• Journal of Astronomy and Space Sciences
• /
• v.34 no.4
• /
• pp.331-342
• /
• 2017

To ensure the successful launch of the Korea pathfinder lunar orbiter (KPLO) mission, the Korea Aerospace Research Institute (KARI) is now performing extensive trajectory design and analysis studies. From the trajectory design perspective, it is crucial to prepare contingency trajectory options for the failure of the first lunar brake or the failure of the first lunar orbit insertion (LOI) maneuver. As part of the early phase trajectory design and analysis activities, the required time of flight (TOF) and associated delta-V magnitudes for each recovery maneuver (RM) to recover the KPLO mission trajectory are analyzed. There are two typical trajectory recovery options, direct recovery and low energy recovery. The current work is focused on the direct recovery option. Results indicate that a quicker execution of the first RM after the failure of the first LOI plays a significant role in saving the magnitudes of the RMs. Under the conditions of the extremely tight delta-V budget that is currently allocated for the KPLO mission, it is found that the recovery of the KPLO without altering the originally planned mission orbit (a 100 km circular orbit) cannot be achieved via direct recovery options. However, feasible recovery options are suggested within the boundaries of the currently planned delta-V budget. By changing the shape and orientation of the recovered final mission orbit, it is expected that the KPLO mission may partially pursue its scientific mission after successful recovery, though it will be limited.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.9 no.1
• /
• pp.358-377
• /
• 2015

In this paper, we propose a novel approach for trajectory recovery. Our system uses a triangulation procedure for skeletonization and graph theory to extract the trajectory. Skeletonization extracts the polyline skeleton according to the polygonal contours of the handwritten characters, and as a result, the junction becomes clear and the characters that are touching each other are separated. The approach for the trajectory recovery is based on graph theory to find the optimal path in the graph that has the best representation of the trajectory. An undirected graph model consisting of one or more strokes is constructed from a polyline skeleton. By using the polyline skeleton, our approach accelerates the process to search for an optimal path. In order to evaluate the performance, we built our own dataset, which includes testing and ground-truth. The dataset consist of thousands of handwritten characters and word images, which are extracted from five handwritten documents. To show the relative advantage of our skeletonization method, we first compare the results against those from Zhang-Suen, a state-of-the-art skeletonization method. For the trajectory recovery, we conduct a comparison using the Root Means Square Error (RMSE) and Dynamic Time Warping (DTW) in order to measure the error between the ground truth and the real output. The comparison reveals that our approach has better performance for both the skeletonization stage and the trajectory recovery stage. Moreover, the processing time comparison proves that our system is faster than the existing systems.

• Journal of Korea Multimedia Society
• /
• v.18 no.5
• /
• pp.575-582
• /
• 2015

Obtaining the complete trajectory of the object is a very important task in computer vision applications, such as video surveillance. Previous studies to recover the trajectory between two disconnected trajectory segments, however, do not takes into account the object's motion characteristics and uncertainty of trajectory segments. In this paper, we present a novel approach to recover the trajectory between two disjoint but associated trajectory segments, called goal-directed tracking. To incorporate the object's motion characteristics and uncertainty, the goal-directed state equation is first introduced. Then the goal-directed tracking framework is constructed by integrating the equation to the object tracking and trajectory linking process pipeline. Evaluation on challenging dataset demonstrates that proposed method can accurately recover the missing trajectory between two disconnected trajectory segments as well as appropriately constrain a motion of the object to the its goal(or the target state) with uncertainty.

• Journal of Power Electronics
• /
• v.16 no.2
• /
• pp.584-597
• /
• 2016

This paper focuses on an improvement in the transient performance of Boost converters when the load changes abruptly. This is achieved on the basis of the nature trajectory in Boost converters. Three key aspects of the transient performance are analyzed including the storage energy change law in the inductors and capacitors of converters during the transient process, the ideal minimum voltage deviation in the transient process, and the minimum voltage deviation control trajectory. The changing relationship curve between the voltage deviation and the recovery time is depicted through analysis and simulations when the load suddenly increases. In addition, the relationship curve between the current fluctuation and the recovery time is obtained when the load suddenly decreases. Considering the aspects of an increasing and decreasing load, this paper proposes the transient performance synthetic optimized trajectory and control laws. Through simulation and experimental results, the transient performances are compared with the other typical three control methods, and the ability of proposed synthetic trajectory and control law to achieve optimal transient performance is verified.

• Journal of Astronomy and Space Sciences
• /
• v.40 no.4
• /
• pp.217-224
• /
• 2023

The Korea Pathfinder Lunar Orbiter (KPLO), also known as Danuri, successfully entered its mission orbit on December 27, 2022 (UTC), and is currently performing its mission smoothly. To mitigate potential contingencies during the flight and to navigate the spacecraft into the desired lunar orbit, the KPLO flight dynamics (FD) team analyzed major trajectory-related contingencies that could lead to the violation of mission requirements and prepared operational procedures from the perspective of trajectory and FD. This paper presents the process of preparing contingency trajectory operations for the KPLO, including the identification of trajectory contingencies, prioritization results, and the development of recovery plans and operational procedures. The prepared plans were successfully applied to address minor contingencies encountered during actual operations. The results of this study will provide valuable insights to FD engineers preparing for space exploration mission operations.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.4
• /
• pp.417-425
• /
• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Journal of Chest Surgery
• /
• v.32 no.5
• /
• pp.422-427
• /
• 1999

Background: Tachycardia induced heart failure model would be the model of choice for the dilated cardiomyopathy. This more closely resembles the clinical syndrome and does not require major surgical trauma, myocardial ischemia and pharmacological or toxic depression of cardiac function. When heart failure is progressive, application of new surgical procedures to the faling heart is highly risky. It has been shown that recovery trajectory from heart failure is a new method in decreasing animal mortality. The purpose is to establish the control datas for recovery trajectory in the canine heart failure model. Material and Method: 21 mongrel dogs were studied at 4 stages(baseline, at the heart failure, 4 and 8 weeks after recovery). Heart failure was induced during 4 weeks of continuous rapid pacing using a pacemaker. Eight weeks of trajectory of recovery period was allowed. Indices of left ventricular function and dimension were measured every 2 weeks and the hemodynamics were measured by use of Swan-Ganz catheterization and thermodilution method every 4 weeks. Values were expressed as mean${\pm}$standard deviation. Result: 4(20%) dogs died due to heart failure. Left ventricular end-diastolic volume at the 4 stages were 40.8${\pm}$7.4, 82.1${\pm}$21.1, 59.9${\pm}$7.7 and 46.5${\pm}$6.5ml. Left ventricular end-systolic volume showed the same trend. Ejection fractions were 50.6${\pm}$4.1, 17.5${\pm}$5.8, 36.3${\pm}$7.3, and 41.5${\pm}$2.4%. Blood pressure and heart rate showed no significant changes. Pressures of central vein, right ventricle, pulmonary artery, and pulmonary capillary wedge showed significant increase during the heart failure period, normalizing at the end of recovery period. Stroke volumes were 21.5${\pm}$8.2, 12.3${\pm}$3.5, 17.9${\pm}$4.6, and 15.5${\pm}$3.4ml. Blood norepinephrine level was 133.3${\pm}$60.0pg/dL at the baseline and 479.4${\pm}$327.3pg/dL at the heart failure stage(p=0.008). Conclusion: Development of tachycardia induced heart failure model is of high priority due to ready availability and reasonable amenability to measurements. Recovery trajectory after cessation of tachycardia showed reduction of cardiac dilatation and heart function. Application of new surgical procedures during the recovery period could decrease animal mortality.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1992.04a
• /
• pp.369-373
• /
• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국전산유체공학회:학술대회논문집
• /
• 2006.10a
• /
• pp.89-92
• /
• 2006

Aerodynamic heating temperature shown in a NASA's sounding rocket test data was reproduced with CFD technique, comparing with those with analytical method CFD made heat transfer rates and recovery temperatures as the flight trajectory, which made it possible to calculate the wall temperature of rocket. The predicted wall temperature was compared with analytically predicted temperatures. Both the temperatures were compatible although their recovery temperature and heat transfer rates are a little different.

• International Journal of Contents
• /
• v.11 no.3
• /
• pp.7-13
• /
• 2015

One of the biggest problems of skeletonization is the occurrence of distortions at the junction point of the final binary image. At the junction area, a single point usually becomes a small stroke, and the corresponding trajectory task, as well as the OCR, consequently becomes more complicated. We therefore propose an adaptive post-processing method that uses an adaptive threshold technique to correct the distortions. Our proposed method transforms the distorted segments into a single point so that they are as similar to the original image as possible, and this improves the static handwriting images after the skeletonization process. Further, we attained promising results regarding the usage of the enhanced skeletonized images in other applications, thereby proving the expediency and efficiency of the proposed method.