• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.2
• /
• pp.118-128
• /
• 2012

The goal of this paper is to design the target tracking controller for a quadrotor micro UAV using a vision sensor. First of all, the mathematical model of the quadrotor was estimated through the Prediction Error Method(PEM) using experimental input/output flight data, and then the estimated model was validated via the comparison with new experimental flight data. Next, the target tracking controller was designed using LQR(Linear Quadratic Regulator) method based on the estimated model. The relative distance between an object and the quadrotor was obtained by a vision sensor, and the altitude was obtained by a ultra sonic sensor. Finally, the performance of the designed target tracking controller was evaluated through flight tests.

• Tunnel and Underground Space
• /
• v.5 no.2
• /
• pp.134-143
• /
• 1995

Effects of blasting vibrations on curing concrete have not been well studied. As a result, unreasonable and strong blasting vibration constraints have been placed on blasting when it occurs in the vicinity of curing concrete. To study the effects of blasting on curing concrete blocks of 33.3X27.7X16.2 cm were molded and placed on the quarry. Several sets of concrete blocks were subjected separately to peak vibrations of 0.25, 0.5. 1.0, 5.0, and 10cm/sec. The impulses of blasting vibrations were applied with thirty-minute intervals. Along with unvibrated concrete blocks, the vibrated concrete samples cored with 60.3 mm in diameter were measured for elastic moduli, sonic velocity and uniaxial compressive strength. Test results can be summarized as follows; 1. The blasting vibrations between 6 and 8 hours after pour generally lowered on the uniaxial compressive strength of the concrete. 2. A low blasting vibration of 0.25 cm/sec did not affect the uniaxial compressive strength. As the magnitude of the blasting vibration increases, compressive strength of concrete is decreased. 3. Physical properties of the P-wave velocity, Young's modulus, and Poisson's ratio showed a weakly decreasing trend in the concrete blocks vibrated between 6 and 8 hours after pour.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.8
• /
• pp.75-83
• /
• 2005

A steady transonic dilute premixed combustion in a diverging channel is investigated by using asymptotic analysis. This model explores the nonlinear interactions between the near-sonic speed of the flow, the small changes in geometry from a straight channel, and the small heat release due to the one-step first-order Arrhenius chemical reaction. The reactive flow is described by a nonhomogeneous transonic small-disturbance (TSD) equation coupled with an ordinary differential equation for the calculation of the reactant mass fraction in the combustible gas. Also the asymptotic analysis reveals the similarity parameters that govern the reacting flow problem. The results show the complicated nonlinear interaction between the convection, reaction, and geometry effects and its effect on the flow behavior.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.8
• /
• pp.84-91
• /
• 2005

An experimental investigation has been carried out to examine heat-transfer characteristics of an axisymmetric, under-expanded, sonic jet impinging on a flat plate and the local measurement of surface pressures and heat transfer coefficients on a plate have been achieved together with a visualization test of shock structure in a jet. Heat transfer coefficients on a plate have been found to be changed significantly depending on the under-expansion ratio as much as the nozzle-to-plate distance. These phenomena could be explained by the wall pressure measurement and the shock visualization.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.4
• /
• pp.2883-2890
• /
• 2015

As the research about increasing the efficiency of dredging soil transport, the technology, which reduce the friction between pipe wall and fluid in the pipe and disturbed generating pipe blockage, has been developed. So for the purpose of applying this technology to real construction site, main test has been tried at the real scale test in field(500m dredging soil transport length). As a test result, this paper will show 30% flow efficiency increasing by permitted electro magnetic force to the pipe. And test result was evaluated as a ultra sonic velocity profiler.

• Journal of the Korean Society of Environmental Restoration Technology
• /
• v.15 no.2
• /
• pp.9-18
• /
• 2012

The street canyon forms the geometric unit of the built environment. The geometry makes up urban canyons and it influences the urban climate. In order to investigate the wind characteristics of urban street canyon at Dogok-dong, Gangnam-gu in Seoul, the wind direction and wind speed data were observed and analyzed by using 2-D ultra sonic and propeller wind monitor from May 5, 2010 to May 4, 2011. The results show that the prevailing wind direction was west at Station A(Military Mutual Aid Association Building), southwest at Station B(Sookmyung Girls' High School) and the wind speed of Station B was higher than Station A. There were diurnal differences about prevailing wind direction between two stations : it was westerly wind at Station A for a whole day, but at Station B only from 22 : 00 to 04 : 00. However, Station B is different from Station A at other time. At Station B, it was easterly wind from 04 : 00 to 12 : 00, southwesterly wind from 12 : 00 to 22 : 00. In terms of seasonal(except winter) frequency, the spring shows the highest frequency and fall was the next.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.18 no.3
• /
• pp.69-75
• /
• 2014

The priority of repair areas are chosen with the probability distribution of 0.3mm wide crack and carbonation induced corrosion. Data is analyzed and evaluated based on the 28 section of Precise Inspection for Safety and Diagnosis (PISD) in seoul. As the crack is distributed in log-normal, the carbonation and cover are in normal distribution. To have rational in repair sections among 503 sheets of underground structure, it is adopted the reliability index as well as the environment factors: strength, sonic speed, $CO_2$ concentration, corrosion, and content of chloride.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2009.03a
• /
• pp.84-90
• /
• 2009

An integrity testing for stone columns was attempted using crosshole S-wave logging. The method is conceptionally quite similar to the crosshole sonic logging (CSL) for drilled piers. The critical difference in the logging is the use of s-wave rather than p-wave, which is used in CSL, because s-wave is the only wave sensing the stiffness of slower unbounded materials than water. An electro-mechanical source, which can generate reversed S-wave signals, was utilized in the logging. The stone column was delineated from the S-wave travel times across the stone column, and taking S-wave velocities of the crushed stone and surrounding soil into account. The volume calculated from the diametrical variance delineated is very close to the actual quantity of the stone filled.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2003.05b
• /
• pp.62-65
• /
• 2003

When a mobile robot moves around autonomously without man-made corrupted bye landmarks, it is essential to recognize the placement of surrounding objects especially for self localization, obstacle avoidance, and target classification and localization. To recognize the environment we use many Kinds of sensors, such as ultrasonic sensors, laser range finder, CCD camera, and so on. Among the sensors, ultra sonic sensors(sonar)are unexpensive and easy to use. In this paper, we analyze the sonar data and propose a method to recognize features of indoor environment. It is supposed that the environments are consisted of features of planes, edges, and corners, For the analysis, sonar data of plane, edge, and corner are accumulated for several given ranges. The data are filtered to eliminate some noise using the Kalman filter algorithm. Then, the data for each feature are compared each other to extract the character is ties of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around a indoor environment.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2007.04a
• /
• pp.317-321
• /
• 2007

PSP (Pressure Sensitive Paint) technique can measure continuous pressure field by analyzing the oxygen quantity using optical method. The surface pressure of down stream after the sonic jet that injected transversely into the supersonic freestream was measured by PSP technique. Moreover the effect of various rectangular shaped cavities in front of the jet was measured by PSP technique. A comparison of the PSP results with conventional pressure tap and CFD indicates good agreement. The result shows that the cavity affects the pressure distribution in the rear of the jet injection.