• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.6
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• pp.506-514
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• 2012

This paper represents a method for designing of path following Line-of-Sight(LOS) guidance law based on vehicle kinematics. In general, a LOS guidance law which is composed of gains and approach length as design parameters is designed by empirical or trial-and-error method. These approaches cannot guarantee a precision tracking performance of guidance law consistently. Also, the design parameters should be redesigned with variations of vehicle maneuverability and flight velocity. Based on a vehicle kinematics with its velocity, the proposed method for designing of parameters not only minimizes the number of design parameters, also has a reliable and consistent tracking performance using variable guidance gain changed in accordance with flight velocity. This is validated by nonlinear simulation with $1^{st}$ order attitude response dynamics and flight experiments with given linear and circular path.

• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.174-179
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• 2016

In this paper, a novel full-aperture reflective null measuring method is proposed to detect the transmission wavefront of a conformal dome surface. An aspheric compensator is designed and placed behind the dome to reflect the aspheric testing wave back to the same path. To ensure the feasibility of this method, tolerance analysis is conducted, and guidance to assembly is given accordingly. The accuracy of this method is verified to be λ/30 (λ =3.39 μm) by Monte Carlo algorithm. In addition, the influence of different error factors, including the thickness error and decenter error of the dome, on the testing wavefront is analyzed. Simulation and experiment indicate that this method is practical and simple, and can measure the conformal domes precisely and comprehensively.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1309-1315
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• 2011

The design process for obtaining the reliable steeraxle casting beam of fork lift truck is studied in this paper, as the casting beam is major component of steeraxle which has a steering function at driving. In this study, the driving mode and damage pattern of casting beam which could be occurred from the customer site were analyzed and it established the design process to predict the fatigue life by FEA(Finite Element Analysis) so that the reliability of steeraxle casting beam could be verified at DVT(Design Validation Test) mode. This paper provides guidance on the process of designing the reliable steeraxle casting beam at the initial design stage and also, provides guidance on the process of solving the problem when the failure is occurred in the field.

• Journal of Drive and Control
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• v.17 no.3
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• pp.9-14
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• 2020

A special purpose machine with two manipulators and quadruped crawler system is being developed to work at disaster sites where it is intended to quickly respond in the initial stages after the event. In this study, a terrain recognition module is developed so that the above special purpose machine can quickly obtain ground information to help choose its path while recognizing objects in its way, this is intended to enhance the remote driver's limited situational awareness. Terrain recognition modules were developed for two tasks (real-time path guidance, precision terrain measurements). The real-time path guidance analyzes terrain and obstacles while moving, while the precision terrain measurement feature provides more accurate terrain information by precisely measuring the ground in front of the vehicle while stationary. In this study, an air-cooled sensor protection module was developed so that the terrain recognition module can continue its vital tasks in the event of exposure to foreign substances, including scattered dust, mist and rainfall, as well as high temperatures.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.985-990
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• 1995

Recently, the development of high speed and high precision NC-lathe for piston head machining is needed for the complexity and diversity of the piston head shape used in automobile reciprocating engine. THe piston head has many complex shapes in the aspect of fuel economy, such as ovality, profile, double ovality and recess. Among them, for the maching of the over shape of 0.1~1mm the cutting tool should move periodically symchronized with the rotation of piston workpiece. The cutting tool feeed system must have high positioning accuracy for the precise machining, high speed for the fast maching and high dynamic stiffness for the cutting force. The linear brushless DC motor is used for satisfying these coditions. The ballbush guide and supporting guide using turcite is used for the guidance of the feed drive system. Linear encoder, digital servo ampllifer and controller are used for driving the motor. THis paper presents the design and simulation of the new tool feed system for noncircular machining.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.135-138
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• 2005

Robotic devices have been widely used in many medical applications due to their accuracy and programming ability. One of the applications is a virtual reality medical simulator, which trains medical personnel in a computer generated environment. In this paper, we are going to present an application, an epidural anesthesia trainer. Because performing epidural injections is a delicate task, it demands a high level of skill and precision from the physician. This trainer uses a robotic device and computer controlled solenoid valve to recreate interaction forces between the needle and the various layers of tissues around the spinal cord. The robotic device is responsible for generation of interaction forces in real time and can be used to be haptic guidance that allows the user to follow a previous recorded expert procedure and feel the encountered forces.

• Journal of Drive and Control
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• v.17 no.4
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• pp.8-14
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• 2020

Intelligent devices using ICT technology have been introduced in the field of construction machinery to improve productivity and stability. Among the intelligent devices, Machine Guidance is a device that provides real-time posture, location, and work range to drivers by installing various sensors, controllers, and satellite navigation systems on construction machines. Conversely, the efficiency of equipment that requires location information, such as machine guidance, will be greatly reduced in buildings, and tunnels in the GPS blind spots. Thus, the other high-precision positioning technologies are required in the GPS blind spot zone. In this study, we will develop a relative position measurement system that provides precise location information such as construction machinery and robots in a local area where the GPS reception is difficult. A relative position measurement system tracks a marker in the form of a sphere installed on a vehicle by using the image base tracking technology, and measures the distance and direction information to the marker to calculate a position.

• Journal of Intelligence and Information Systems
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• v.20 no.2
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• pp.149-162
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• 2014

Course guidance is a mentoring process which is performed before students register for coming classes. The course guidance plays a very important role to students in checking degree audits of students and mentoring classes which will be taken in coming semester. Also, it is intimately involved with a graduation assessment or a completion of ABEEK certification. Currently, course guidance is manually performed by some advisers at most of universities in Korea because they have no electronic systems for the course guidance. By the lack of the systems, the advisers should analyze each degree audit of students and curriculum information of their own departments. This process often causes the human error during the course guidance process due to the complexity of the process. The electronic system thus is essential to avoid the human error for the course guidance. If the relation data model-based system is applied to the mentoring process, then the problems in manual way can be solved. However, the relational data model-based systems have some limitations. Curriculums of a department and certification systems can be changed depending on a new policy of a university or surrounding environments. If the curriculums and the systems are changed, a scheme of the existing system should be changed in accordance with the variations. It is also not sufficient to provide semantic search due to the difficulty of extracting semantic relationships between subjects. In this paper, we model a course mentoring ontology based on the analysis of a curriculum of computer science department, a structure of degree audit, and ABEEK certification. Ontology-based course guidance system is also proposed to overcome the limitation of the existing methods and to provide the effectiveness of course mentoring process for both of advisors and students. In the proposed system, all data of the system consists of ontology instances. To create ontology instances, ontology population module is developed by using JENA framework which is for building semantic web and linked data applications. In the ontology population module, the mapping rules to connect parts of degree audit to certain parts of course mentoring ontology are designed. All ontology instances are generated based on degree audits of students who participate in course mentoring test. The generated instances are saved to JENA TDB as a triple repository after an inference process using JENA inference engine. A user interface for course guidance is implemented by using Java and JENA framework. Once a advisor or a student input student's information such as student name and student number at an information request form in user interface, the proposed system provides mentoring results based on a degree audit of current student and rules to check scores for each part of a curriculum such as special cultural subject, major subject, and MSC subject containing math and basic science. Recall and precision are used to evaluate the performance of the proposed system. The recall is used to check that the proposed system retrieves all relevant subjects. The precision is used to check whether the retrieved subjects are relevant to the mentoring results. An officer of computer science department attends the verification on the results derived from the proposed system. Experimental results using real data of the participating students show that the proposed course guidance system based on course mentoring ontology provides correct course mentoring results to students at all times. Advisors can also reduce their time cost to analyze a degree audit of corresponding student and to calculate each score for the each part. As a result, the proposed system based on ontology techniques solves the difficulty of mentoring methods in manual way and the proposed system derive correct mentoring results as human conduct.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.10
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• pp.1002-1009
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• 2009

Precision guidance filter design for a tactical missile with a strapdown seeker aided by low-cost strapdown sensors has been addressed in this paper. The low-cost strapdown sensors consist of an IMU with 3-axis accelerometers and gyroscopes, 3-axis magnetometers, and a barometer. Missile's position, velocity, attitude, and bias error of the barometer are considered as state variables. Since the state and measurement equations are highly nonlinear, we adopt UKF(Unscented Kalman Filter). The proposed guidance filter has a function of a navigation filter if target position error is not considered. In the case that the target position error is introduced, the proposed filter can effectively estimate the relative states of the missile to the true target. For specific engagement scenarios, we can observe that observability problems occur.