• Journal of the Society of Naval Architects of Korea
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• v.42 no.4 s.142
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• pp.299-306
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• 2005

To determine a guidance law which is suitable for Target Tracking System(TTS) of an underwater vehicle, the performance (hitting probability) of TTS were calculated with four different guidance schemes, considering underwater vehicle's manoeuvrability and characteristics of seeking equipment such as sonar To evaluate the performance of TTS with each guidance law, numerous target-tracking simulations of underwater vehicle were performed under the condition of target's various motion scenario. Furthermore, the effect of sonar characteristics to the performance of guidance law in TTS was studied by changing parameters of sonar such as frequency of ping and detecting error of target. The pursuit-tail guidance law showed the best performance among four different guidance laws. Complex motion of target from straight line to turning circle and zigzag movement, low frequency of sonar ping and large detecting error of target decreased the hitting probability.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.2
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• pp.17-23
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• 2002

A cylindrical capacitance-type spindle displacement sensor was developed and its effectiveness as a system to monitor cutting forces during hard turning was tested in this research. The sensor was installed between the face of spindle cover and the chucking element and measured pure radial motion of the spindle under the condition with presence of roundness error at measured surface. To prove the effectiveness of the developed system hard aiming tests using ceramic inserts and tool steel as workpiece were conducted. The workpiece was hardened up to 65 Rc. The variations of pure radial motion of the spindle ware measured during the cutting tests. The signals from the sensor showed the same pattern of cutting force variations from the tool dynamometer due to the progress of tool wear. As the flank wear of the ceramic tool increased both static component of cutting forces and the amount of center shift of spindle orbit increased, Results from the research showed that the developed sensor could be utilized as an effective and cheap on-line sensing device to monitor cutting conditions and tool performance in the un-manned machining center.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.181-186
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• 2005

A ship runs with various modes of motion due to waves. Among the modes, roll mainly influences on the safety of cargos on the deck of container ship. In order to protect cargo shifting and turning, securing and lashing system are generally installed. In that case, it is necessary that the force and moment at the connection point of containers should be estimated. Therefore we derived mathematical equations to calculate the forces of securing points and lashing wires. Also we calculated those forces and moments about various lashing patterns.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.896-902
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• 2007

This paper proposes a vision-based kinematic control method for mobile robots with camera-on-board. In the previous literature on the control of mobile robots using camera vision information, the forward velocity is set to be a constant, and only the rotational velocity of the robot is controlled. More efficient motion, however, is needed by controlling the forward velocity, depending on the position in the corridor. Thus, both forward and rotational velocities are controlled in the proposed method such that the mobile robots can move faster when the comer of the corridor is far away, and it slows down as it approaches the dead end of the corridor. In this way, the smooth turning motion along the corridor is possible. To this end, visual information using the camera is used to obtain the perspective lines and the distance from the current robot position to the dead end. Then, the vanishing point and the pseudo desired position are obtained, and the forward and rotational velocities are controlled by the LOS(Line Of Sight) guidance law. Both numerical and experimental results are included to demonstrate the validity of the proposed method.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.714-719
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• 2000

In this paper, an application program is made to simulate the behavior of a ship block under various crane works and to generate data of lu9 reactions and wire tensions. The program is based on a CAD program, Pro/ENGINEER. A ship is composed of more than 100 ship blocks. In order to lift, move, turn, or put a ship block at a convenient location fur assembling, workers in a shipyard use cranes, wires, and lugs temporarily attached to the block. In the procedure of lifting and turning a ship block with a crane, it is important to find suitable lug points and wires to do the handling efficiently and prevent accidents. Evaluation of forces in lugs and wires is necessary, but the problem is rather complex due to nonlinearity and nonuniqueness. In the present development, the nonlinear system of equations for quasi-static equilibriums is derived and a Newton type solution method is adopted to solve the system. The importance of initial estimates to the solution is illustrated and two approaches are utilized and compared. With the program developed, users can assign lug points on the CAD model by mouse and choose various linking devices at each crane point. Users can try to simulate the motion for any prescribed conditions, compare the motion of the block and the reactions and choose appropriate lug points and the type of wires and lugs.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.1
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• pp.8-14
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• 2011

RIB(Rigid Inflatable Boat) is widely used for coastal transportation in the commercial use and for ISR(Intelligence, Surveillance, Reconnaissance) in the military use. Since RIB is around 10 meters in length and over 30 knots in speed, its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ship's case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIB's motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitsky's formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.4_2
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• pp.825-832
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• 2024

Traditional cars have a structure that steers the front wheels to change their direction so they have difficulties in performing parking motion, especially in a narrow space. As electric vehicles developed, robotics technology especially omni-directional mobile robot technology began to be incorporated into the automobile field. Omni-directional mobility and special turning movements are particularly useful for parking cars. In this paper, we propose a four-wheeled mobile robot. The proposed robot has a structure that can combine or separate robot body and robot wheel parts by using electric brakes. The proposed robot has omni-directional mobility and has the ability to rotate around an arbitrary point. Due to these omnidirectional and rotational characteristics, the proposed robot allows for various types of movements when applied to a car. In particular, parking is performed in a simple and intuitive manner that does not require complicated path planning. We implemented the proposed four-wheeled robot and showed its effectiveness by conducting several parking experiments.

• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.890-893
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• 2004

The ultra precision machining in industrial field are increased day by day. The diamond turning has been used generally, but now is faced with limitation of use, because of higher requirement of production field. The electron beam lithography is alternative in machining area as semiconductor production. For EB lithography, 5 axis vacuum stage is required to duplicate small and large patterns on wafer. The stage is composed of 2 rotational axis and 3 translational axis with 5 DC servo motors. The positioning repeatability and resolution of Z axis feed unit are 3.21$\mu$m and 0.5 $\mu$m/step enough to apply to lithography.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.6
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• pp.982-988
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• 2013

With conventional positioning apparatus, it is very difficult to simultaneously achieve the desired driving range and precision at the sub-micrometer level. Generally, lead screw and friction drive, etc., have been used as servo control systems. These have large driving ranges, and high-speed positioning is feasible. In this study, we present a global servo system controlled by a laser interferometer acting as a displacement measurement sensor for achieving positioning accuracy at the sub-micrometer level.