• 반도체디스플레이기술학회지
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• 제17권3호
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• pp.65-69
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• 2018

In this paper, we have developed a multi-attitude monitoring system for running farm robots for field farming. There are many agricultural robots that can select work modules for various tasks. In order to control the stable attitude of agricultural robots connected to each other, we developed a system for monitoring the roll angle and pitch angle difference by fusing the information of the attitude monitoring system mounted on the robot mainframe and the work module. The developed attitude monitoring system showed resolution below 1 degree. In this paper, roll angle difference of 20 degrees and 60 degrees is measured with a multi - attitude monitoring system.

• 한국콘텐츠학회논문지
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• 제11권12호
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• pp.800-806
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• 2011

본 연구는 요추 지지대가 노인의 머리와 목 자세에 미치는 영향을 분석하고자 하였다. 20명의 신체 건강한 노인(평균 나이 71.32세)을 대상으로 측정하였으며, 앉은 자세에서 모니터를 시청하는 동안 요추만곡을 요추 지지대 사용 유무에 따라 조절하였다. 측정은 측면에서 사진을 촬영하였다. NIH ImageJ 1.32 프로그램을 사용하여 상부경추 굴곡 각도와 하부경추 굴곡 각도를 측정하였고 분석은 대응 t 검정을 사용하였다. 그 결과, 상부경추 굴곡 각도와 하부경추 굴곡 각도는 요추 지지대 적용 여부에 따라 유의한 차이가 있었다. 상부경추 평균 굴곡 각도는 요추 지지대 적용할 때가 적용하지 않을 때보다 약 $2.83^{\circ}$ 증가하였다(p<0.005). 하부경추 평균 굴곡 각도 역시 요추 지지대를 적용할 때 약 $4.44^{\circ}$ 증가되었다(p<0.0001). 이는 요추 지지대를 적용하였을 때 상부경추와 하부경추 굴곡을 증가시킴으로 머리와 목 자세에 좋은 영향을 주는 것을 의미한다. 따라서 노인의 머리와 목 자세 개선시 요추만곡 조절을 고려해야 할 것이다.

• 한국기계가공학회지
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• 제21권2호
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• pp.39-45
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• 2022

In this study, we investigated whether the interference occurring in forming roll surfaces could be eliminated by increasing the radius of the variable section forming rolls. The surfaces of the rolls capable of forming products with different flange heights and bend angles with the bend line tilted at an angle of 1° from the longitudinal axis were created using the general CAD software CATIA. Roll interferences were determined for the change in the forming roll radius. The minimum gaps between the upper and lower roll surfaces were measured for the change in the forming roll radius, and the roll interferences were calculated from the difference between the measured value and the thickness of the product. It was observed that the thickness of the product had a slight effect on the roll interference when the thickness was between 0.8 and 1.2 mm. It was also observed that the roll interference could be eliminated by increasing the roll radius.

• 한국의류산업학회지
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• 제5권3호
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• pp.260-266
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• 2003

The objective of this study is to compare the general body measurements and shoulder shapes of Korean and American elderly women to supply basic data for the apparel design. The anthropometrics data was collected including both direct and indirect measurements of 283 women over the age of 55 in Korean and the American women. The statistical methods used for the analysis of measurement data are the T-test, Exploratory data analysis, ANOVA and Duncan-test respectively. The results of the T-test indicated that there is a significant difference in the 14 body measurement items except of waist circumference. The results of exploratory data analysis, an independent relationship between shoulder slope angle and forward shoulder roll of Korean women. On the other hand, there is a dependent relationship that the bigger shoulder slope and forward shoulder roll with wide cross back shoulder of American women. Comparison of mean among the three different age groups, aged 55~59 group shows significant differences in the value of difference between cross back shoulders and horizontal shoulder width. This finding indicates that the wide and forward roll shoulder needs to special pattern making like ease amount and curvature for fit and comfort for women's apparel.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 Asia Navigation Conference
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• pp.134-143
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• 2006

Out of all types of motions the critical motions leading to capsize is roll. The dynamic amplification in case of roll motion may be large for ships as roll natural frequency generally falls within the frequency range of wave energy spectrum typical used for estimation of motion spectrum. Roll motion is highly non-linear in nature. Den are various representations of non-linear damping and restoring available in literature. In this paper an uncoupled non-linear roll equations with three representation of damping and cubic restoring term is solved using a perturbation technique. Damping moment representations are linear plus quadratic velocity damping, angle dependant damping and linear plus cubic velocity dependant damping. Numerical value of linear damping coefficient is almost same for all types but non-linear damping is different. Linear and non-linear damping coefficients are obtained form free roll decay tests. External rolling moment is assumed as deterministic with sinusoidal form. Maximum roll amplitude of non-linear roll equation with various representations of damping is calculated using analytical procedure and compared with experimental results, which are obtained form forced tests in regular waves by varying frequency with three wave heights. Experiments indicate influence of non-linearity at resonance frequency. Both experiment and analytical results indicates increase in maximum roll amplitude with wave slope at resonance. Analytical results are compared with experiment results which indicate maximum roll amplitude analytically obtained with angle dependent and cubic velocity damping are equal and difference from experiments with these damping are less compared to non-linear equation with quadratic velocity damping.

• 수산해양기술연구
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• 제47권1호
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• pp.37-45
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• 2011

Reduction of ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargo as well as improving the comfort of the ride. It is a common experience for mariners, to see that steering with a rudder generally induces rolling of the ship, though the original aim of the rudder is to keep the ship's heading to the required course. At the first stage, when a rudder is steered, usually a ship heels in an inward direction, due to the roll moment acting on the rudder. At the next stage in steering, the main heel may change to an outward. This coupling between rudder and roll motion has become an attractive problem from the point of view of roll stabilization using the rudder, because it is a natural in sight that if the rudder action is skillfully related to the change of roll as well as to the course deviation, the roll can be reduced to a certain degree. The main aim of this paper is to discuss the results of the actual full-scale sea trials carried out on steer gear No.1 and No.1 2, the individual quartermaster and to make clear their statistical properties, using the actual data which included measurement of roll angle, roll rate and the comparative tests were carried out immediately after each other, in order to minimize any statistical variation in sea conditions. It can be concluded that the steer gear No. 1 2 reduced the roll motion on average by about 21% in comparison with the No.1 and confirmed the some difference as per a ability of quarter-master's maneuver.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1099-1102
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• 1996

In this paper, roll/yaw attitude control of spacecraft using a double gimbaled wheel is discussed with two feedback controllers designed. One is a PD controller with no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed as a first order system and a lag parameter is designed for the yaw angle control. There are two case simulations for each controller ; constant disturbance torques and initial errors of nutation at motion. We obtain the results through simulations that steady-state error and rising time of yaw angle are determined by the compensator. Simulation parameters used in this study are the values of KOREASAT F1.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1044-1050
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• 2001

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

• 수산해양기술연구
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• 제50권2호
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• pp.147-153
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• 2014

The purpose of this paper is to examine the roll damping characteristics by bilge keels on the fishing vessel. Unlike other degree of freedom motions, roll motion is highly nonlinear. However the quantitative evaluation of roll damping combined with waves is very important for the fishing vessel. To reduce roll motion, roll motion stabilizers such as a bilge keel is used due to easy made and cheap cost rather than anti-rolling tank and fin-stabilizer. Authors paid attention to the shape of bilge keel and waves to grasp the roll damping for the fishing vessel and studied about the difference of tendencies of roll angle following the shapes of bilge keel. The model ship was the offshore large purse seiner and four types of bilge keel were used. The data from the experiments were provided and analyzed to investigate the rolling characteristics of the model ship being affected by the wave height, wave period and bilge keel shape. The results of the study showed that three types of the bilge keel have little effective, but only one has an effect on the roll damping. So bilge keel shape and its attachment method need to be a future study for the practical use in fishing vessel.

• Korean Journal of Geomatics
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• 제3권1호
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• pp.53-57
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• 2003

As the Korea Multi-Purpose Satellite-I (KOMPSAT-1) satellite can roll tilt up to $\pm$45$^{\circ}$, we have analyzed some KOMPSAT-1 EOC images taken at different tilt angles for this study. The required ground coordinates for bundle adjustment and geometric accuracy are obtained from the digital map produced by the National Geography Institution, at a scale of 1:5,000. Followings are the steps taken for the tilting angle of KOMPSAT-1 to be present in the evaluation of geometric accuracy of each different stereo image data: Firstly, as the tilting angle is different in each image, the characteristic of satellite dynamic must be determined by the sensor modeling. Then the best sensor modeling equation should be determined. The result of this research, the difference between the RMSE values of individual stereo images is mainly due to quality of image and ground coordinates instead of tilt angle. The bundle adjustment using three KOMPSAT-1 stereo pairs, first degree of polynomials for modeling the satellite position, were sufficient.