• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2003년도 제21회 추계학술대회 논문집
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• pp.1-5
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• 2003

This paper deals with dynamic instability of slender rocket-propelled flying bodies, such as launch vehicle and advances missiles subjected to aerodynamic loads and an end rocket thrust. A flying body is simplified into a uniform free-free beam subjected to an end follower thrust. Two types of aerodynamic loads are assumed in the stability analysis. Firstly, it is assumed that two concentrated aerodynamic loads act on the flying body at its nose and tail. Secondly, to take account of effect of unsteady flow due to motion of a flexible flying body, aerodynamic load is estimated by the slender body approximation. Extended Hamilton's principle is applied to the considered beam for deriving the equation of motion. Application of FEM yields standardeigen-value problem. Dynamic stability of the beam is determined by the sign of the real part of the complex eigen-values. If aerodynamic loads are concentrated loads that act on the flying body at its nose and tail, the flutter thrust decreases by about 10% in comparison with the flutter thrust of free-free beam subjected only to an end follower thrust. If aerodynamic loads are distributed along the longitudinal axis of the flying body, the flutter thrust decreases by about 70% in comparison with the flutter thrust of free-free beam under an end follower thrust. It is found that the flutter thrust is reduced considerably if the aerodynamic loads are taken into account in addition to an end rocket thrust in the stability analysis of slender rocket-propelled flying bodies.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권1호
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• pp.63-69
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• 2005

The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.

• Journal of Advanced Marine Engineering and Technology
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• 제27권4호
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• pp.526-534
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• 2003

Motions of animals and gymnasts in the air as well as free flying space robots without thruster are subject to nonholonomic constraints generated by the law of conservation of angular momentum. The interest in nonholonomic control problems is motivated by the fact that such systems can not stabilized to its equilibrium points by the smooth control input. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose a control method using bang-bang control for trajectory planning of a 3 link mechanical system with initial angular momentum. We reduce the DOF (degrees of freedom) of control object in the first control phase and determine the control inputs to steer the reduced order system from its initial position to its desired position. Computer simulation for a motion planning of an athlete approximated by 3 link is presented to illustrate the effectiveness of the Proposed control scheme.

• 생태와환경
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• 제49권4호
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• pp.385-392
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• 2016

지리적 격리는 생태학적 특징의 차이를 유발한다. 지리적인 격리는 박쥐 종 내의 소리 차이의 원인으로 알려져 왔다. 본 연구는 관박쥐의 반향정위가 지리적 차이에 의해 차이가 있는지를 알기 위해 우리나라 섬(제주도)과 내륙에서 수행되었다 우리는 내륙과 섬(제주도)에서 관박쥐가 활동기간에 휴식처로 이용하는 것으로 알려진 폐광과 동굴을 연구 지역으로 선정하였다. 관박쥐의 Hand-held call과 Free-flying call을 녹음하였다. 녹음된 펄스(pulse)는 관박쥐의 Hand-held call과 Free-flying call을 녹음하였다. 분석 결과, 내륙에서 서식하는 관박쥐의 PF는 평균 69 kHz로 섬(제주도)에 서식하는 관박쥐의 PF (71 kHz)와 차이가 났다. 판별 분석 결과에서도 내륙과 섬의 반향정위는 차이를 보였다. 우리나라 관박쥐 개체군의 PF는 유럽(82 kHz)보다는 낮고, 일본(65 kHz)보다는 높았다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.510-515
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• 2000

Dynamic stability of a flying structure undertaking constant and pulsating axial forces is investigated in this paper. The equations of motion of the structure, which is idealized as a free-free beam, are derived by using the hybrid variable method and the assumed mode method. The structural system includes a directional control unit to obtain the directional stability. The analysis model presented in this paper considers the nonlinear effect due to rigid body motion of the beam. Dynamic stability of the system is influenced by the nonlinear effect. In order to examine the nonlinear effect, first the unstable regions of the linear system are obtained by using the method based upon Floquet's theory, and dynamic responses of the nonlinear system in the unstable region are obtained by using direct time integration method. Dynamic stability of the nonlinear system is determined by the obtained dynamic responses.

• Journal of Astronomy and Space Sciences
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• 제30권1호
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• pp.11-15
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• 2013

A collision-free formation reconfiguration trajectory subject to the linearized Hill's dynamics of relative motion is analytically developed by extending an algorithm for gravity-free space. Based on the initial solution without collision avoidance constraints, the final solution to minimize the designated performance index and avoid collision is found, based on a gradient method. Simple simulations confirm that satellites reconfigure their positions along the safe trajectories, while trying to spend minimum energies. The algorithm is applicable to wide range of formation flying under the Hill's dynamics.

• 소음진동
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• 제9권6호
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• pp.1157-1165
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• 1999

Dynamic stability of a flying structure undertaking constnat and pulsating thrust force is investigated in this paper. The equations of motion of the structure, which is idealized as a free-free beam, are derived by using the hybrid variable method and the assumed mode method. The structural system includes a directional control unit to obtain the directional stability. Unstable regions due to periodically pulsating thrust forces are obtained by using the Floquet's theory. Stability diagrams are presented to illustrate the influence of the constant force, the location of gimbal, and the frequency of pulsating force. The validity of the diagrams are confirmed by direct numerical simulations of the dynamic system.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.59-74
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• 2009

Relative navigation system is presented using GPS measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide the real-time inter-satellite relative positions as well as absolute positions for two formation flying satellites in low earth orbit. To improve the navigation performance, the absolute states are estimated using ion-free GRAPHIC (group and phase ionospheric correction) pseudo-ranges and the relative states are determined using double differential carrier-phase data and singled-differential C/A code data based on the extended Kalman filter and the unscented Kalman filter. Furthermore, pseudo-relative dynamic model and modified relative measurement model are developed. This modified EKF method prevents non-linearity of the measurement model from degrading precision by applying linearization about absolute navigation solutions not about the priori estimates. The LAMBDA method also has been used to improve the relative navigation performance by fixing ambiguities to integers for precise relative navigation. The software-based simulation has been performed and the steady state accuracies of 1 m and 6 mm ($1{\sigma}$ of 3-dimensional difference errors) are achieved for the absolute and relative navigation using EKF for a short baseline leader/follower formation. In addition, the navigation performances are compared for the EKF and the UKF for 10 hours simulation, and relative position errors are mm-level for the two filters showing the similar trends.

• 대한조선학회논문집
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• 제35권3호
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• pp.14-25
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• 1998

본 논문은 자유수면 위를 가까이 비행하는 표면효과익선(Wing-in Ground Effect Craft)의 날개에 작용하는 정상(steady) 및 비정상(unsteady) 동유체력을 포텐셜 기저 패널법을 사용하여 수치해석을 수행한 결과이다. 파가 없는 고정수면 위를 비행하는 정상문제의 경우에 대해서는 단면변화, 앙각(angle of attack), 가로-세로비(aspect ratio), 날개 끝단판(end-plate)의 부착 유무 및 비행고도에 따른 양력 및 항력을 계산하여 풍동실험 결과와 비교하였다. 비정상문제에서는 이미 정의된 파표면 위를 표면효과익이 날아가는 경계치 문제로 해석하였다. 파장, 파고, 비행고도의 변화에 따른 날개에 작용하는 비정상 동유체력을 계산하여 파가 있을 경우 표면효과의 영향을 살펴보았다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2378-2380
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• 2003

본 연구에서는 각 운동량 보존법칙으로부터 도출되어지는 공중부상체(flying objects)의 제어기법에 대해 논의하고자 한다. 먼저, 공중부상체에 대하여 각 운동량 보존법칙을 적용하여 적분불가능한 구속조건으로부터 비 홀로노믹시스템을 도출하고 상태변환과 입력변환을 행하여 제어가 용이한 체인드 폼(Chained form)을 유도한다. 체인드 폼에 대해서는 백스테핑제어기법을 적용하여 제어기를 설계하고 제어기법의 유용성을 검증하기 위하여 3개의 회전관절로 구성된 공중부상체를 대상으로 하여 초기자세로부터 목적자세까지의 제어를 행하였다.