• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1867-1870
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• 1997

Waypoint guidance is a technique used to steer an autonomous vehicle along a desired trajectory. In this paper, a waypoint guidance algorithm for horizontal plane is derived by combining a line following guidance law and a turning guidance law. The line following guidance is derived based on LQR while the turning guidance is designed using rendzvous problem. Through simulation, the proposed method shows a good performance.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.6 s.144
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• pp.551-558
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• 2005

In this paper, horizontal manoeuvrability of an underwater vehicle near free surface was investigated. Planar Motion Mechanism(PMM) tests were performed at the shallow depth within 4.5 times of vehicle's diameter. Hydrodynamic coefficients related to the horizontal movement were estimated from the measured data using Least SQuare(LS) method and analyzed at each submerged depth. Furthermore, horizontal dynamic stability, trajectory of turning and zigzag test were investigated for the various depths. As underwater vehicle is positioned nearer to the free surface, forces increase and moment decreases. Tested model was found to be stable only at the depth 0.5 times of vehicle's diameter.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.17 no.4
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• pp.172-178
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• 2007

Mica (muscovite) powders were synthesized by hydrothermal method (horizontal turning method). The hydrothermal conditions for the synthesis of mica were prepared by the ratio of $K_2O : Al(OH)_3 : SiO_2$ = 1 : 3 : 3 mol% as the starting materials with KOH (8 mol%) solution as the hydrothermal solvent and reaction temperature at $260^{\circ}C$ for 72hrs. The synthetic powder used for preparation of nano silver coated mica by vertical hydrothermal treatment. The hydrothermal conditions for the treated as nano silver coating were prepared by the synthetic powder as raw materials, triple distilled water ($0.5{\ell}$) solution as the hydrothermal solvent with nano silver sol (1,000 ppm) as the material of nano silver coating and reaction temperature at $160{\sim}260^{\circ}C$ for 72 hrs. After hydrothermal treatment, structural, judgment of nano silver coating and character of nano silver coated mica were examined by XRD, SEM, TEM-EDX and shake plask method.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.29 no.4
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• pp.260-271
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• 1993

Due to depletion of fish resources as time goes on, the trawl fishing industries which have caught the demersal fish is confronting with financial difficulties. For the purpose of breaking these difficulties, trawlers are expanding the fishing targets to the midwater from bottom stock. The trawlers become to be able to detect the fish schools not only vertical but also horizontal direction by equipping the sonar system on board. Even though the operator locates the fish school by sonar, it is not easy to make a desirable catch of the fish school which is detected, for the reason of the maneuverring characteristics of trawler. For the purpose of enhancing the efficiency of a fish catch, the auther performed a series of on board experiments to investigate the maneuverablilites of midwater trawaler. The obtained results are summerized as follows: 1. The higher the RPM of main engine, the smaller the magnitude of turning circle. And it is smaller in the right than in the left turning 2. Towing speed varies irregularly under turning novenment. When the RPM of main engine being 560, 680 the angular velocities are 11.3deg/min, 22.5deg/min respectively. 3. The difference of new course distance between calculated by maneuverring indices and measured by experimental ship is high when altering course being large and towing speed low. 4. The faster the towing speed is, the shorter the new course distance becomes. When towing speed is same in right and left turning movement, the now course distance is shorter in case of right turning movement than in left. 5. It is considered to be convenient for a navigator to utilize the curves for altering course in order to steer the ship rapidly and accurately.

• Journal of the Korean Institute of Navigation
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• v.12 no.2
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• pp.23-32
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• 1988

This paper offers a method of magnetic compass adjustment for the vessel alongside the wharf using newly designed magnetic north former, which makes the same magnetic field-change as the turning vessel does. The characteristics of the magnetic north former was examined by observing the deviation curves of the magnetic compass installed on the compass deviascop at laboratory. The magnetic north former consists of A and B arms which hold the permanent bar magnets at the both ends of each arm. The arm is to rotae in the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal component of the earth's field. The B arm makes the artificial magnetic north around the magnetic compass for every ship's heading. The results of investigation are summarized as follows ; 1. The observation and correction of magnetic compass deviation can be done without swinging the ship, of the effect of D coefficient is negligible. 2. The residual deviation curve of the magnetic compass depends on the accuracy of deduced value of ship's multplier($\lambda$). 3. The errors due to the inaccuracy of deduced value of ship's multiplier change in the same way as the B and C coefficient do.

• Journal of the Society of Naval Architects of Korea
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• v.41 no.4
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• pp.53-58
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• 2004

When a fast container ship or a naval vessel is turning, comparable roll motions occur. Therefore, roll effect has to be considered in the horizontal equations of motion of the ship to predict the maneuverability well. In this thesis, a new method to determine a roll model structure and estimate its coefficients by applying the system identification technique to the data of sea trial tests was proposed. The simulation results from the estimated roll model were well consistent with the true one in spite of the difference between the estimated and the true model structures of roll hydrodynamic moment.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.399-413
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• 2006

Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle(UUV) moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and some of the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.106-113
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• 2014

Rotor eccentricity is one of the major factors that directly influence the security of horizontal electrical machines, and the critical speed of the shaft has a close relationship with vibration. This paper deals with the influence of thermal expansion on the rotor eccentricity and critical speed in large dry submersible motors. The dynamic eccentricity (where the rotor is still turning around the stator bore centre but not its own centre) and critical speed of a three-phase squirrel-cage submersible induction motor are calculated via hybrid analytical/finite element method. Then the influence of thermal expansion is investigated by simulation. It is predicted from the study that the thermal expansion of the rotor and stator gives rise to a significant air-gap length decrement and an inconspicuous slower critical speed. The results show that the thermal expansion should be considered as an impact factor when designing the air gap length.

• Geomechanics and Engineering
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• v.34 no.2
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• pp.187-195
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• 2023

Intensive rainfall during the summer season in Korea has triggered numerous devastating landslides outside of downtown in mountainous areas. The 2D slope stability analysis that is generally used for cut slopes and embankments is inadequate to model slope failure in mountainous areas. This paper presents a new 3D slope stability formulation using the global sliding vector in the limit equilibrium method, and it uses an ellipsoidal slip surface for static and quasi-static analyses. The slip surface's flexibility of the ellipsoid shape gives a lower FS than the spherical failure shape in the Fellenius, Bishop, and Janbu's simplified methods. The increasing sub-columns of each column tend to increase the FS and converge to a steady value. The symmetrical geometric conditions of the convex turning corners do not indicate symmetrical failure of the surface in 3D analysis. Pseudo-static analysis shows that the horizontal seismic force decreases the FS and increases the mass volume at the critical failure state. The stability index takes the FS and corresponding sliding mass into consideration to assess the potential risk of slope failure in complex mountainous terrain. It is a valuable parameter for selecting a vulnerable area and evaluating the overall risk of slope failure.

• Korean Journal of Agricultural Science
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• v.25 no.2
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• pp.260-270
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• 1998

The field tests were performed to suggest the rational method for stability evaluation of soft clay. The behavior of settlement-displacement obtained by field monitoring system was to compare and analyze the results of the observationed method, and to investigate the complex behavior of soft clay with filling height. The results of this study are summarized as follows. 1. The horizontal displacement was suddenly increased when physical properties of soft clay showed maximum values and the part of the turning point. The values of these properties were available to the fundamental data for stability evaluation. The shear deformation appeared that difference of the horizontal displacement was maximum values. 2. Although the stability of embankment by step filling showed the unstable part over the failure standard line, the embankment was confirmed stable. So the evaluation of the stability of embankment is reasonable to use the inclination of curve than failure standard line. 3. The horizontal displacement and relative settlement were increased as same ratio at improvement ground. Estimation of shear deformation using Terzaghi's modified bearing capacity should consider the relations of embankment load and undrained shear strength at nonimprovement ground, and minimum safety factor is recommended to use larger than 1.2. 4. Excess pore water pressure was increased with increasing of filling height and decreased with maintain the filling height. The embankment was unstable when filling height was exceed the evaluation standard line, and the behavior of excess pore water pressure and horizontal displacement could use as a standard of judgement of the filling velocity control because their behavior were agree with each other.