• 전기학회논문지
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• 제60권1호
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• pp.161-166
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• 2011

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.951-957
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• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2000년도 춘계학술대회 논문집
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• pp.63-68
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• 2000

A very large floating structure has rather small motion characteristics as to the whole body, while the motion at end part of such structure becomes largest due to the elastic motion of the structure. This paper presents on the theoretical result on the relative motion characteristics and green water phenomena of VLFS in waves This phenomena affect not only to strength of the structure but also the determination of depth of structure. To predict motion responses of structure in regular waves, the source-dipole distribution method and F.E.M is used By irregular wave results, the probability of occurrence of green water and response of the structure were calculated.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 한국멀티미디어학회논문지
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• 제14권3호
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• pp.378-391
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• 2011

본 논문에서는 입력장치로 들어오는 수많은 시각정보 중 현 시점에서 가장 유용하다고 생각되는 정보를 인간의 상향식 주의시각에 기반하여 선택하는 시각정보 선택기법에 대해 소개한다. 제안하는 시스템은 색상, 명도, 방위, 형태 등 저수준의 공간특징 외에 시간특징으로서 움직임 정보와 3차원 정보인 깊이 정보를 추가적으로 사용함으로써 기존방법에 비해 정보 선택의 정확도를 높혔다. 움직임 정보 추출 시 발생할 수 있는 노이즈를 제거하기 위해 인간의 움직임 인지에 대한 연구결과를 이용하는 새로운 접근법을 사용하였으며, 입력 영상 내 객체들이 부분적으로 겹쳐있다거나 동일한 현저도를 가지고 있을 때에도 현저한 영역을 제대로 선택해낼 수 있도록 깊이 정보를 사용하여 유의미한 영역을 선별하고 우선순위를 부여하였다. 실험결과를 통해 제안하는 방법이 기존의 방법에 비해 높은 정확도를 가짐을 확인할 수 있었다.

• Geomechanics and Engineering
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• 제8권5호
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• pp.663-674
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• 2015

Many seismically vulnerable regions in India and worldwide are located on deep soil deposits which extend to several hundred meters of depth. It has been well recognized that the earthquake shaking is altered by geological conditions at the location of building. As seismic waves propagates through uppermost layers of soil and rock, these layers serve as filter and they can increase the duration and amplitude of earthquake motion within narrow frequency bands. The amplification of these waves is largely controlled by mechanical properties of these layers, which are function of their stiffness and damping. Stiffness and damping are further influenced by soil type and thickness. In the current study, an attempt has been made to study the seismic site response of deep soils. Three hypothetical homogeneous soil models (e.g., soft soil, medium soil and hard soil) lying on bedrock are considered. Depth of half space is varied from 30 m to 2,000 m in this study. Controlled synthetic motions are used as input base motion. One dimensional equivalent linear ground response analyses are carried out using a computer package DEEPSOIL. Conventional approach of analysing up to 30 m depth has been found to be inadequate for deep soil sites. PGA values are observed to be higher for deeper soil profiles as compared to shallow soil profiles indicating that deeper soil profiles are more prone to liquefaction and other related seismic hazards under earthquake ground shaking. The study recommends to deal the deeper soil sections more carefully for estimating the amplification factors for seismic hazard assessment at the surface.

• 대한조선학회지
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• 제12권2호
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• pp.59-66
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• 1975

Recently, as the dimensions of energy carriers increase, especially in draft, a reliable prediction of the ship motions at finite depths of water becomes necessary. The purpose of this paper is to probe the effect of finite water depth on the hydrodynamic forces and ship motions, particularly heave and pitch, in longitudinal regular head waves, by comparing the experimental value of Freakes and Keay with the author's theoretical value obtained by applying the modified strip theory to the Mariner class ship. It is confirmed that generally the hydrodynamic coefficients in the equations of motion increase with decreasing water depth, and the wave exciting forces and moments decrease with decreasing water depth. Amplitudes of heave and pitch in longitudinal regular head waves decrease as the water depth in the range where the length of the incident wave is comparatively long. The effects of Froude Number on the hydrodynamic coefficients increase with decreasing water depth and is more noticeable in the case of heave than pitch. In heave, generally the discrepancy between the experimental value and the theoretical value is relatively small in the case of $F_n=O$, but it is very large in the case of $F_n=0.2$. It is considered that the trend stems from the ignorance of the three dimensional effect and the other effects due to shallowness of water on the hydrodynamic coefficients in the theoretical calculation. An extension of methods for calculating the two dimensional hydrodynamic forces to included the effect of forward speed should be recommended. It is required that more experimental works in finite water depths will be carried out for correlation studies between the theoretical calculation, according tp modified strip theory, and model experiments.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2007년도 7th International Meeting on Information Display 제7권1호
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• pp.1031-1034
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• 2007

The interactions between two-dimensional and three-dimensional stimulus configurations on visually induced self-motion perception (vection) were examined. The experiment revealed that there is no 2D-3D interaction, and vection strength is determined solely by the size of the moving background stimulus, which should be a primary factor in inducing vection.

• International Journal of Ocean System Engineering
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• 제2권3호
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• pp.176-184
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• 2012

Installing floating structures in a coastal area requires careful observation of the finite-depth effect. In this paper, a Rankine panel method that includes the finite-depth effect is developed in the time domain. The bottom boundary condition is satisfied by directly distributing Rankine panels on the bottom surface. A stepwise analysis is performed for the radiation diffraction problems and consequently freely-floating motion responses over different water depths. The hydrodynamic properties of two test hulls, a Series 60 and a floating barge, are compared to the results from another computation program for validation purposes. The results for both hulls change remarkably as the water depth becomes shallower. The important features of the results are addressed and the effects of a finite depth are discussed.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.935-940
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• 2002

For robot navigation and visual reconstruction, structure from motion (SFM) is an active issue in computer vision community and its properties arc also becoming well understood. In this paper, when using stereo image sequence and direct method as a tool for SFM, we present a new method for overcoming bas-relief ambiguity. We first show that the direct methods, based on optical flow constraint equation, are also intrinsically exposed to such ambiguity although they introduce robust methods. Therefore, regarding the motion and depth estimation by the robust and direct method as approximated ones. we suggest a method that refines both stereo displacement and motion displacement with sub-pixel accuracy, which is the central process f3r improving its ambiguity. Experiments with real image sequences have been executed and we show that the proposed algorithm has improved the estimation accuracy.