• 한국전산구조공학회논문집
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• 제32권6호
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• pp.383-390
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• 2019

본 논문에서는 AISC 표준 단면을 설계 변수로 하는 캔틸레버 타입 헬리데크 모델의 유전 알고리즘 최적설계를 소개한다. AISC 표준 단면을 단면 형상별로 분류하고 단면적 순으로 정렬한 후 정수 단면 번호를 부여하여 설계 변수로 최적설계를 수행하였다. 이 과정을 통하여 이산화된 설계 변수를 가지는 최적설계 문제를 해결하기 위해 유전 알고리즘을 적용하였다. 또한, 제약조건으로 허용응력 및 허용응력비 검사 조건을 모두 고려하여 구조물의 구조 안정성을 고려한 설계를 수행하였다. 최적설계 과정중 매 반복계산 마다 수행되는 구조 해석 시간을 단축시키기 위해 선형 중첩법을 사용하였고, 이를 통해 구조해석 시간을 약 75% 감소시킬 수 있었다. 또한 헬리데크 최적설계의 경량 효과를 높이기 위해 부재 그룹 세분화를 하였고, 그 결과를 선행 연구 모델, 기존의 부재 그룹 모델과 비교하였다. 그 결과 선행연구 대비 약 30톤의 부재를 절감할 수 있었으며, 구조적으로도 보다 안전한 헬리데크 설계를 얻을 수 있었다.

• 지적과 국토정보
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• 제46권1호
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• pp.133-148
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• 2016

다양한 산업에서 드론의 활용 가능성이 높아지는 추세에 따라 무인기 관련 법 개정에 대한 요구가 커지고 있다. 그러나 현재 드론은 조종사의 비행 조건 및 운용 범위가 엄격하게 제한되고 가시 환경 하에서만 운용이 가능하므로, 택배 등의 산업에는 활용이 어렵다. 따라서 다양한 산업에서의 드론 활용 가능성을 높이기 위해서는 위치정확도 향상은 물론이고, 무인기의 충돌을 방지하고, 위험요소를 회피하기 위한 적절한 보호수준(Protection Level)을 계산하는 것이 필수적이다. 보호수준을 포함한 무결성 정보는 SBAS(Satellite Based Augmentation Systm) 시스템을 이용한 보강항법 수행을 통해 산출할 수 있으며, 이를 통해 GPS(Global Positioning System) 단독측위가 가지는 한계를 보완할 수 있다. 이에 따라 본 논문에서는 LAAS(Local Area Augmentation System) 착륙 카테고리별 결심고도를 기준으로 드론의 비행고도를 설정하여, GPS 단독측위와 SBAS 보강항법 수행 시의 하루 중 항법수행 가능 시간의 비율을 비교하는 시뮬레이션을 수행하였다.

• International Journal of Aeronautical and Space Sciences
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• 제13권2호
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• pp.238-249
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• 2012

Flight test of flapping micro air vehicles (FMAVs) is carried out using an instrumented measurement system to obtain various engineering parameters and hence to assess the flight performance of the vehicles through the data investigation. An indoor flight test facility equipped with a motion capture system and tracking cameras is used for the work presented in this paper. Maneuvers including straight-level flight, ground flapping, takeoff and landing are tested. Spatial position and orientation data are obtained from the retro-reflective tracking markers attached to the vehicles. Subsequent test analysis is carried out by generating performance parameters from raw data and then assessing the flight performance by comparison of the vehicles. The main findings of this work confirm that the test method and procedures presented here enable the systematic numerical data measurement and assessment of the flying performances of these vehicles, and show the applicability for the test and evaluation of general flapping MAVs.

• 한국운동역학회지
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• 제22권3호
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• pp.269-276
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• 2012

The purpose of This study's aim is to examine the difference in the changes of body segment movement, variables for ball quality, and carry at golf driver swing according to the ball quality using comparative analysis. Regarding the impact variables according to the ball quality using the track man and carry, club speed was the fastest at draw shot, ball speed was the fastest at straight shot, and smash factor was the lowest at draw shot. About the vertical launch angle, the fade shot showed the highest launch angle while the max height of the ground and ball was the highest at fade shot. And carry was the longest at draw shot. For the flight time, it was the longest at draw shot. The landing angle was the largest at fade shot. About the club head position change and trajectory, at the overall event point, the fade shot drew a more outer trajectory at the point of the follow through(E6) than the straight or draw shot. Regarding the angular speed of shoulder rotation, at the overall event point, the fade shot showed the greatest angular speed change in the follow through(E6). Also, about the angular speed of pelvic rotation, at the overall event point, the draw shot showed the greatest angular speed change at the point of down swing(E4). Concerning the stance angle change, both straight and fade shots were open as the concept of open stance whereas the draw shot was close as that of close stance. Regarding the previous study, the most important factor of deciding Ball Quality is the club face angle's open and close state at Impact. In short, the Ball Quality and carry were decided by this factor.

• 대기
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• 제17권4호
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• pp.435-453
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• 2007

KEOP (Korea Enhanced Observing Period)-2004 intensive summer observation was carried out from 20 June to 5 July 2004 over the Southwestern part of the Korean peninsula. In this study, the effects of KEOP-2004 intensive observation data on the simulation of precipitation system are investigated using KLAPS (Korea Local Analysis and Prediction System) and PSU/NCAR MM5. Three precipitation cases during the intensive observation are selected for detailed analysis. In addition to the control experiments using the traditional data for its initial and boundary conditions, two sensitivity experiments using KEOP data with and without Jindo radar are performed. Although it is hard to find a clear and consistent improvement in the verification score (threat score), it is found that the KEOP data play a role in improving the position and intensity of the simulated precipitation system. The experiments started at 00 and 12 UTC show more positive effect than those of 06 and 18 UTC. The effect of Jindo radar is dependent on the case. It plays a significant role in the heavy rain cases related to a mesoscale low over Changma front and the landing of a Typhoon. KEOP data produce more strong difference in the 06/18 UTC experiments than in 00/12 UTC, but give more positive effects in 00/12 UTC experiments. One of the possible explanations for this is that : KEOP data could properly correct the atmosphere around them when there are certain amounts of data, while gives excessive effect to the atmospheric field when there are few data. CRA analysis supports this reasoning. According to the CRA (Contiguous Rain Area) analysis, KEOP data in 00/12 UTC experiments improve only the surrounding area, resulting in essentially same precipitation system so the effects remain only in each convective cell rather than the system itself. On the other hand, KEOP data modify the precipitation system itself in 06/18 UTC experiments. Therefore the effects become amplified with time integration.

• 한국항공우주학회지
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• 제45권9호
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• pp.711-723
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• 2017

본 연구에서는 재형상 특성을 지닌 유기적 비행 어레이의 비행 제어 시스템 설계에 대한 내용을 제안하였다. 단일 덕티드팬의 결합과 분리를 기반으로 구성되는 유기적 비행어레이는 주어진 임무나 주변 상황에 대해 유기적으로 어레이 형상을 변화시킬 수 있는 장점을 가진다. 이와 더불어 덕티드팬 비행체 기반이기 때문에 호버링이 가능하여 실내 정찰, 통신 중계, 레이더 재밍과 같은 미션에 유용하게 사용 된다. 비행 어레이의 동역학모델링은 단일 덕티드팬 비행체의 동역학 모델을 기반으로 구성되며, 비선형 제어기법을 적용하기 위해 어파인 형태의 동역학 식에 대한 유도를 수행한다. 비행체 자세 제어를 위해 Backstepping 제어기법을 적용하였으며 PID 제어기법을 통해 위치 제어 루프를 구현한다. 또한 수치 시뮬레이션을 통해 제안 된 제어기가 주어진 상황에서 충분한 성능을 보이는지를 검증하였다.

• Journal of Positioning, Navigation, and Timing
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• 제4권1호
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• pp.1-7
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• 2015

In the case of an unmanned aerial vehicle (UAV) equipped with a GNSS sensor, a boundary line where the vehicle can actually exist can be calculated using a navigation error model, and safe navigation (e.g., precise landing and collision prevention) can be supported based on this boundary line. Therefore, for the safe operation of UAV, a model for the position error of UAV needs to be established in advance. In this study, the multipath error of a GNSS sensor installed at UAV was modeled through a flight test, and this was analyzed and compared with the error model of an existing manned aircraft. The flight test was conducted based on a scenario in which UAV performs hovering at an altitude of 40 m, and it was found that the multipath error value was well bound by the error model of an existing manned aircraft. This result indicates that the error model of an existing manned aircraft can be used in operation environments similar to the scenario for the flight test. Also, in this study, a scenario for the operation of multiple UAVs was considered, and the correlation between the multipath errors of the UAVs was analyzed. The result of the analysis showed that the correlation between the multipath errors of the UAVs was not large, indicating that the multipath errors of the UAVs cannot be canceled out.

• 한국운동역학회지
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• 제26권3호
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• pp.243-248
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• 2016

Objective: The aim of this study was to determine the kinematical characteristics of somersault with twist in the Lou Yun and Akopian motions and to provide useful information to gymnastic athletes in men's vault. Method: The study subjects were 12 male adult top athletes. After 12 trials (7 Lou Yun and 5 Akopian trials) filmed by using two digital high-speed camcorders set at 90 frames/sec, kinematical data were collected through the direct linear transformation (DLT) method. The mean differences in biomechanical variables were compared during the second flight upward phase. The kinematic characteristics of somersault with twist in the Lou Yun and Akopian motions were identified. Results: In Lou Yun motion, the vertical release velocity through horse breaking was not difficult to obtain, so the athletes had enough time to prepare for the twist. Therefore, the Lou Yun motion has an advantage to make a cat twist in the pike posture. In the Akopian motion, obtaining the horizontal velocity through horse pushing was so easy that the Akopian athletes attained a large angular impulse and angular momentum. Therefore, the Akopian motion has an advantage to making a tilt twist in the body tilting posture. Conclusion: This study suggests that gymnastic athletes should control their body segment movements in order to increase the twisting angular velocity of the whole body, which requires regulation of the longitudinal moment of inertia of the body. Moreover, athletes should prepare for the shoulder and hip twists early in order to make the landing position in advance.

• 한국소음진동공학회논문집
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• 제25권2호
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• pp.108-115
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• 2015

Electro-mechanical actuator installed on aircraft consists of a decelerator which magnifies the torque in order to rotate an axis connected with aircraft control surface, a control section which controls the motor assembly through receiving orders from cockpit and a motor assembly which rotates the decelerator. Electro-mechanical actuator controls aircraft altitude, position, landing, takeoff, etc. It is an important part of a aircraft. Aircraft maneuvering causes vibrations to electro-mechanical actuator. Vibrations may result in structural fatigue. For that reason, it is necessary to analyze the system structural safety. In order to analyze the system structural safety. It is needed reasonable finite element model and structural response stress closed to real value. In this paper, analytic model is derived by using the simplified finite element model, and damping ratio which is closely related to response stress is derived by using modal test. So, we developed analytic model in less than 10 % error rate, compared with modal test. Vibration response stress close to real value was estimated from analytic model modified with modal experimental damping ratio. Estimation method for damping ratio with empirical formula was suggested partly. Finally, It was proved that electro-mechanical actuator had reasonable structure margin of safety at environmental random $3{\sigma}$ stress during life cycle.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.