• Journal of Advanced Navigation Technology
• /
• v.8 no.2
• /
• pp.112-119
• /
• 2004

This paper proposes an attitude determination GPS/INS integrated system scheme for a UAV and presents experimental flight test results. The proposed system is designed as a part of an autopilot system and comprises a GPS attitude determination receiver, an off-the-shelf inertial measurement unit (IMU), and a navigation computer unit (NCU). UAV requires accurate attitude information for stable automatic flight control. The proposed system can provide accurate attitude information for the flight control computer (FCC) so that stable automatic flight control can be achieved. In order to verify the performance of the proposed scheme, an integrated navigation system has been developed. In order to evaluate the developed navigation system, the flight test has been performed. In the flight test, the developed system was shown to provide the position, the velocity and the attitude satisfactorily enough for stable flight control. The accuracy of the attitude information of the developed system was confirmed by comparing attitude of vertical gyro.

• International Journal of Advanced Culture Technology
• /
• v.7 no.1
• /
• pp.231-236
• /
• 2019

Background/Objectives: This paper proposes a dual mode feedback-controlled cycling system for children with spastic cerebral palsy to rehabilitate upper extremities. Repetitive upper limb exercise in this therapy aims to both reduce and analyze the abnormal torque patterns of arm movements in three- dimensional space. Methods/Statistical analysis: We designed an exercycle robot which consists of a BLDC motor, a torque sensor, a bevel gear and bearings. Mechanical structures are customized for children of age between 7~13 years old and induces reaching and pulling task in a symmetric circulation. The shafts and external frames were designed and printed using 3D printer. While the child performs active/passive exercise, angular position, angular velocity, and relative torque of the pedal shaft are measured and displayed in real time. Findings: Experiment was designed to observe the features of a cerebral palsy child's exercise. Two children with bilateral spastic cerebral palsy participated in the experiment and conducted an active exercise at normal speed for 3 sets, 15 seconds for each. As the pedal reached 90 degrees and 270 degrees, the subject showed minimum torque, in which the child showed difficulty in the pulling task of the cycle. The passive exercise assisted the child to maintain a relatively constant torque while visually observing the movement patterns. Using two types of exercise enabled the child to overcome the abnormal torque measured in the active data by performing the passive exercise. Thus, this system has advantage not only in allowing the child to perform the difficult task, which may contribute in improving the muscle strength and endurance and reducing the spasticity but also provide customizable system according to the child's motion characteristic. Improvements/Applications: Further study is needed to observe how passive exercise influences the movement characteristics of an active motion and how customized experiment settings can optimize the effect of pediatric rehabilitation for spastic cerebral palsy.

• Journal of the Korean Society of Industry Convergence
• /
• v.24 no.5
• /
• pp.617-623
• /
• 2021

The objective of this study is to simulate valve flow coefficient and flow characteristics such as velocity and pressure distribution for butterfly valve. The size of the valve used in this study is 125A. The range of the valve opening angle was α=15°~70°, and it was changed by 5°. At the range of α=15°~30°, the valve flow coefficient K_𝜐 gradually increased, and after α=30°, it increased rapidly. In the range of α=20°~70°, the pressure change in the -2.9cm~+2.9cm region in the pipe greatly depended on the opening angle and the position within the pipe. However, after +2.9cm, the pressure at the rear end of the valve was shown to depend only on the opening angle. At α=20°, Vortex shedding occurred for the first time at time t=0.25sec and continuously occurred in rear end of the valve over time. After α=45°, in the flow pattern at the rear end of the valve, the upward flow at the lower end of the valve and the flow at the upper end met each other to form a mixed flow. This flow phenomenon was shown to form a more intense mixed flow in the rear end region as the opening angle increased. Vortex flow occurred for the first time at α=15°, and the opening angle increased, the occurrence and disappearance of this flow phenomenon occurred periodically according to the certain flow region. The pattern of the pressure distribution in the region at the rear end of the valve showed a tendency to agree well with the results of the vorticity distribution.

• Korean Journal of Applied Biomechanics
• /
• v.17 no.2
• /
• pp.177-185
• /
• 2007

Even though there were no clear definitions of the short game and short game distance, short game capability is crucial for a good golf score. Generally, chip shot and pitch shot are regarded as two principal components of the short game. Chip shot is a short, low trajectory shot played to the green or from trouble back into play. Pitch shot is a high trajectory shot of short length. Biomechanical studies were conducted usually to analyze full swing and putting motions. The purpose of the study was to reveal the kinematical differences between professional golfers' 30 yard $53^{\circ}wedge$ chip shot and $56^{\circ}wedge$ pitch shot motions. Fifteen male professional golfers were recruited for the study. Kinematical data were collected by the 60 Hz three-dimensional motion analysis system. Statistical comparisons were made by paired t-test, ANOVA, and Duncan of the SPSS 12.0K with the $\alpha$ value of .05. Results show that both the left hand and the ball were placed left of the center of the left and right foot at address. The left hand position of the chip shot was significantly left side of that of the pitch shot. But the ball position of the pitch shot was significantly right side of that of the chip shot. All body segments aligned to the left of the target line, open, at address. Except shoulder, there were no significant pelvis, knee, and feet alignment differences between chip shot and pitch shot. These differences at address seem for the ball height control. Pitch shot swing motions(the shoulder and pelvis rotation and the club head travel distance) were significantly bigger than those of the chip shot. Club head velocity of the pitch shot was significantly faster than that of the chip shot at the moment of impact. This was for the same shot length control with different lofted clubs. Swing motion differences seem mainly caused by the same shot length control with different ball height control.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.39 no.3
• /
• pp.1-9
• /
• 2016

NSS (Navigation satellite system) provides the information for determining the position, velocity and time of users in real time using satellite-networking, and is classified into GNSS (Global NSS) and RNSS (Regional NSS). Although GNSS services for global users, the exactitude of provided information is dissatisfied with the degree required in modern systems such as unmanned system, autonomous navigation system for aircraft, ship and others, air-traffic control system. Especially, due to concern about the monopoly status of the countries operating it, some other countries have already considered establishing RNSS. The RNSS services for users within a specific area, however, it not only gives more precise information than those from GNSS, but also can be operated independently from the NSS of other countries. Thus, for Korean RNSS, this paper suggests the methodology to design the satellite constellation considering the regional features of Korean Peninsula. It intends to determine the orbits and the arrangement of navigation satellites for minimizing PDOP (Position dilution of precision). PGA (Parallel Genetic Algorithm) geared to solve this nonlinear optimization problem is proposed and STK (System tool kit) software is used for simulating their space flight. The PGA is composed of several GAs and iterates the process that they search the solution for a problem during the pre-specified generations, and then mutually exchange the superior solutions investigated by each GA. Numerical experiments were performed with increasing from four to seven satellites for Korean RNSS. When the RNSS was established by seven satellites, the time ratio that PDOP was measured to less than 5 (i.e. better than 'Good' level on the meaning of the PDOP value) was found to 94.3% and PDOP was always kept at 10 or less (i.e. better than 'Moderate' level).

• The Journal of the Convergence on Culture Technology
• /
• v.6 no.4
• /
• pp.685-692
• /
• 2020

In this study, the experimental and analytical study were performed on the location of longitudinal cracks in the middle of underground box structures. The location where the longitudinal cracking occurred was investigated that the overlapping joint of the rebar and the section of maximum tensile stress generated. Using the finite element analysis, the strength reduction ratio of the rebar was estimated by lack of overlap joint length. As the result of adequacy investigation for the length of the overlap joint presented in the design criteria, it was analytically proved that the lack of the overlap joint length could be cause the decreasing cross-sectional force and concrete cracking. As the result of this study, the adequacy of the overlapping criterion in the current design criteria was confirmed based on the finite element analysis and actual field case. In the case of overlapping joints installed in inappropriate position, it was considered that a long term crack control would be need to ensure the sufficient safety factor for the designed cross-sectional force.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.29 no.7
• /
• pp.980-991
• /
• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.7 no.3
• /
• pp.281-288
• /
• 2002

This paper has realized a control system of a vibrator using PM excited Transverse Flux Linear Motor(TFLM). Proposed vibrator can supply a vibration force up to 700[N] at rated current, wide operation range of vibration displacement and high frequency for a tested structure. Also, volume of a vibrator system can be decreased because of a high trust force rato(a thrust force per weight=N/Kg). A proposed vibrator instead of a hydraulic vibrator can improve efficiency and have may advantages of maintenance and management. A desired value command is a vibration frequency and displacement in a controller for a vibrator system and a controlled values we a instant position and velocity of a mover Output value of the controller is phase current controlled by PWM converter. In this research, Dynamic simulation has been executed for analysis of a control algorithm and dvnauuc characteristics and is compared with experimental result.

• Journal of Advanced Navigation Technology
• /
• v.15 no.1
• /
• pp.32-38
• /
• 2011

In this paper, code and carrier tracking error which resulted from spoofing signal was analyzed by simulation. For a start, the types of spoofing signals and methods were classified. For the simulation, search spoofing method is assumed because a perfect position and velocity are not generally informed to spoofing device. In most cases, the tracking error is increased but a complete deception does not happen because of the inherent anti-spoofing characteristics of the GPS signal.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.5
• /
• pp.357-365
• /
• 2013

In this study, forces and moments were measured on a projectile which consisted of a missile configuration body(shell) and a head installed control fins. The shell and the head were separated each other and the shell was rotated by an electric motor. The head rotated reversely against the rotational direction of the shell. The rotational force on the head was obtained from a couple of fixed fins of which angular displacement were set to the rotational direction equally. The air velocity was 40m/s on the experiment and the Reynolds number based on the diameter of head was $1.3{\times}10^5$. The other couple of fins were used to control the position and direction of the projectile by changing the angular displacement. From this experiment, the variation of force and moment were measured on the rotating projectile, and the effective amplitude and frequency were obtained through the FFT analysis.