• International Journal of Aeronautical and Space Sciences
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• 제12권1호
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• 한국화재소방학회논문지
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• 제22권1호
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• pp.10-15
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• 2008

본 연구에서는 수계 시스템 중 스프링클러 헤드 파이프라인에 대한 내진설계를 수행하였다. 내진해석에 필요한 내진설계용 스펙트럼에 대응하는 인공지진 진동파형을 작성하고, 작성된 인공지진 진동에 대한 동적 응답스펙트럼을 해석하였다. 내진설계를 위한 공학적 기반을 구축하였으며, 수계 및 가스계 파이프 시스템의 내진설계 기법을 제시하였다. 또한 본 연구의 결과로부터 수계 시스템의 파이프라인뿐만 아니라 소방시스템의 내진설계 및 성능평가에 응용할 수 있는 기틀을 마련하였다. 향후 진도규모 및 지반종류에 따른 추가적인 연구가 수행된다면 소방시스템의 신뢰성 향상과 안전성 제고, 성능위주설계가 이루어질 수 있을 것으로 본다.

• 한국컴퓨터정보학회논문지
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• 제15권5호
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• pp.75-81
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• 2010

적응 배열 안테나 시스템은 간섭신호 방향으로 영점을 형성하여 표적신호를 추정한다. 그러나 적응 배열 안테나 시스템에 상관성 간섭신호가 입사된다면 표적신호를 간섭신호로 간주하여 시스템의 성능이 급격히 감소되고, 지향 오차에 민감하여 주빔이 표적신호의 입사방향을 지향하지 못한다. 본 논문에서는 고차제한조건과 지향오차수정방법을 결합하여 빔형성 알고리즘을 제안하였다. 그리고 제안한 알고리즘으로 자유도 손실을 최소화하고 간섭신호와 지향오차를 감소시켰다. 모의실험을 이용하여 제안 알고리즘과 기존 알고리즘의 성능을 비교 분석하였다. 본 논문에서 제안한 알고리즘은 신호 입사각을 정확히 추정하지만 기존의 알고리즘은 약 $0.8^{\circ}$의 오차가 발생하였다.

• 로봇학회논문지
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• 제8권3호
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• 한국해양공학회지
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• 제36권2호
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• pp.91-100
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• 2022

In general, the effect of roll motion is not considered in the study on maneuverability in calm water. However, for high-speed twin-screw ships such as the DTMB 5415, the coupling effects of roll and other motions should be considered. Therefore, in this study, the estimation of maneuverability using a 4-degree-of-freedom (DOF; surge, sway, roll, yaw) maneuvering mathematical group (MMG) model was conducted for the DTMB 5415, to improve the estimation accuracy of its maneuverability. Furthermore, a study on the change in turning performance according to the fin angle was conducted. To accurately calculate the lift and drag forces generated by the fins, it is necessary to consider the three-dimensional shape of the wing, submerged depth, and effect of interference with the hull. First, a maneuvering simulation model was developed based on the 4-DOF MMG mathematical model, and the lift force and moment generated by the side fins were considered as external force terms. By employing the CFD model, the lift and drag forces generated from the side fins during ship operation were calculated, and the results were adopted as the external force terms of the 4-DOF MMG mathematical model. A 35° turning simulation was conducted by altering the ship's speed and the angle of the side fins. Accordingly, it was confirmed that the MMG simulation model constructed with the lift force of the fins calculated through CFD can sufficiently estimate maneuverability. It was confirmed that the heel angle changes according to the fin angle during steady turning, and the turning performance changes accordingly. In addition, it was verified that the turning performance could be improved by increasing the heel angle in the outward turning direction using the side fin, and that the sway speed of the ship during turning can affect the turning performance. Hence, it is considered necessary to study the effect of the sway speed on the turning performance of a ship during turning.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.512-521
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• 2017

This paper reports development process of a university-based sounding rocket using simplified hybrid rocket propulsion system for low-altitude flight application. A hybrid propulsion system was tried to be designed with as few components as possible for more economical, simpler and safer propulsion system, which is essential for the small scale sounding rocket operation as a CanSat carrier. Using blow-down feeding system and catalytic ignition as combustion starter, 250 N class hybrid rocket system was composed of three components: a composite tank, valves, and a thruster. With a composite tank filled with both hydrogen peroxide($H_2O_2$) as an oxidizer and nitrogen gas($N_2$) as a pressurant, the feeding pressure was operated in blowdown mode during thruster operation. The $MnO_2/Al_2O_3$ catalyst was fabricated for propellant decomposition, and ground test of propulsion system showed the almost theoretical temperature of decomposed $H_2O_2$ at the catalyst reactor, indicating sufficient catalyst efficiency for propellant decomposition. Auto-ignition of the high density polyethylene(HDPE) fuel grain successfully occurred by the decomposed $H_2O_2$ product without additional installation of any ignition devices. Performance test result was well matched with numerical internal ballistics conducted prior to the experimental propulsion system ground test. A sounding rocket using the developed hybrid rocket was designed, fabricated, flight simulated and launch tested. Six degree-of-freedom trajectory estimation code was developed and the comparison result between expected and experimental trajectory validated the accuracy of the developed trajectory estimation code. The fabricated sounding rocket was successfully launched showing the effectiveness of the simplified hybrid rocket propulsion system.

• Smart Structures and Systems
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• 제16권2호
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• pp.295-328
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• 2015

In recent years the monitoring of structural behavior through acquisition of vibrational data has become common practice. In addition, recent advances in sensor development have made the collection of diverse dynamic information feasible. Other than the commonly collected acceleration information, Global Position System (GPS) receivers and non-contact, optical techniques have also allowed for the synchronous collection of highly accurate displacement data. The fusion of this heterogeneous information is crucial for the successful monitoring and control of structural systems especially when aiming at real-time estimation. This task is not a straightforward one as measurements are inevitably corrupted with some percentage of noise, often leading to imprecise estimation. Quite commonly, the presence of noise in acceleration signals results in drifting estimates of displacement states, as a result of numerical integration. In this study, a new approach based on a time domain identification method, namely the Unscented Kalman Filter (UKF), is proposed for correcting the "drift effect" in displacement or rotation estimates in an online manner, i.e., on the fly as data is attained. The method relies on the introduction of artificial white noise (WN) observations into the filter equations, which is shown to achieve an online correction of the drift issue, thus yielding highly accurate motion data. The proposed approach is demonstrated for two cases; firstly, the illustrative example of a single degree of freedom linear oscillator is examined, where availability of acceleration measurements is exclusively assumed. Secondly, a field inspired implementation is presented for the torsional identification of a tall tower structure, where acceleration measurements are obtained at a high sampling rate and non-collocated GPS displacement measurements are assumed available at a lower sampling rate. A multi-rate Kalman Filter is incorporated into the analysis in order to successfully fuse data sampled at different rates.

• 한국전산구조공학회논문집
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• 제36권4호
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• pp.233-242
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• 2023

본 논문에서는 다중 시그마포인트 세트(MSP)를 사용하는 분산점 칼만필터(UKF)인 UKF-MSP를 소개한다. 비선형 동적시스템을 표현하기 위해 널리 알려진 Bouc-Wen 모델을 사용하였고, 비선형성 고려가 가능한 칼만필터 중 UKF를 선정하였다. 그런데 UKF는 두 가지 인공오차와 시그마포인트의 분포를 결정하는 스케일링 파라미터의 값을 튜닝(Tuning)하는 과정을 통해 적절히 설정해야만 대상 동적시스템의 추정하고자 하는 상태(State)를 정확히 추정할 수가 있다. 본 논문에서는 후자의 스케일링 파라미터 설정 문제를 완화하고자 하였으며, MSP를 사용함으로써 기존 UKF에 비해 칼만필터 튜닝 과정에 덜 민감한 UKF-MSP를 제안하였다. 지진으로 인한 급격한 구조손상 시나리오에 대해 UKF-MSP의 안정성을 검증하였다. 제안된 방법은 튜닝과정을 완화함과 동시에 다른 칼만필터 파라미터인 인공오차에 대해서도 덜 민감한 거동을 보임을 확인하였다.

• 한국방재학회:학술대회논문집
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• 한국방재학회 2008년도 정기총회 및 학술발표대회
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• pp.269-272
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• 2008

구조물의 지진취약도곡선은 임의의 크기를 가진 지진에 대하여 구조물에 어느 규모이상의 손상이 발생할 확률을 의미하는 것으로 구조물의 내진성능평가 및 손실평가 하는데 아주 중요하다. 본 논문은 선진국의 지진취약도 추정기법을 분석하여 국내 실정에 적합한 지진취약도 추정 기법을 확립하기 위한 연구방법론을 제시하는 데 그 목적이 있다. 이를 위해 우선 지진취약도함수의 개발현황을 조사하였다. 그 다음 이러한 평가방법을 국내에 적용하기 위하여 국내의 교량구조물을 분류하였다. 마지막으로는 PSC Box 거더교에 대해서 지진취약도곡선을 평가하였다. 평가 결과 구조물의 분류와 손상상태는 구조물의 손상평가와 지진취약도해석에 아주 큰 영향을 미치는 것을 확인할 수 있었다.

• 한국환경과학회지
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• 제22권11호
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• pp.1473-1479
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• 2013

Entropy is a measure of disorder or uncertainty. This terminology is qualitatively used in the understanding of its correlation to pollution in the environmental area. In this research, three different entropies were defined and characterized in order to quantify the qualitative entropy previously used in the environmental science. We are dealing with newly defined distinct entropies $E_1$, $E_2$, and $E_3$ originated from Shannon entropy in the information theory, reflecting concentration of three major green house gases $CO_2$, $N_2O$ and $CH_4$ represented as the probability variables. First, $E_1$ is to evaluate the total amount of entropy from concentration difference of each green house gas with respect to three periods, due to industrial revolution, post-industrial revolution, and information revolution, respectively. Next, $E_2$ is to evaluate the entropy reflecting the increasing of the logarithm base along with the accumulated time unit. Lastly, $E_3$ is to evaluate the entropy with a fixed logarithm base by 2 depending on the time. Analytical results are as follows. $E_1$ shows the degree of prediction reliability with respect to variation of green house gases. As $E_1$ increased, the concentration variation becomes stabilized, so that it follows from linear correlation. $E_2$ is a valid indicator for the mutual comparison of those green house gases. Although $E_3$ locally varies within specific periods, it eventually follows a logarithmic curve like a similar pattern observed in thermodynamic entropy.