• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.23-30
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• 2009

This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• 한국수산과학회지
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• 제56권3호
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• pp.324-330
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• 2023

We investigated the relative growth and squamation of larvae and juveniles of cultured Larimichthys polyactis. Analysis of the relative growth of larvae and juveniles showed that their preanal length, head length, eye diameter, body depth, and snout length increased with growth. There was no significant chage in the relative growth. The ratio of preanus length to standard length (SL) increased rapidly until SL was approximately 12 mm, and then increased gradually. Cycloid scales first appeared on the lateral line, progressed to the abdominal cavity at 15.13 mm SL, and expanded to the occipital region, base of pectoral fin, and ventral region of the eye at 17.82 mm SL. At 18.03 mm SL, scales formed on the cheek, and those at the base of pectoral fin and in the abdominal cavity were connected to each other. At 19.06 mm SL, major part of the head was covered by scales, except near the lower jaw. Cycloid scales on the lateral line changed to ctenoid scales at the range of 31.71-32.24 mm SL, and those on the nape changed at the range of 69.02-70.84 mm SL. Our results may help to establish conservation and management strategy for Larimichthys polyactis aquaculture.

• 환경위생공학
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• 제14권1호
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• pp.97-102
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• 1999

This study was carried out view that reuse of sludge of adsorbent for benzene in carbonized cast compare with activated carbon. Not only the carbonized cast is good than carbonized carbon in cation exchange capacity and 12 adsorption capacity, but also benzene adsorption capacity is no differences compare to activated carbon. As results, benzene adsorption capacity of carbonized cast and activated carbon are decreased as temperature increase($25~70^{\circ}C$).It is compatible in Lamgmuir model. Therefore, carbonized cast is applied general adsorbent. From experimental results and data regression, in model concerning effect of temperature, relative errors between the experimental data and those calculated by the model are within the range of 1.2~7.8%. In relative humidity effect (RH 0.25~0.50) of benzene adsorption, modified Freundlich model : $QB_{enzene}{;\}QB_{enzene},{\}_{RH=0}=1-kRH^{IN}$, relative errors between the experimental data and those calculated by the model are within are range of 0.5-5.1%. The constants k and l/n in equation were found to be 1.25, 1.89 in carbonized cast.

• 수산해양기술연구
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• 제33권1호
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• pp.1-8
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• 1997

To find the tooth selectivity of the dredge for catching the ark shell Scapharca broughtonii, the probabilities of the ark shells which are not sifting through the gaps between teeth were calculated for the various shell lengths. Considering that these probabilities are in proportion to the relative catching efficiencies, selectivity curves for the ark shell dredge were estimated for the various gaps between teeth. The ratio of the shell length of ark shell to the distance between teeth indicating the relative catching efficiencies of 0%, 50%, 100% respectively, were calculated by using these selectivity curves, and the values were 1.00, 1.32, 1.54 in the distance of 4.0cm between teeth and then, the ratios showed a slight tendency to decrease as the distance between teeth increased in the relative catching efficiency of 100%, In addition, the range of shell length for catching, that is, the range of selective shell length by the distance between teeth was 0.54 in the distance of 4.0cm between teeth.

• 한국지하수토양환경학회:학술대회논문집
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• 한국지하수토양환경학회 2004년도 총회 및 춘계학술발표회
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• pp.341-345
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• 2004

An attempt has been made in this study to evaluate an applicability of Relative Effective Porosity Model (REPM) as a method for estimating saturated hydraulic conductivity (K$_{s}$) for homogeneous coarse, medium, and fine sands. The saturated hydraulic conductivities obtained from REPM are converted into average linear velocities using Darcy's Law and compared with the results from experimental tracer tests for homogeneous coarse, medium, and fine sand layer. Two types of tracer tests analyses, analytical solution using CXTFIT and moment methods, are performed to obtain reasonable linear velocity range for each layer. For the coarse and medium sands, the converted average linear velocity from REPM is in the velocity range obtained from tracer tests. However, small difference between the results from REPM and tracer tests is found for the fine sands. These results show that REPM gives reasonable estimates of saturated hydraulic conductivity.y.

• 한국항해학회지
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• 제25권4호
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• pp.371-379
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• 2001

We have reported the new measurement system which was substituted digital filter for the analog filter in order to develop the optimal system that could find the time delay between each sensors with high accuracy. And also we have confirmed through the experiments that the accuracy of measurements were differentiated by the methods what kind of digital filter had been adopted. This paper suggests two algorithms which approximate the sound source's bearing and distance. One is that sound source's relative bearing can be approximately regarded as the gradient of hyperbolic asymptote, the other is that the source's range can be approximated under the condition of a long range source relative to the sensor's interval. And a series of experiments were carried out with the source's distance 22.42meters and the random bearing interval within the limits of $-90^{\circ}$~$+90^{\circ}$. As a result, we have recognized that the approximation methods could measure the bearing and distance with higher accuracy than the method using trigonometric relation could do.

• 천문학회지
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• 제50권4호
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• pp.105-109
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• 2017

The well-known solar cycle controls almost the entire appearance of the solar photosphere. We therefore presume that the continuous emission of visible light from the solar surface follows the solar cyclic variation. In this study, we examine the solar cyclic variation of photospheric brightness in the visible range using solar images taken by the Solar and Heliospheric Observatory (SOHO)/Michelson Doppler Imager (MDI). The photospheric brightness in the visible range is quantified via the relative intensity acquired from in the raw solar images. In contrast to total solar irradiance, the relative intensity is out of phase with the solar cycle. During the solar minimum of solar cycles 23-24, the relative intensity shows enhanced heliolatitudinal asymmetry due to a positive asymmetry of the sunspot number. This result can be explained by the strength of the solar magnetic field that controls the strength of convection, implying that the emission in the visible range is controlled by the strength of convection. This agrees with the photospheric brightness increasing during a period of long spotless days.

• Journal of Astronomy and Space Sciences
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• 제35권3호
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• pp.163-173
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• 2018

This paper presents relative navigation using intermittent laser-based measurement data for spacecraft flying formation that consist of two spacecrafts; namely, chief and deputy spacecrafts. The measurement data consists of the relative distance measured by a femtosecond laser, and the relative angles between the two spacecrafts. The filtering algorithms used for the relative navigation are the extended Kalman filter (EKF), unscented Kalman filter (UKF), and least squares recursive filter (LSRF). Numerical simulations reveal that the relative navigation performances of the EKF- and UKF-based relative navigation algorithms decrease in accuracy as the measurement outage period increases. However, the relative navigation performance of the UKF-based algorithm is 95 % more accurate than that of the EKF-based algorithm when the measurement outage period is 80 sec. Although the relative navigation performance of the LSRF-based relative navigation algorithm is 94 % and 370 % less accurate than those of the EKF- and UKF-based navigation algorithms, respectively, when the measurement outage period is 5 sec; the navigation error varies within a range of 4 %, even though the measurement outage period is increased. The results of this study can be applied to the design of a relative navigation strategy using the developed algorithms with laser-based measurements for spacecraft formation flying.

• 한국지반공학회논문집
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• 제23권6호
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• pp.67-76
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• 2007

낙사법은 요구되는 상대밀도로 반복적으로 시료 조성이 가능하고 다양한 영향요인에 대한 평가를 통해 조성되는 시료의 신뢰성이 확보되었다는 장점을 가지고 있어 챔버 시험을 위한 사질토 시료조성 방법으로 널리 쓰이고 있다. 그러나 개폐율을 조절하여 상대밀도를 조절하는 기존의 방법으로 조성된 시료는 상하부간 상대밀도차가 존재하고, 개폐율 제어만으로 다양한 상대밀도를 구현할 수 없는 단점이 있으며, 입자 특성에 따라 시스템을 재조정하여 상대밀도 조건을 찾아야 하는 단점이 있다. 본 논문에서는 개폐율보다는 낙하고 조절에 의해 다양한 상대밀도의 시료를 조성할 수 있도록 porous plate를 사용한 레이닝 시스템을 제안하여 시험하였다. 그 결과 기존의 문제점인 개폐율의 세분화와 낙하거리의 영향을 최소화 할 수 있었으며 낮은 상대밀도 조성시 문제되었던 시료 상하부간 비균질성을 개선하였다.