• Aerospace Engineering and Technology
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• v.3 no.1
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• pp.9-15
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• 2004

In this paper, a HILS(Hardware-In-the-Loop-Simulation) System designed for an unmanned airship, which is under development by KARI, is introduced. A HILS system is essential to validate flight control systems on the ground. The HILS system consists of several systems: a virtual ADT(airborne data terminal) system, a virtual payload system, a virtual airship system, and a status display system. Also, a 3-axis motion table and an inertial navigation sensor are included. The reliability of the flight control computer has been validated by HILS tests.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.265-272
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• 2023

In this paper, we directly implemented the Line Tracer ROS package that can detect and follow lines drawn on the map on Gazebo, an open-source that is widely used in autonomous driving research. For line detection, the cv_bridge package was used to enable OpenCV's image processing tools, and parameters such as robot speed, line color and ground material could be changed. In addition, proportional (P) and PID controls could be implemented using the color centroid obtained through image processing. Through this approach, the effect of proportional and differential coefficients on the robot's line tracer motion could be analyzed effectively. In addition, by displaying robot simulation results using various tools of ROS, an efficient development for control nodes could be established in ROS.

• Journal of the Earthquake Engineering Society of Korea
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• v.27 no.5
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• pp.221-230
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• 2023

This study proposes a methodology for assessing seismic liquefaction hazard by implementing high-resolution three-dimensional (3D) ground models with high-density/high-precision site investigation data acquired in an area of interest, which would be linked to geotechnical numerical analysis tools. It is possible to estimate the vulnerability of earthquake-induced geotechnical phenomena (ground motion amplification, liquefaction, landslide, etc.) and their triggering complex disasters across an area for urban development with several stages of high-density datasets. In this study, the spatial-ground models for city development were built with a 3D high-precision grid of 5 m × 5 m × 1 m by applying geostatistic methods. Finally, after comparing each prediction error, the geotechnical model from the Gaussian sequential simulation is selected to assess earthquake-induced geotechnical hazards. In particular, with seven independent input earthquake motions, liquefaction analysis with finite element analyses and hazard mappings with LPI and LSN are performed reliably based on the spatial geotechnical models in the study area. Furthermore, various phenomena and parameters, including settlement in the city planning area, are assessed in terms of geotechnical vulnerability also based on the high-resolution spatial-ground modeling. This case study on the high-precision 3D ground model-based zonations in the area of interest verifies the usefulness in assessing spatially earthquake-induced hazards and geotechnical vulnerability and their decision-making support.

• Wind and Structures
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• v.9 no.2
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• pp.95-108
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• 2006

Wind turbines are highly complex structures for numerical flow simulation. They normally comprise of a turbine mounted on a tower thus the movement of the turbine blades and the blade/tower interaction must be captured. In addition the ground effect should also be included. There are many more important features of wind turbines and it is difficult to include all of them. A simplified set of features is chosen here for both the turbine and the tower to show how the method can begin to identify the main points connected with wind turbine wake generation and tip vortex tower interaction. An approach to modelling the rotating blades of a turbine is proposed here. The model uses point forces based on blade element theory to model the blades and takes into account their time dependent motion. This means that local instantaneous velocities can be used as a basis for the blade element theory. The model is incorporated into a large eddy simulation code and, although many important features are left out of the model, the velocity/power performance relation is generally of the correct order of magnitude. Suggested improvements to the method are discussed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.297-302
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• 2007

Vibrating test of vehicle component can be possible in lab-based simulators instead of field testing owing to the development of technology in control algorithm as well as computational process. Currently, Multi-Axial Simulation Table(MAST) is recommended as a vibrating equipment, which excites a target component for 3-directional translation and rotation motion simultaneously and hence, vibrational condition can be fully approximated to that of real road test. But, the vibration-free performance of target component is not guaranteed with MAST system, which is only simulator subjective to the operator. Rather, the reliability of multi-axial vibration test is dependent on the quality of input profile which should cover the required severity of vibrating condition on target component. In this paper, multi-axial vibration testing methodology of vehicle component is presented here, from data acquisition of vehicle accelerations to the obtaining the input profile of MAST using severe data at proving ground. To compare the severity of vibration condition, between real road test and proving ground one, energy principle of equivalent damage is proposed to calculate energy matrices of acceleration data and then, it is determined the optimal combination of special events on proving ground which is equivalent to real road test at the aspects of vibration fatigue using sequential searching optimal algorithm. To explain the vibration methodology clearly, seat and door component of vehicle are selected as a example.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.9
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• pp.38-45
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• 2003

This research is concerned with the dynamic modeling of the multi-purpose satellite with deployable solar arrays equipped with strain energy hinges(SEH). To this end, we proposed the use of the equivalent torsional spring for the SEH and derived the equations of motion assuming that the satellite and solar arrays are being rigid. We also considered the effect of the support string for the ground experiment model, which has been observed as a critical factor affecting the deployment in the ground experiments. From the numerical simulation results, it is found that solar arrays are deployed in a similar pattern but the hub motions are different because of the support strings. It was concluded that the non-gravity deployment of the solar arrays can be approximately simulated by the ground experimental facility. The effects of the support string are also investigated by varying the length of the string. It was found that the current length of the string is adequate for the ground experiment. Ground experimental results will follow.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Journal of the Korean Geotechnical Society
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• v.33 no.7
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• pp.29-41
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• 2017

There are uncertainties about the seismic load caused by seismic waves, which cannot be predicted due to the characteristics of the earthquake occurrence. Therefore, it is necessary to consider these uncertainties by probabilistic analysis. In this paper, procedures to develop a fragility curve that is a representative method to evaluate the safety of a structure by stochastic analysis were proposed for cut slopes. Fragility curve that considers uncertainties of soil shear strength parameters was prepared by Monte Carlo Simulation using pseudo static analysis. The fragility curve considering the uncertainty of the input ground motion was developed by performing time-history seismic analysis using selected 30 real ground input motions and the Newmark type displacement evaluation analysis. Fragility curves are represented as the cumulative probability distribution function with lognormal distribution by using the maximum likelihood estimation method.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.50-58
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• 2003

We have developed a locally variable time-step scheme matching with discontinuous grids in the flute-difference method for the efficient simulation of seismic wave propagation. The first-order velocity-stress formulations are used to obtain the spatial derivatives using finite-difference operators on a staggered grid. A three-times coarser grid in the high-velocity region compared with the grid in the low-velocity region is used to avoid spatial oversampling. Temporal steps corresponding to the spatial sampling ratio between both regions are determined based on proper stability criteria. The wavefield in the margin of the region with smaller time-step are linearly interpolated in time using the values calculated in the region with larger one. The accuracy of the proposed scheme is tested through comparisons with analytic solutions and conventional finite-difference scheme with constant grid spacing and time step. The use of the locally variable time-step scheme with discontinuous grids results in remarkable saving of the computation time and memory requirement with dependency of the efficiency on the simulation model. This implies that ground motion for a realistic velocity structures including near-surface sediments can be modeled to high frequency (several Hz) without requiring severe computer memory

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.2
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• pp.53-65
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• 2008

This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them.