• International Journal of Naval Architecture and Ocean Engineering
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• 제6권4호
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• pp.1000-1013
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• 2014

This paper presents some of the efforts by the authors towards numerical prediction of springing of ships. A time-domain Higher Order Boundary Element Method (HOBEM) based on cubic shape function is first presented to solve a complete second-order problem in terms of wave steepness and ship motions in a consistent manner. In order to avoid high order derivatives on the body surfaces, e.g. mj-terms, a new formulation of the Boundary Value Problem in a body-fixed coordinate system has been proposed instead of traditional formulation in inertial coordinate system. The local steady flow effects on the unsteady waves are taken into account. Double-body flow is used as the basis flow which is an appropriate approximation for ships with moderate forward speed. This numerical model was used to estimate the complete second order wave excitation of springing of a displacement ship at constant forward speeds.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 한국공작기계학회논문집
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• 제16권6호
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• 천문학회보
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• 제37권1호
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• pp.83.1-83.1
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• 2012

We have developed an self-consistent PDR model to synthesize warm CO lines of Herschel/PACS observations more accurately. The PDR model solves the FUV continuum radiative transfer, gas energetics, and chemistry simultaneously. A local FUV radiation flux is calculated by using a Monte Carlo method taking anisotropic scattering into account. A new (r, ${\delta}$) coordinate system was used, where the r is the distance from the origin and the ${\delta}$ is z/$R^2$ in the cylindrical coordinate of (R,z). This is an adequate coordinate system to represent a power-law density of an envelope and a high spatial resolution near the outflow wall. The gas enegetics and chemistry are solved locally and considered $10^4K$ blackbody radiation field instead of the interstellar radiation filed. This newly developed model can be used to analyze quantitatively the effect of UV-heated outflow walls on the warm molecular lines in the embedded proto-stellar objects.

• 전자공학회논문지B
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• 제33B권12호
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• 한국광학회지
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• 제1권2호
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• pp.217-222
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• 1990

A general ray tracing scheme has been developed for using a personal computer which trace finite rays through any non-rotationally symmetric system. This scheme may be used for the surface type such as conic section with or without aspherics, toric surfaces, sagittal and tangential cylindrical sections and axicons. Specially, any combinational of decentered, tilted and rotated surfaces has been considered. Before transfering to the next surfaces, the local coordinates are refered back to an initial reference coordinate system. We can get a mathmtical model of a non-rotationally symmetrical finite ray trace running on an inexpensive personal computer.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.900-907
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• 2000

The three-dimensional turbulent flow in curved pipes susceptible to flow-accelerated corrosion has been analyzed numerically to predict the pressure and shear stress distributions on the inner surface of the pipes. The analysis employs the body-fitted non-orthogonal curvilinear coordinate system and a standard $ {\kappa}-{\varepsilon}$ turbulence model with wall function method. The finite volume method is used to discretize the governing equations. The convection term is approximated by a high-resolution and bounded discretization scheme. The cell-centered, non-staggered grid arrangement is adopted and the resulting checkerboard pressure oscillation is prevented by the application of a modified version of momentum interpolation scheme. The SIMPLE algorithm is employed for the pressure and velocity coupling. The numerical calculations have been performed for two curved pipes with different bend angles and curvature radii, and discussions have been made on the distributions of the primary and secondary flow velocities, pressure and shear stress on the inner surface of the pipe to examine applicability of the present analysis method. As the result it is seen that the method is effective to predict the susceptible systems or their local areas where the fluid velocity or local turbulence is so high that the structural integrity can be threatened by wall thinning degradation due to flow-accelerated corrosion.

• Korean Journal of Geomatics
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• 제5권1호
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• pp.21-26
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• 2005

According to revisions of survey law taking effect on January 1, 2003, the Korean geodetic datum has been changed from a local geodetic to a world geodetic system. In this study, the datum transformation parameters especially for the maritime geographical data are determined. From database constructed through MGIS, a total of 492 coordinate pairs were selected and used in the parameter determination after outlier testing. Based on the parameter estimation, the Molodensky model is selected for datum transformation. For higher accuracy, Application of network optimization and a least squares collocation with Gaussian model has resulted in the accuracy better than 15 cm in coordinate transformation.

• 호남수학학술지
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• 제34권4호
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• pp.513-517
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• 2012

Let L(M) be the bundle of all linear frames over a smooth manifold M, $u$ an arbitrarily given point of L(M), and ${\nabla}:\mathfrak{X}(M){\times}\mathfrak{X}(M){\rightarrow}\mathfrak{X}(M)$ a linear connection on M. Then the following result is well known: the horizontal subspace at the point $u$ may be written in terms of local coordinates of $u{\in}L(M)$ and Christoel's symbols defined by ${\nabla}$. This result is very fundamental on the study of the theory of connections. In this paper we show that the local expression of the horizontal subspace at the point u does not depend on the choice of a local coordinate system around the point $u{\in}L(M)$, which is rarely seen.

• 충청수학회지
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• 제25권4호
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• pp.731-738
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• 2012

Let L(M) be the bundle of all linear frames over $M,\;u$ an arbitrarily given point of L(M), and ${\nabla}\;:\;\mathfrak{X}(M)\;{\times}\;\mathfrak{X}(M)\;\rightarrow\;\mathfrak{X}(M)$ a linear connection on L(M). Then the following results are well known: the horizontal subspace and the connection form at the point $u$ may be written in terms of local coordinates of $u\;{\epsilon}\;L(M)$ and Christoffel's symbols defined by $\nabla$. These results are very fundamental on the study of the theory of connections. In this paper we show that the local expressions of those at the point $u$ do not depend on the choice of a local coordinate system around the point $u\;{\epsilon}\;L(M)$, which is rarely seen. Moreover we give full explanations for the following fact: the covariant derivative on M which is defined by the parallelism on L(M), determined from the connection form above, coincides with $\nabla$.