• Ocean and Polar Research
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• v.36 no.4
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• pp.487-494
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• 2014

Deep-seabed test miner operated by a self-propelled mining system moving on soft soil is an essential device to secure floating and towing performances. The performances of the tracked vehicle are seriously influenced by noise factors such as the shear strength of the seafloor, bottom current, seafloor slope, speed of tracked vehicle, reaction forces of flexible hose, steering ratio, etc. Due to uncertainties related to noise factors, the design of a deep-sea manganese nodules test miner that satisfies target reliabilities is difficult. Therefore, reliability-based design optimization (RBDO) is required to guarantee system reliability under circumstances where uncertainties related to noise factors prevail. Among noise factors, the bottom current, a bimodal distribution, is censored due to the observation limit of measurement devices. Therefore, estimated distribution of the bottom current is inaccurate without considering these characteristics and the result of RBDO cannot be guaranteed. In this paper, we define censored data as unknown values over the limit of observation. If this data is estimated by using Akaike information criterion (AIC) that cannot consider the characteristics of censored data, the distribution of estimated data cannot guarantee accurate reliability. Therefore, censored AIC that can consider the characteristics of data is used to estimate accurate distribution of the bottom current. Finally, RBDO, under circumstances where uncertainties related to noise factors combined censored data are present, is performed on the mobility of a deep-sea manganese nodules test miner.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.2
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• pp.171-178
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• 2015

This research is the first research on developing the speed limit select model and also it is the result of the research on the importance of each element and consideration factors when selecting the speed limit. For the consideration factor discrimination and calculation of the importance, the delphi method and AHP method was used. The delphi survey was processed through third round survey, 5 high consideration factor(Level 1) and 23 low consideration factor(Level 2) was discriminated. During the process of the third delphi survey, when the CVR cost was in the range between 0.4~1.0 it was treated as the consideration factor when selecting the speed limit and less than 0.4 cost was eliminated. In the process of the second delphi survey, 33 consideration factors were discriminated but was reordered into 23 categories through the third survey. Based on the 23 categories earned through the third delphi analysis, the AHP survey was processed. The result of the AHP survey was that out of the importance of the 5 high consideration factor(Level 1), the traffic condition was evaluated as the number one factor and the vessel condition, waterway condition, environment condition, supporting condition and etc. conditions were evaluated following the traffic condition. Out of the 23 low consideration factor(Level 2) consideration, the visibility was evaluated to be the first important and the performance of the vessel steering, objective factors within the harbor, amount of traffic and density, distance between the passing vessel, speed of the steering capacity and tidal current were the following evaluated factors.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• Current Research on Agriculture and Life Sciences
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• v.9
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• pp.11-20
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• 1991

This study was performed to avoid the chemical spraying environment condition during spraying operation for operator's safety through the development of a remote controlled speed sprayer. The summerized results of this study are as followings. 1. The developed VHF electric wave remote controlling system which could operate sixteen type of operation conditions with the circuit channels of 234 was highly adaptable to speed sprayer for the remote control. 2. The commerical wireless telephones adapted the DTMF type electric wave remote control system need not the tranceiver. 3. The wireless electric wave remote control system combined with one-chip microcomputer, which are low cost with compact in size, could be adaptable to the remote control of the speed sprayer for the wheel steering and speed control system, and to the remote control chemical application system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.584-593
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• 2012

This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.

• Journal of Biomedical Engineering Research
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• v.20 no.3
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• pp.323-329
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• 1999

This paper proposed a method for the cancellation of the moving artifact which was produced during the detection of drowsiness usmg electrodermal activity signal. Two types of wrist electrode were developed to overcome the defect of the steering wheel type electrode which couldn't eliminate the moving artifacts due to driver's movements. Wrist type electrode II which has been modified from electrode type I was most effective for eliminating movmg artifacts compared to wheel type electrode and wrisL type electrode 1. The decIsion criteria(if IRI$\leq$10 and 1.1$\leq$dNz) for detecting moving artifact was determined from the virtual driving experiments. An algorithm which substituted past value of Nz for the current value of Nz whenever an EDA signal satisfied the criteria was developed. The experimental resulls of virtual driving and road test showed that the proposed algorithm had been successfully removed the most of the error due to the moving artifact Therefore, the developed system which use electrode type II and the algorithm might be less influenced by moving artifacts and could measure an accurate arousal state.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.03a
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• pp.862-865
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• 2008

Wireless energy supply for an MAV propulsion system using microwave was developed. This system consists of three sub system; the transmitter system, the rectenna system, and the tracking system. In the transmitter system five horn antennas were used as the antenna elements for the phased array system and both the beam divergence and steering angle was about 9deg. Eight rectennas were arrayed in parallel to obtain enough power to drive the electric motor on the MAV(the voltage was 250mV and the current was 6.8mA) in rectenna system. In tracking system two units of antenna system with leaf pattern which received the linearly-polarized wave despite the MAV yaw angle were set in each axis(x, y) for tracking an MAV in a 2-Dimentional space. And three output voltages $V_{com},\;V_1$ and $V_2$ were loaded in the PC to detect if the distance between transmitter and receiver was not constant. Finally when the microwave beam was steered by the phased array system the output voltage from rectenna was measured at 62cm while the MAV circled around above the transmitter system.

• Journal of Korean Library and Information Science Society
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• v.50 no.2
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• pp.169-189
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• 2019

The purpose of this study was to elicit the priority of the index of the operation evaluation of the school library, and to present measures for improvement of the evaluation index that reflects the project sites. To this end, the school library evaluation index was analyzed by applying the Analytic Hierarchy Process(AHP) analysis method to teacher librarians who are the representative personnel of the school library. According to the research, the priority of the upper tier evaluation areas was human resources, library services, information resources, library management, facilities and environment, and the priority of the lower tier evaluation items was human resource allocation, human resources expertise, reading education, information literacy education, efforts to activate education, book composition snowflake, the latest book, budget, facility access, book status, appropriateness of facilities and facilities, management plan, proximity accessibility, PR and marketing, school library steering committee, cooperation, use of materials current status. The conclusions drawn from this study could be used as basic data in the application of fieldworked school library assessment indicators.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.4
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• pp.1-9
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• 2009

In this paper, a small area 12-bit 300MSPS CMOS Digital-to-Analog Converter(DAC) is proposed for display systems. The architecture of the DAC is based on a current steering 6+6 segmented type, which reduces non-linearity error and other secondary effects. In order to improve the linearity and glitch noise, an analog current cell using monitoring bias circuit is designed. For the purpose of reducing chip area and power dissipation, furthermore, a noble self-clocked switching logic is proposed. To verify the performance, it is fabricated with $0.13{\mu}m$ thick-gate 1-poly 6-metal N-well Samsung CMOS technology. The effective chip area is $0.26mm^2$ ($510{\mu}m{\times}510{\mu}m$) with 100mW power consumption. The measured INL (Integrated Non Linearity) and DNL (Differential Non Linearity) are within ${\pm}3LSB$ and ${\pm}1LSB$, respectively. The measured SFDR is about 70dB, when the input frequency is 15MHz at 300MHz clock frequency.