• Journal of Biosystems Engineering
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• v.37 no.3
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• pp.192-200
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• 2012

Purpose: Aerial application of chemicals with an agricultural helicopter allows for precise and timely spraying and reduces working labor and pollution. An attitude controller for an agricultural helicopter would be helpful to aerial application operator. The objectives of this paper are to determine the transfer function models and to estimate the handling qualities of a bare-airframe model helicopter. Methods: Transfer functions of a model unmanned helicopter were estimated by using NAVFIT and DERIVID modules of the $CIFER^{(R)}$ program to the time history data of frequency sweep flight tests. Control inputs of the transfer functions were elevator, aileron, rudder and collective pitch stick positions and the outputs were resulting on-axis movements of the fuselage. Results: Minimum realization of the transfer functions for pitch rate output to elevator control input and roll rate output to aileron control input produced second order transfer functions with undamped natural frequencies around 3.0 Hz and damping ratios of 0.139 and 0.530, respectively. The equivalent time delays of the transfer functions ranged from 0.16 to 0.44 second. Sensitivity analysis of the proposed parameters allowed derivation of minimal realization of the transfer functions. Conclusions: Handling quality of the model helicopter was addressed based on the eigenvalues of the transfer functions, corresponding undamped natural frequencies with damping ratios. The equivalent time delays of the lateral-directional motion ranged from 0.16 to 0.44 second, longer than the 0.1 to 0.15 second requirement for well-controlled typical manned aerial vehicles.

• Science of Emotion and Sensibility
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• v.5 no.4
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• pp.67-75
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• 2002

The purpose of this study is to assess the ability of balance control in virtual moving surround stimulation using head mount display (HMD) device and force platform in patients with brain injury. Fifteen patients with stroke (mean age 54.47 yrs) and fifteen healthy normal persons participated. COP parameters were obtained total path distance, frequency of anterior-posterior and medial-lateral component by FFT analysis, weight-spectrum analysis in the two different conditions; (1) during comfortable standing with opened or closed eyes, (2) during virtual moving surround stimulation delivered using HMD with four different moving pattern. Moving patterns consisted of close-far, superior-inferior lilting (pitch) , right-left tilting (roll) and horizontal rotation (yaw) movement. In all parameters, the test-retest reliability was high. Also, the construct validity of virtual moving surround stimulation was excellent (p＜0.05). A posturographic balance assessment system equiped with virtual moving surround stimulation using HMD is considered clinically useful in evaluation of balance control in patients with brain injury.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2001.04a
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• pp.81-81
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• 2001

초지 공정은 wire, roll, pump등의 회전체로 이루어진 공정이 거의 대부분이기 때문에 주기적으로 변동하는 성분들이 많고, QCS(Quality Control System) 및 DCS(Distributed Co n ntrol System)상에 서 의 자동 Control Logic에 의 한 불안정 (Fluctuation)요소도 내 재 되 어 있 어 이에 대한 분석이 필요하다. 이러한 주기적인 변동은 제품의 여러 물성(평량, 두께, 광택 도등) 에 영향을 미치게 되어 품질의 균일성이나 프로파일에 영향을 미치게 된다. 따라서 공정상이나 품질에서 주기적으로 변동하는 성분을 추출하여 공정 각 성분과 연관을 시키변 품질에 나타나는 주기적 성분의 요인이 어느 부분에서 기인하는 지를 직접적으로 찾아낼 수 있고 이의 개선을 통해 품질의 균일성 및 프로파일 향상을 꾀할 수 있다. 본 연구에서는 Air padded type 헤드박스 초지기에서 DAQ(Data Acquisition) System 을 이용하여 각 공정별로 MD(Machine Direction)방향으로의 변동을 측정하고 제품의 물성 변동과 비교하였다. DAQ System은 각 공정상의 전기적 신호를 높은 주파수 영역까지 다채널로 동시에 받 아 들일 수 있는 장치로 이 시스템을 활용하여 공정상의 Machine chest 농도, Stock box 유량 및 레벨, Fan pump RPM, Cleaner압력, Screen압력, H!B압력 및 레벨, Silo level등 공 정요소의 변동상태와 상호영향을 분석하였다. 이러한 공정 각 요소의 변동과 MD 방향의 제품 물성 값(Tapio, Paper Variation Analyzer에 대한 비교 분석결과 제품 평량에서 주기적인 변동성분을 확인할 수 있었고 이중 큰 비 중을 차지하는 것이 fνB 레벨 변동주기와 일치하는 것을 찾아낼 수 있었다. 이에 근거하여 D DCS system의 control 요소인 튜닝 parameter(P,I 값)들을 미 세 조정 하여 제 품의 MD방향 평량 변동 진폭을 기존 수준의 30% 수준으로 감소시킬 수 있었다. 그 결과 COV(표준편차/ 평량)값을 0.8-1.2%에서 0.6-0.8%수준으로 낮출 수 있었고 이에 따라 CD (Cross Direction) 방향의 제품 Profile도 함께 개선되는 효과를 거둘 수 있었다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.4
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• pp.324-332
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• 2016

In this paper, the terminal homing loop with a IIR-type strapdown seeker and a roll rate gyroscope is proposed. Basically, the proposed homing loop is based on the look-angle-control guidance. Since the range of the seeker is strictly limited, the missile is delivered to a point to lock the target on the seeker via non-guided flight during the midcourse guidance. The non-standard firing table is developed to compensate the wind and the target movement. To secure the delay margin is very important to prevent the instability of the homing loop when the time delay of the seeker is included. To validate the proposed homing loop, the 6-DOF nonlinear simulation is performed, and the Monte-Carlo simulation is also done for checking the robustness for the various kinds of uncertainty.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.5
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• pp.385-394
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• 2012

A computer program that can estimate static, dynamic stability and control derivatives using a subsonic-supersonic panel method is developed. The panel method uses subsonic-supersonic source and elementary horse shoe vortex distributions, and their strengths are determined by solving the boundary condition approximated with a thin body assumption. In addition, quasi-steady analysis on the body fixed coordinate system allows the estimation of damping coefficients of aircraft 3 axes. The code is validated by comparing the neutral point, roll and pitch damping of delta wings with published analysis results. Finally, the static, dynamic stability and control derivatives of F-18 are compared with experimental data as well as other numerical results to show the accuracy and the usefulness of the code.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.162-169
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• 2011

The flight control system utilize RSS(Relaxed Static Stability) criteria in both longitudinal axes to achieve performance enhancements and improve stability. The aircraft using digital flight-by-wire flight control system receives aircraft flight conditions such as pitch, roll and yaw rate, normal acceleration from RSA(Rate Sensor Assembly) and ASA(Acceleration Sensor Assembly). These sensors has permissible measurement error related to system safety of an aircraft but, unexpected flight motions are happened by sensing errors such as offset, noise and etc. The unexpected pitch down tendency occurred by ASA sensor bias in 1g level flight with pilot hands-off. This paper addresses the design and verification of flight control law to improve of pitch down or up tendency caused by ASA sensor bias. The result of analysis and flight test reveals that pitch down tendency can be improved by pitch attitude feedback system.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.15-26
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• 2004

The calibration for systematic error in LiDAR is crucial for the accuracy of airborne laser scanning. The main error is the misalignment of platforms between INS(Inertial Navigation System) and Laser scanner For planimetrical calibration of LiDAR, the building is good feature which has great changes in height and continuous flat area in the top. The planimetry error(pitch, roll) is corrected by adjustment of height which is calculated from comparing ground control points(GCP) of building to laser scanning data. We can know scale correction of laser range by the comparison of LiDAR data and GCP is arranged at the end of scan angle where maximize the height error. The area for scale calibration have to be large flat and have almost same elevation. At 1000m for average flying height, The Accuracy of laser scanning data using LiDAR is within 110cm in height and ${\pm}$50cm in planmetry so we can use laser scanning data for generating 3D terrain surface, expecically digital surface model(DSM) which is difficult to measure by aerial photogrammetry in forest, coast, urban area of high buildings

• THE INTERNATIONAL COMMERCE & LAW REVIEW
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• v.39
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• pp.345-366
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• 2008

The paper analyzes GMO legal system and the problems of its management in China and their suggestions to Korea. GMO has been arising as a principal alternative of grain while grain prices continue to climb. Although there has been concerns about GMO imported from China, it is true that we have not studied on China's legal system and the problems of its management in China. The paper believes that when Chinese government does not manage GMO primarily, we have a high possibility that China's GMO food will access to Korean market at any time, and threaten our health and safety. Hence, it is highly time to analyze how legally China treats GMO and what the problems of its management are. The paper found out problems of China's GMO management in three ways. Firstly, GMO legal system of China is confused and it has limitation of effectiveness. China has no regulations like "a law" to regulate GMO and regulations which exists now are not easy to apply in substance. Secondly, China has no administrative strictness to manage GMO. For example, the regulation which ministry of agriculture in China promulgated in March of 2002 started to use partially since 2003, 7. Thirdly, China, as a nation that administration superiors to, market does not do its roll to control GMO. It relates to the low concerns and care of Chines people about GMO. The paper shows suggestions and countermeasures according to problems of China's GMO management.

• KIEAE Journal
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• v.8 no.5
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• pp.43-48
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• 2008

This study is about offering quantitatively analytic frame of streetscape, and also about making a way to be standardized and adapt changing landscape. This allows us to manage a form of elevation map after the application to GIS. The form of elevation map is a visible and vertical arrangement method of data recognizable while walking or driving. Applying measurable traits enables us to make a quantitative control over each element of which streetscape consists. After all, it would play a great roll in organizing and maintaining fine streetscape of each city. As the basic ways to make the elevation map, this study proposes the methods of providing quantitative analytic frame of streetscape after applying elevation data, Raster Data and Vector Data, which were investigated on the basis of GIS. In addition, as a simulation for increasing reality, certain streets, where the streetscape is very important, were chosen so that they enable us to utilize quantitatively analytic data of streetscape with analyzing the +degree of opening ratio in the boundary of D/H=2, comparing between wall area and windowpane area, comparing between facade area and sign board area, and calculating both area and ratio which are applied to ecospace.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.