linear function of chamber pressure with a pressure exponent of 0.996.

• 한국소음진동공학회논문집
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• 제26권1호
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• pp.69-74
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• 2016

A technique for improving estimation accuracy is introduced in order to locate the impact position of artillery shell during the weapon scoring test. Study on localization of impacts using acoustic measurement has been conducted and the usability of sensor array is verified with experiments. When the blast occurs above the ground in the firing range, the acoustic sensor above the ground can measure the directly propagated sound with the ground-reflected one. In this study, a method for reducing estimation error by using the reflection signal measurements based on the time difference of arrival method. Considering the reflection sound works as same as placing a virtual sensor symmetrically through the ground. This idea enables a virtual three-dimensional array configuration with a two-dimensional plane array above the ground as such. The time difference between the direct and the reflected propagations can be estimated using cepstrum analysis. Performance test has been made in the simulation experiment in the football size area.

• 한국수소및신에너지학회논문집
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• 제31권1호
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• pp.122-131
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• 2020

To reduce emissions from coal-fired power plants, researchers focusing on coal and biomass co-firing technology. Biomass, with its carbon-neutral nature and lower quantities of nitrogen and sulfur compared with coals, has a positive impact on coal-fired power generation. Many studies on the combustion of biomass have been conducted, but the study on the combustion characteristics of biomass char is limited. FERPM predicts char combustion characteristics with high accuracy by introducing experimental data-based parameters of biomass char and has not yet been applied in numerical simulation. In this study, FERPM is numerically applied to char combustion of wood pellets representing wood-based biomass and the combustion characteristics are compared with the kinetic/diffusion limited model, intrinsic model, and diffusion limited model.

• 한국산학기술학회논문지
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• 제7권3호
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• pp.308-313
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• 2006

포탄의 탄착점은 대포의 형상, 제작공차, 제어시스템 그리고 발사체의 제작공차 등 여러 변수의 함수이다. 본 논문에서는 포탄의 탄두를 본체와 분리, 움직임이 가능한 형태로 부착하여 탄착점의 정확도를 향상시키는 가능성에 대하여 검토하였다. 기존의 포탄이 갖는 6 개의 자유도에 탄두의 3 개의 자유도를 더한 9 자유도의 동역학 식을 유도하였고 시뮬레이션을 통하여 가변탄두를 갖는 발사체가 탄두부분의 피치(pitch)와 요(yaw) 회전운동을 통하여 발사 초기의 불확실성을 흡수할 수 있음을 확인하였다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.735-738
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• 2003

Downsizing electronics requires precision position control with an accuracy of sub-micron order, which demands development of ultra-fine displacive devices. Piezoelectric transducer is one of devices transferring electric field energy into mechanical energy and being capable for fine displacement control. The transducer has been widely used as fine Position control device Multilayer piezoelectric actuator, one of typical piezo-transducer, is fabricated by stacking alternatively ceramic and electrode layers several hundred times followed by cofiring process. Electrode material should be tolerable in the firing process maintaining at ceramic-sintering temperatures up to $1100{\sim}1300^{\circ}C$. Ag-Pd can be used as stable electrode material in heat treatment above $960^{\circ}C$. Besides, adding small quantity ceramic powder allow the actuator to be fabricated in a good shape by diminishing shrinkage difference between ceramic and electrode layers, resulting in avoidance of crack and delamination at and/or nearby interface between ceramic an electrode layers. This study presents synthesis of nano-oxide-added Ag/Pd powders and its feasibility to candidate material tolerable at high temperature. The powders were formed in a co-precipitation process of Ag and Pd in nano-oxide-dispersed solution where Ag and Pd precursors are melted in $HNO_3$ acid.

• 제어로봇시스템학회논문지
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• 제20권1호
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• pp.94-100
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• 2014

In order to intercept anti-ship missiles, it is important to accurately predict the aiming point. The major factor for degrading the accuracy of the aiming point is the motions of the warships due to waves. Therefore, a stage of correcting the aiming point is required to compensate for such motions of warships. The proposed aiming point correction technique treats the changes in positions and velocity of naval guns by considering changes in the positions and velocities of the anti-ship missiles. In this paper, a ship motion estimation filter was also constructed to predict the motions of warships at the firing time of naval guns. In the simulation part, finally, the distance errors before and after aiming point corrections were compared through 6-DOF simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.38-40
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• 2005

Microdrive with high precision and light mass enough to install on mouse head was fabricated for recording the reliable signal of neuron cell to understand the brain study. The proposed microdrive has three H-form PZT actuators and its guide structure. The microdrive operation principle is based on the well known inchworm principle. The synchronization of three PZT actuators is able to produce the linear motion along the guide structure. Our proposed microdrive has a precise accuracy of about 100nm and a long stroke of about 5mm. The electrode which is used for the recording of the action potential of the neuron cell was fixed at one of PZT actuators. The proposed microdrive was suited to acquisition of signals from in vivo extra-cellular single-unit recoding. On the condition of the anesthetized mouse, the single-unit signals could be recorded by using the proposed microdrive. In addition, applying the PZT microdrive to an alert mouse, we try to implant it on a mouse brain skull to explore single neuron firing.

• 한국추진공학회지
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• 제11권2호
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• pp.71-78
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• 2007

Polyethylene-GOX 조합 추진제를 이용하여 소형 하이브리드 로켓 모터의 연소 특성에 관한 실험적 연구를 수행하였다. 단일 포트 형상으로 가공된 연료 그레인을 사용하였으며, 연소 전후 연료 그레인의 질량 변화를 통해 평균 후퇴율을 결정하였다. 평균 후퇴율식은 Marxman[3,4]과 Altman[14]의 이론식을 기반으로 도출되었으며, 이를 실험 측정치와 비교한 결과, Marxman의 후퇴율 모델이 Altman의 모델 보다 다소 정확함을 확인하였다. 또한, PE-GOX 추진제의 평균 후퇴율에 대한 고찰로부터 하이브리드로켓 모터 작동 시 일정 산화제 유량 하에서 유입 연료 유량 변화가 상당히 적어 O/F 변화가 미미함 을 알 수 있었다.