• 한국농공학회논문집
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• 제62권1호
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• pp.95-104
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• 2020

The purpose of this study is to develop a pipe type soil sampler that can easily collect soil cross section servey and soil samples to conduct ecological environment surveys while minimizing ecological disturbance in the area subject to soil survey. Furthermore, this study develop the exponential type estimation specific weight formula (ESWF) that uses pipe type soil sampler to easily carry out soil cross section survey and soil sample while estimating the specific weight of the area using water content and soil sample length variation ratio (SLVRs) and to obtain apparent specific gravity, hardness, and max. porosity which are used as growth of corps and ecological environment index. The calibration results of ESWF showed a high degree of significance, with NSE for actual specific weight (γ₀) and calibration estimation specific weight (γ_ec) 0.95, R² for 0.954, and RMSE for 0.051. The verification results of ESWF showed a high significance, with NSE for actual specific weight (γ₀) and verification estimation specific weight (γ_ev) 0.881, R² for 0.978, and RMSE for 0.055.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.199-212
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• 2020

A large percentage of maritime accidents in coastal seas are related to small fishing vessels. In order to investigate causes of maritime accidents, it is often necessary to carry out dynamic simulations for the estimation of trajectories and motions of vessels. Initial conditions of vessels such as main dimensions, loading conditions and hydrostatic properties are required for the accurate simulations. Small fishing vessels usually have few records of hydrostatic properties during their fishing operations. Therefore, in this study, estimation procedures for hydrostatic properties of small fishing vessels are proposed. At first, hull form characteristics of Korean small fishing vessels are investigated. Most of vessels have hard-chines and centerline skegs, they have similar hull forms. Bonjean curves of several small fishing vessels whose gross tonnages are below 10 tons are normalized with vessel breadths and depths. Representative bonjean curves are derived from normalized bonjean curves, and a representative hull plan is obtained as well. If the vessel loading conditions such as total weights and centers of gravity are given, fore and aft drafts can be calculated by using the representative bonjean curves with the constraint that weights and buoyancies are in equilibrium. Metacentric heights are also estimated by using the representative hull plan. Drafts and metacentric heights estimated by proposed iterative estimation procedures are compared with actual vessel data, estimated values are in good agreements with actual values. In addition, normalized fore and aft drafts, metacentric heights of vessels can be formulated as the linear functions of normalized total weights and centers of gravity. Empirical formulas of drafts and metacentric heights are proposed, and it is confirmed that the empirical formulas also provide reasonable results, which are similar to the results by iterative estimation procedures with representative bonjean curves and hull plan.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.1019-1022
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• 2002

Pipe-cutting machines have been used in many fields. Recently, an automatic pipe-cutting machine that uses magnet has born developed. In this paper, a magnetic-type automatic pipe-cutting machine that attaches itself and performs unmanned cutting process is proposed. It is designed that there is a room at the bottom of its body to contain a magnet. And it uses magnetic force between the magnet and the pipe surface to prevent slip and to attach the machine to the pipe against gravity. Also the magnetic force is adjustable by changing the gap between the magnet and the pipe. This machine is, however, necessary to control cutting velocity for the elevation of work efficiency and the adjustable faculties. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies. That is, the cutting machine gets fast when moving from the top to the bottom of the pipe and slow when moving from the bottom to the top. Actually the system is kind of a non-linear system where the gravity is function of climbing angle of the cutting machine along the pipe. Especially jerking motion is critical. Therefore, authors design the non-linear controller that estimates the current position of the machine along the pipe and compensates the effect of gravity in this paper. It receives the feed back signal from the encoder.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.541-546
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• 2005

Tracking control of an automatic pipe cutting robot (APCROMB) is studied. Using magnetic force APCROMB, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROMB varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performance against the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROMB and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROMB the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROMB. The tracking performances of APCROMB with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angular displacement measurement and the accelerometerbased angular displacement measurement is included.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권1호
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• pp.29-36
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• 2017

본 논문에서는 손목형 가속도계를 이용하여 운동 가속도가 거의 없는 식사 행동을 인식하기 위한 방법을 제안한다. 먼저 손목 방향에 작용하는 중력 가속도를 이용하여 중력 방향과 손목 방향 간의 각도를 구하고, 특정 각도 영역에서 첨두값과 첨미값이 존재하는 경우 손목이 왕복하는 동작을 검출한다. 손목 왕복 동작 발생 횟수를 누적하여 그 횟수가 10회 이상일 경우 검출 시점으로 5분 전까지 식사 시간으로 간주하며, 그 지속시간이 7분 이상인 경우에만 식사 시간으로 추론한다. 대학원생 4명으로부터 수집한 2128분 데이터를 통해 식사 시간을 추론한 결과 95.63%의 정확도를 보인다.

• 지구물리와물리탐사
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• 제22권2호
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• pp.80-87
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• 2019

이 논문에서는 사전 정보가 없는 경우 고정밀 중력 탐사 자료를 광역-나머지 이상으로 분리할 때 중력 이상 자료의 특성을 바탕으로 다항식 접합법을 적용하는 방법을 제시하였다. 소규모 영역을 대상으로 하는 고정밀 중력 탐사는 1차 평면으로 광역 이상을 근사하는 것이 이상적인데 중력 이상의 패턴이 1차 평면으로 근사하기 어려운 경우, 먼저 완전 부게 이상을 Parasnis 밀도 추정 방법으로 분석한 후 중력 이상을 1차 평면으로 근사 가능하도록 분할하였다. 다항식 접합법으로 중력 이상을 광역-나머지 이상으로 분리할 때 중력 이상 자료가 지질 구조 및 중력 이상 분포 특성을 바탕으로 공간적으로 분할이 가능한 경우에는 전체 측정 자료를 한꺼번에 분리하지 않고 구획된 각각의 영역에서 광역-나머지 이상을 별도로 분리하는 것이 더 효과적임을 보였다.

• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2008년도 춘계 학술논문 발표대회
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• pp.103-107
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• 2008

This study was to execute the experiment for analyzing the quality characteristics of mortar by type of recycled sand by using the recycled sand produced by the manufacturing system by wet gravity separation in order to develop the removal device of impurities for the production of high-quality recycled sand. As a result, this study has sown that the mortar using the high-quality recycled sand through the manufacturing system by wet gravity separation in the fluidity property, strength property, and shrinkage property largely, compared with the mortar using low-quality recycled sand that not passed the device of sand flux. There was a tendency similar to the plane mortar. In conclusion, it was considered as various quality performances of the recycled sand were improved through the production stage of prototype.