• 제어로봇시스템학회논문지
• /
• 제1권1호
• /
• pp.38-42
• /
• 1995

This paper presents a target scoring method using shock wave signals, which are generated from the supersonic speed of a projectile. The shock wave is detected from three acoustic sensors located in the target plane and the difference of the delay times are measured. The target coordinates are calculated from the effective propagation of velocity (EPV) and the delay times of the shock wave; and the EPV is from the projectile velocity and the delay time. With a comparison between the measurement result and the known coordinates, the accuracy and the usefulness of the proposed scheme is validated.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제55권3호
• /
• pp.98-109
• /
• 2006

Fire control system(FCS) errors can be classified as hardware errors, filter prediction errors, effective ballistic function errors, and aiming errors. Among these errors, the filter prediction errors are the most significant error sources. To reduce them, a target future position calculation method using the acceleration estimate is suggested and it is compared with the constant velocity target prediction method. Simulation results show that the suggested method has better performance than the constant velocity prediction method. Target tracking algorithm is established with multiple target tracking filters based on IMM structure.

• 자동차안전학회지
• /
• 제9권3호
• /
• pp.7-12
• /
• 2017

The whiplash is the most important issue of low speed rear-impact. So auto makers are committed to developing a seat to improve whiplash injury. Most NCAP tests have been used by same pulse (Mid Velocity 16kph). Only Euro NCAP uses different pulse that consists of Low, Mid, High velocity. But Euro NCAP also uses same pulse in Mid velocity as other NCAP test. That Mid velocity NCAP pulse was made by rear impact that has 90's vehicle structure properties. That pulse was used until now days. However these days, auto maker use more high tensile steel than 90's as customer and society demand more fuel efficiency and light vehicle with good safety structure. So modern vehicles have different pulse patterns of rear impact than NCAP pulse and 90's vehicle crash properties. In this paper, the test was conducted by following condition. Target car was impacted by the rigid barrier with certain velocity. Finally target vehicle gained delta V 16kph which was same velocity as NCAP Mid Velocity pulse. It is critical velocity which occur long period neck injury. It is very different pulse that was gained by real car impact from NCAP pulse. And it has higher peak G with high fluctuation and short duration than NCAP pulse.

• 대한조선학회논문집
• /
• 제61권3호
• /
• pp.170-184
• /
• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• 한국운동역학회지
• /
• 제15권3호
• /
• pp.71-78
• /
• 2005

The purpose of this research was to conduct an analysis on the factors that determine the distance at the time of target swing based on the use of late hitting of outstanding college golfers to verify the difference between late hitting and the distance that target increases in regular swing and the distance. Then, this research conducts an analysis on the correlation between club head velocity, ball velocity, launch angle, back spin, meet ratio and distance that become kinematics variables at the time of target swing. To attain the above mentioned purpose, 25 outstanding college players with average experience and handicap of 6 years and 5, respectively, were targeted Comparative analysis on two swing that target increase in regular and the distance was conducted by used driver. When it pertained to two types of swing. analysis system comprised of an analytical software called the Science Eye of the Bridgestone and peripheries was used to define the relationship between variables of club head velocity, ball velocity, launch angle, back spin, meet ratio that become kinematics variables. As for the method of processing data pertaining to the factors that determine the distance, differences of distance by the type of swing was verified by using independent T-test that leveraged SPSS 120 statistics program. Moreover, level of correlation between variables that contribute to the increase in distance through relation of correlation, and analysis of tendencies was conducted to analyze tendency of non-distance to increase in accordance to the increase of each variable. Key results produced through this experiment are as follows: 1. Artificial late hitting for increased non-distance that targets skilled players had effect on increased the distance(p<. 05). 2 The drive distance is correlated with each measured variable that is positive correlation to ball velocity, club head velocity, meet ratio and relation of back spin and launch angle are negative correlation. ball velocity and club head velocity are very high correlated with drive distance(p<.01), back spin and distance are negative correlation(p<.01). 3. Among each measured variable increasing the club velocity is the most contribution, and ball velocity and meet ratio and the increasing launch angle and back spin is negative effect for increasing distance.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
• /
• pp.625-628
• /
• 2007

We present an efficient and robust technique to estimate the velocity of moving targets from a single SAR image. In SAR images, azimuth image shift is a well known phenomenon, which is observed in moving targets having slant-range velocity. Most methods estimated the velocity of moving targets from the distance difference between the road and moving targets or between ship and the ship wake. However, the methods could not be always applied to moving targets because it is difficult to find the road and the ship wake. We adopted a method estimating the velocity of moving targets from azimuth differentials of range-compressed image. This method is based on an assumption that Doppler center frequency shift of moving target causes a phase difference in azimuth differential values. The phase difference is linearly distorted by Doppler rate due to the geometry of SAR image. The linear distortion is eliminated from phase removal procedure, and the constant phase difference is estimated. Finally, range velocity estimates for moving targets are retrieved. This technique is tested using an ENVISAT ASAR image in which several unknown ships are presented. The theoretical accuracy of this technique is discussed by SAR simulation. The advantages and disadvantages of this method over the conventional method are also discussed.

• 대한조선학회논문집
• /
• 제54권4호
• /
• pp.286-293
• /
• 2017

This paper presents ballistic limit velocity results of a variety of materials generally used in warships. Ballistic limit velocity is the velocity required for a projectile to penetrate a target with 50 percents of time and is widely used as a measure of armour bulletproofing. For this study, live fire experiments were implemented using AK-47 $7.62{\times}9mm$ mild steel core as a projectile as well as various thickness warship materials as a target. Also, methods of MIL-STD-662F, NIJ-STD-0101.06 and support vector machine were applied to measure the ballistic limit velocity and then their results were graphically analyzed for comparison. The minimum of their results was considered as the ballistic limit velocity in a conservative way.

• 한국군사과학기술학회지
• /
• 제21권1호
• /
• pp.47-60
• /
• 2018

In this paper, we proposed a method for eliminating aiming error of unguided anti-tank rocket using improved target tracking. Since predicted fire is necessary to hit moving targets with unguided rockets, a method was proposed to estimate the position and velocity of target using fire control system. However, such a method has a problem that the hit rate may be lowered due to the aiming error of the shooter. In order to solve this problem, we used an image-based target tracking method to correct error caused by the shooter. We also proposed a robust tracking method based on TLD(Tracking Learning Detection) considering characteristics of the FCS(Fire Control System) devices. To verify the performance of our proposed algorithm, we measured the target velocity using GPS and compared it with our estimation. It is proved that our method is robust to shooter's aiming error.

• 해양환경안전학회지
• /
• 제20권2호
• /
• pp.202-209
• /
• 2014

본 연구에서는 단거리 영역 내에서 대상물표의 정확한 위치를 파악하여 물표와의 충돌을 방지하기 위한 시스템을 개발하였다. 이를 위해 먼저 물표를 속도 모델과 가속도 모델로 표현하여 초기위치로부터의 움직임을 프로세스 잡음과 측정 잡음이 있는 상태에서 위치, 속도 및 가속도를 추정하였다. 추정기법으로는 칼만필터를 적용하였고 시뮬레이션을 통해 제안기법의 유용성을 확인하였다. 다음으로는 레이저센서를 적용하여 이동하는 물표와의 거리를 계측할 수 있는 시스템을 제작하여 물표의 이동 정보를 검출하였다. 이동 물표를 대상으로 속도 모델과 가속도 모델을 적용하여 실험을 수행하였고, 각각의 실험을 통해 불연속적인 측정데이터가 필터링을 통해 매끄럽고 연속적인 측정값으로 얻어지는 것을 확인하였다. 또한 물표 데이터의 계측과 디스플레이를 위한 UI를 구축하였으며, 물표가 일정거리 영역이내에 접근했을 경우 시각, 청각적인 경보를 울릴 수 있는 기능을 부가하였다. 본 연구결과를 통해 저가의 장비로 물표 위치의 추정 성능이 뛰어난 시스템을 구축할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.59-64
• /
• 1989

In this paper, the launch trajectory of the Japan scientific satellite M-3H-3 from launch to orbit injection is investigated. For the terminal conditions at a guidance target point, a guidance and control system is used. An open-loop and a closed-loop guidance schemes are used simultaneously. For the closed-loop guidance scheme, the velocity polynomial algorithm represented by the velocity difference between the target point and present velocity is used. A PD control system is used for activating gimbal type engines. The simulation result shows that all the terminal position and velocity conditions are satisfied and the trajectory for the M-3H-3 scientific satellite is reasonable.