• The Journal of Korea Robotics Society
• /
• v.9 no.4
• /
• pp.216-224
• /
• 2014

This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.

• Bulletin of the Korean Space Science Society
• /
• 2008.10a
• /
• pp.24.4-25
• /
• 2008

Limb scanning measurements of the O2 (0-0) Atmospheric band emission by the TIDI instrument aboard the TIMED satellite during 2003-2005 are analyzed to examine the tidal effects on their vertical emission rate according to the solar and geomagnetic activities. The data are restricted at latitudes $60^{\circ}S-60^{\circ}N$ to avoid the contributions by the auroral emission. The variation of the vertical emission rate in latitude and local time is summarized in the yaw periods. The vertical emission profiles of the O2 (0-0) Atmospheric band nightglow averaged in the $10^{\circ}$ latitude range are investigated. The result shows the inverse relationship between the peak emission height and the integrated brightness.

• Journal of ILASS-Korea
• /
• v.15 no.2
• /
• pp.53-60
• /
• 2010

This study presents development of digital particle holographic system and its application to spray field to measure three-dimensional velocities and sizes of spray droplets. A double exposure hologram recording system with synchronization system for time control was established and digital holograms can be recorded in a short time interval. To process recorded holograms, the correlation coefficient method was used for focal plane determination of particles. To remove noises and improve the quality of holograms and reconstructed images, the Wiener filter was adopted. The two-threshold and image segmentation methods were used in binary image transformation. For particle pairing, the match probability method was adopted. The developed system was applied to spray field and three-dimensional velocities and sizes of spray droplets were measured. The measurement results of digital holographic system were compared with those made by laser instruments, PDPA(Phase Doppler Particle Analyzer), which proved the feasibility of in-line digital particle holographic system as a good measurement tool for spray droplets.

• International Journal of Ocean System Engineering
• /
• v.1 no.2
• /
• pp.102-109
• /
• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.305-306
• /
• 2008

In this paper, we measured the wireless feedback channel near a highway, and analysis results from the measured sample data are described. For characterizing the channel properties, W-CDMA signal of 2GHz frequency, 5MHz bandwidth and 10ms period are used. The scattering function, delay power profile, delay spread, and Doppler spread are measured.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.9
• /
• pp.2463-2476
• /
• 1994

Local mean fluctuating velocity components were measured in the separating and reattaching axisymmetrc region of turbulent boundary layer over the wall of convex cylinders placed in a water tunnel by using 2-color 4-beam fiber optics laser Doppler velocimetry. Measurements were made with three different diameters of cylinders with four different diameters of cylinders with four different diameter of the obstructions. The range of Reynolds number based on step height was between 5,000 to 25,200. The study demonstrates that the reattachment length decreases with decreasing cylinder radius and is always shorter than that for the two-dimensional backward-facing step flow at the condition of the same step height. It was also observed that the turbulent kinetic energy in the recirculating region increases with an increases in the radius of convex curvature. The measured velocity field suggests that the transverse curvature can effect definitely the formation of corner eddy.

• Journal of the KSME
• /
• v.34 no.4
• /
• pp.262-276
• /
• 1994

본 연구를 통하여 3차원 LDV 시스템의 측정기법을 개발하였으며, 측정결과의 신뢰성을 확인하 였다. 또한 이것을 타원제트 연구에 적용함으로써 그 응용 가능성을 확인하였다. 앞으로 3-D LDV 시스템을 사용하여 신뢰성 있는 측정결과를 얻기 위해서는 아래에 기술한 몇 가지 사항을 고려하여야 한다. 1) 3차원 레이저 유속계는 정교하고 복잡한 광학시스템으로 정확한 배열을 요구한다. 광학계와 실험장치의 좌표축이 일치하지 않으면 축방향보다 측방향(lateral) 속도변동 성분에 큰 영향을 준 다. 2) LDV 측정에서 속도편심을 줄이기 위해서는 적당한 출력의 레이저, 적절한 신호처리(signal conditioning), 실험조건에 알맞는 입자를 선정하여야 한다 3) 입자를 연속적으로 균일하게 공급하여야하며 신호분석기 조작에 익숙하여 도플러신호의 질을 최적화하여야 한다.

• Journal of ILASS-Korea
• /
• v.5 no.1
• /
• pp.30-40
• /
• 2000

The characteristics of liquefied butane spray are expected to be different from conventional diesel fuel spray, because a kind of flash boiling spray is expected when the back pressure is below the saturated vapor pressure of the butane(0.23MPa at 298K). The ambient pressure was held at a pressure above(0.37MPa) and below(0.15MPa) the fuel vapor pressure. The axial velocities, radial velocities, and size distributions in butane sprays were measured with PDPA(Phase Doppler Particle Analyzer) system. The PDPA measurement showed a smaller SMD at the 0.15MPa chamber pressure, compared to the 0.37MPa case. Log-hyperbolic density function for the droplets size distribution can be fitted to the experimental results of a liquefied butane spray.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.35S no.3
• /
• pp.110-119
• /
• 1998

In this paper we discuss an algorithm to discriminate a garget under track against multiple acoustic counter-measure (ACM) sources, based on sequential testings of multiple hypotheses. The ACM sources are separated from the target under track and generate, while drifting, measurements with false range and Doppler information. The purpose of the ACM is to mislead the target tracking and to help the true target evade a pursuer. The proposed algorithm uses as a test statistic a function of the innovation sequences from extended Kalman filters to estimate the target dynamics and the drifting positions of the ACM sources. results of numerical experimenats are presented to show a performance profile of the proposed algorithm.

• Journal of Mechanical Science and Technology
• /
• v.16 no.4
• /
• pp.572-579
• /
• 2002

The experimental measurements were carried out to examine turbulent disintegration characteristics ejecting from a counter-flowing internal mixing pneumatic nozzle under variable conditions of swirl angles and air pressures. The air injection pressure was varied from 60 kPa to 180 kPa and four counter-flowing internal mixing nozzles with axi-symmetric tangential-drilled holes at swirl angle of 15$^{\circ}$, 30$^{\circ}$, 45$^{\circ}$, and 60$^{\circ}$to the central axis have been specially designed. The experimental results were quantitatively analyzed, focusing mainly on the comparison of turbulent atomization characteristics issuing from an internal mixing swirl nozzle. To illustrate the swirl phenomena, the distributions of mean velocities, turbulence intensities, volume flux, and SMD (Sauter Mean Diameter, or D$\sub$32/) were comparatively analyzed.