• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.3
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• pp.239-245
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• 2018

International Maritime Organization (IMO) has established standards for ship manoeuvrability and applied these standards for vessels over 100 meters in length that built since 2004 (IMO, resolution MSC.137[76]). These standards are no exception to fishing vessels. In this study we carried out a manoeuvring simulation of the new model ship (Stern trawler) of fisheries training ship of Pukyong National University based on Kijima's empirical formula. The formula takes into account of the effect of stern shape or does not take into account of the effect of stern shape. Also we checked whether the simulation results of turning motion of model ship meet IMO manoeuvrability criteria and then compared trajectories between the simulation results of model ship and the results of real sea trial test of the existing ship. In conclusion, Kijima's empirical formulas can estimate the manoeuvrability of fishing vessels at design stage approximately, it needs more parameters of fishing vessel own in case of expressing the manoeuvrability of fishing vessel accurately.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.2
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• pp.134-147
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• 2015

This study proposes a method to determine the effective angular velocity of each motor of a specific four-rows tracked vehicle (FRTV) in order to follow a given turning radius. The configuration of the four-rows tracked vehicle is introduced, and its dynamics analysis model is built using the DAFUL commercial software. The soil has been assumed to be hard ground, and the friction force between the ground and the tracked links is calculated using the Coulomb friction model. This paper uses a simulation to show that the error in the position increased with respect to the angle of the curvatures, so a method is proposed to compensate for the error in the motion of the motors. Various simulations are then carried out to verify the proposed formulation. The effects of the soil characteristics and the driving velocity will be further investigated in future studies.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.38-42
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• 2001

A complete quantitative understanding of DT has been difficult because the process represents such a broad field of research. The experimental measurement of tool force is a single area of DT which still covers a wide range of possibilities. There are numerous parameters of the process which affect cutting forces. There are also many turnable materials of current interest. To obtain information toward a better understanding of the process, a few cutting parameters and materials were selected for detail study. It was decided that free-oxygen copper and 6061-T6 alloy aluminum would be the primary test materials. There are materials which other workers have also used because of there wide use in reflective applications. The experimental phase of the research project began by designing tests to isolate certain cutting parameters. The parameters chosen to study were those that affected the cross-sectional area of the uncut chip. The specific parameters which cause this area to vary are the depth of cut and infeed per revolution, or feedrates. Other parameter such a tool nose radius and surface roughness were investigated as they became relevant to the research.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.139-146
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• 2020

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway's body to improve the cornering characteristics during turning. To ensure Segway's driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

• Journal of Advanced Navigation Technology
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• v.6 no.2
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• pp.119-129
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• 2002

Maneuvering targets are difficult to track for the Kalman filter since the target model of tracking filter might not fit the real target trajectory and the statistical characteristics of the target maneuver are unknown in advance. In order to track such a highly maneuvering target, several schemes have been proposed and improved the tracking performance in some extent. Among those tracking schemes the Input Estimation (IE), Variable Dimension (VD) and Turning Acceleration Estimator (TAE) became popular. However, so far their tracking performances were analyzed individually and were not compared. In this paper, the tracking performances of the typical IE, VD and TAE schemes for a maneuvering target are compared. Monte-Carlo Simulations for three maneuvering profiles are carried out and the results are analyzed towards practical applications.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.968-973
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• 2003

As environmental restrictions have continuously become more strict, it has emphasized development of environment-friendly technologies. In cutting technology, it has been well recognized that cutting fluids might have undesirable effects on worker's health and working environment and, hence, recently there have been numerous attempts to minimize harmful effects of cutting fluids on environments. To minimize the use of cutting fluids in machining, conventional cutting fluids have been replaced with the technologies of pressurized cold air and minimum quantity lubrication(MQL). Compared with milling, turning is a continuous cutting process, where tools are continuously heated up and lack of lubricity could lead to tool wear and deteriorated surface roughness. In this study, it has been investigated how tool wear and surface roughness could be affected by cutting conditions, supply and cooling methods. The experimental results show that MQL technology is able to minimize harmful effects of conventional cutting fluids.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.957-960
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• 1997

A complete quantitative understanding of DT has been difficult because the process represents such s broad field of research. The experimental measurement of tool force is a single area of DT which still covers a wide range of possibilities. Here are numerous parameters of the process which affect cutting forces. There are also many turnable materials of current interest. To obtain information toward a better understanding of the process, a few cutting parameters and materials were selected for detail study. It was decided that free-oxygen copper and 6061-T6 alloy aluminum would be the primary test materials. There are materials which other workers have also used because of there wide use in reflective applications. The experimental phase of the research project began by designing tests to isolate certain cutting parameters. The parameters chosen to study were those that affected the cross-sectional area of the uncut chip. The specific parameters which cause this area to vary are the depth of cut and infeed per revolution, or feedrates. Other parameter such a tool nose radius and surface roughness were investigated as they became relevant to the research.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.5
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• pp.824-829
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• 2012

The purpose of this study is to evaluate the proposed jig for turning process of large-scale aluminum tube of D500mm through Finite Element Analysis (FEA). Also, a machining evaluation is conducted with general heat-treated and cryogenic heat-treated tubes. Dimensions of the specimens are determined to be suitable for collet appearance. The characteristics of equivalent stress and strain according to the expansion of the collet are evaluated by FEA. The aluminum tubes which are heat-treated by T4/T6 condition and cryogenic condition are machined by using a large-scale lathe machine and the roundness of machined tube is evaluated by using a 3D measuring machine. Through the results of this study, effects of each heat treatment and residual stress on the roundness are established.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.214-221
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• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.99-108
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.