• 한국해양공학회지
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• 제21권2호
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• pp.67-74
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• 2007

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.347-350
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• 2006

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI(Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2m in length, 0.17m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMi as a test-bed AUV platform.

• 한국해양공학회지
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• 제23권6호
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• pp.146-155
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• 2009

This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2006년도 춘계종합학술대회
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• pp.378-381
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• 2006

본 논문은 ISI가 존재하는 MIMO-OFDM 시스템에 사용되는 새로운 채널 추정 방법을 제안한다. 제안된 방법은 OFDM에서 문제가 되는 PAR를 일정하게 하고, IST의 영향을 제거하는 특별한 학습 신호를 사용한다. 이러한 학습 계열을 사용함으로서, LS(Least Square) 추정에서 문제가 되는 행렬의 특이를 피할 수 있다. 시뮬레이션 결과, SNR이 클 때 제안된 방법은 전통적인 방법보다 추정된 채널의 MSE가 20dB 이상 우수함을 확인할 수 있다.

• 비파괴검사학회지
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• 제30권4호
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• pp.380-385
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• 2010

국내 가동중 원자력발전소는 KEPIC MI 또는 ASME Code Sec. XI 등의 기술기준에 따라 가동중검사를 수행하며, 이를 통해 주요 기기 및 배관의 건전성을 확인하고 있다. 하지만, 원전 설계단계에서 고려되지 못한 다양한 손상기구에 대해서는 별도의 강화 검사프로그램을 통해 건전성을 확인하고 있다. 이러한 강화 검사프로그램에 대한 요건은 규제기관에서 개발하거나, 발전사업자가 자발적으로 규정을 마련하는 경우가 있으며, 사업자가 개발한 검사프로그램에 대해서는 규제기관의 심사과정을 거쳐 적합성 여부를 확인하고 있다. 본 논문에서는 원자력발전소 설계단계에서부터 반영된 기술기준 KEPIC 또는 ASME Code에 따른 가동중검사 외에, 발전소 손상경험 등을 반영하여 강화된 검사프로그램을 중점적으로 고찰하고, 비파괴검사 관련 요건을 검토하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.351-354
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• 2006

In underwater environment, the control of AUV is difficult, because of the existence of parameter uncertainties and disturbances as well as highly nonlinear and coupled system dynamics. The requirement for the simple and robust controller which works satisfactorily in those dynamical uncertainties, call for a design using the PD or sliding mode controller. The PD controller is very popular controller in the industrial field and the sliding mode controller has been used successfully for the AUV controller design. In this paper, the two controllers arc designed for ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV and the performances are compared by numerical simulation under the modeling uncertainty and disturbances. The design process of PD and sliding mode controller for ISiMI AUV and simulation results are included to compare the performances of the two controllers.

• 기계저널
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• 제20권6호
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• pp.457-467
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• 1980

가동중조사(ISI)에 적용되는 ASME-MI 의 1974년 Edition에 ISI시 검출된 흠함을 평가하는 절 차가 제시되었다는 것은 이미 언급한 바 있다. 가동중검사의 개념은 ASME-III에 따라 건설된 부품이라 하더라도 원자력발전소의 온 수명기간동안 또는 정해진 수명기간동안 재료 내부에 흠 함이 전혀 생기지 않는다거나 또는 성장하지 않는다고 볼 수 없다는데 에 근거를 둔 것이다. 즉, 부품을 건설할 때 ASME-III의 규정에 따라 수행한 비파괴시험(nondestructive examination)에 의하여 합격된 부품이라 할지라도 시험방법의 유효성 및 합격기준등에 의하여 발견되지 않았 거나, 발견되었더라도 합격된 흠합등이 있을 수 있다. 이러한 흠함들이 원자로의 가동과 더불어 성장하거나, 또는 부품의 사용조건에 따라 흠함이 새로이 발생할 경우는 RCPB의 구조적 건전성 및 안정성은 위협을 받게된다. 이에 대처하기 위하여 원자력발전소의 전수명기간의 통하여 정 기적으로 ISI를 수행해 줄 것이 10CFR50의 50, 55a, "Codes and Standards"에 법적으로 명문 화되어 있다. ISI 시발견된 흠함은 그 크기를 평가하여 합격기준을 초과하는 경우에는, 흠함의 제거(removal), 항리(repair), 부품의 대체(replacement), 또는 파괴력학적인 해석에 의하여 그러한 흠함이 구조건 안전성을 손상시키지 않는다는 것을 입증해 주어야 한다. ISI 시에 검출된 흠함을 평가하고 파괴력학적으로 해석하는 규정으로서 ASME-XI에 명시된 절차는 다음과 같다.차는 다음과 같다.

• 한국정밀공학회지
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• 제26권5호
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• pp.14-22
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• 2009

• The Korean Journal of Pain
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• 제28권2호
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• pp.137-143
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• 2015

Background: Insomnia is becoming increasingly recognized as a clinically important symptom in patients with chronic low back pain (CLBP). In this retrospective study, we have determined risk factors associated with clinical insomnia in CLBP patients in a university hospital in Korea. Methods: Data from four-hundred and eighty one CLBP patients was analyzed in this study. The Insomnia Severity Index (ISI) was used to determine the presence of clinical insomnia (ISI score ${\geq}15$). Patients' demographics and pain-related factors were evaluated by logistic regression analysis to identify risk factors of clinical insomnia in CLBP. Results: It was found that 43% of patients reported mild to severe insomnia after the development of back pain. In addition, 20% of patients met the criteria for clinically significant insomnia (ISI score ${\geq}15$). In a stepwise multivariate analysis, high pain intensity, the presence of comorbid musculoskeletal pain and neuropathic pain components, and high level of depression were strongly associated with clinical insomnia in CLBP. Among these factors, the presence of comorbid musculoskeletal pain other than back pain was the strongest determinant, with the highest odds ratio of 8.074 (95% CI 4.250 to 15.339) for predicting clinical insomnia. Conclusions: Insomnia should be addressed as an integral part of pain management in CLBP patients with these risk factors, especially in patients suffering from CLBP with comorbid musculoskeletal pain.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.589-594
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• 2015

In this paper, we described the Cramer-Rao Lower Bound (CLRB) performances of Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) methods when there are multiple emitters. The TDOA and FDOA values between two receivers can be simultaneously estimated by using the so-called Complex Ambiguity Function (CAF). In the case of multiple emitters, there exist Inter Symbol Interferences (ISIs) in the measurement data. Therefore, it is required to reduce the effect of ISI and provide a performance evaluation method of TDOA and FDOA estimations. In order to eliminate the ISIs, using of a filter bank before calculating CAF is proposed when the carrier frequencies of the emitters are different to one another. Angle of Arrival (AOA) or Received Signal Strength (RSS) methods before calculating CAF were proposed to reduce the ISIs when the carrier frequencies are the same. In order to evaluate the CRLB of TDOA and FDOA estimations, we employed the conditional probability distribution method and described the numerical comparison results.