• Korean Journal of Remote Sensing
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• v.19 no.4
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• pp.291-305
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• 2003

The cost of deploying Geological and Environmental information gathering systems, especially when such systems obtain remote sensing and photographic data through the use of commercial satellites and aircraft. Besides the high cost equipment required, adverse weather conditions can further restrict a researcher's ability to collect data anywhere and anytime. To mitigate this problem, we have developed a compact, multi-spectral automatic Aerial photographic system. This system's Multi-spectral camera is capable of the visible (RGB) and infrared (NIR) bands (3032*2008 pixel). It consists of a thermal infrared camera and automatic balance control, and can be managed by a palm-top computer. Other features includes a camera gimbal system, GPS receiver, weather sensor among others. We have evaluated the efficiency of this system in several field tests at the following locations: Kyongsang-bukdo beach, Nakdong river (at each site of mulkeum-namji and koryung-gumi), and Kyungahn River. Its tested ability in aerial photography, weather data, as well as GPS data acquisition demonstrates its flexibility as a tool for environmental data monitoring.

• Korean Journal of Remote Sensing
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• v.22 no.6
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• pp.595-600
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• 2006

GOCI is the core paryload of the geostationary satellite COMS(Communication, Ocean and Meteological Satellite) for ocean monitoring. It is scheduled to be launched at the end of 2008. GOCI observes ocean color around the Korean Peninsula over $2500km\times2500km$ area. It used tilted two-axis scan mechanism to observe entire field of view. In this work, the pointing stability of the tilted two-axis method is analyzed and compared with that of gimbal method. The analysis results show that tilted two-axis method gives great stability and it is adequate for geostationary payload. The results can also be used to determine and analyze the mechanism specifications.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.4
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• pp.241-250
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• 2022

This paper addresses the Feasible Angular Momentum(FAM) chart that can be used as an indicator for maneuverability analysis of spacecraft installed with control moment gyros(CMGs). Recently, as the demands for high agility of spacecraft has been increasing in order to perform the space mission given to spacecraft more effectively, interest in CMGs, which is a high torque generator is increasing. However, since the CMG has a singularity problem that does not generate the control torque in the specific directions, in this paper, we consider the two pairs of parallel control moment gyros(TPCMGs) that follows the roof-type configuration. The Gimbal space was newly defined except for the space where singularity can be generated and the space where torque error is generated due to the hardware limits. The feasible angular momentum space is defined as a FAM chart, and it is very meaningful that it is possible to analyze the spacecraft's rotational maneuverability effectively by deriving the spacecraft's 3-axis parameters in the corresponding gimbal space mathematically.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.2
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• pp.116-124
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• 2008

Current paper investigates the dynamic behavior and stability of an infrared search and track subjected to external disturbance having gimbal structure with three rotating axes keeping constant angular velocity in the azimuth direction. Euler-Lagrange equation is applied to derive the coupled nonlinear dynamic equation of motion of infrared search and track and the characteristics of dynamic coupling are investigated. Two equilibrium points with small variations from the nonlinear coupling system are derived and the specific condition from which a coupled equation can be three independent equations is derived. Finally, to examine the stability of system, Lyapunov direct method was used and system stability and stability boundaries are investigated.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1747-1753
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• 2004

CMG(Control Momentum Gyro) is a control device being used for spacecraft attitude control constructing relatively large amount of torque compared to conventional body-fixed reaction wheels. The CMG produces gyroscopic control torque by continuously varying the angular momentum vector direction with respect to the spacecraft body. The VSCMG(Variable Speed Control Momentum Gyro) has favorable advantages with variable speed to lead to better control authority as well as singularity avoidance capability. Attitude dynamics with a VSCMG mounted on a two-axis gimbal system are derived in this study. The dynamic equation may be considered as an extension of the single-axis counterpart. Also, a feedback control law design is addressed in conjunction with the dynamic equations of motion.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.110-113
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• 2004

A delay dependent fuzzy $H_{\infty}$ controller design method for delayed nonlinear systems with parameter uncertainty is considered. Using delay-dependent Lyapunov function the asymptotical stability and $H_{\infty}$n performance problem :are discussed. A sufficient condition for the existence of fuzzy controller is presented in terms of linear matrix inequalities(LMIs). A simulation example through radar gimbal system is given to illustrate the design procedures and performances of the prosed methods.

• 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.

• Aerospace Engineering and Technology
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• v.2 no.2
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• pp.115-123
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• 2003

In this paper, in order to guarantee successful operation of KSR-III TVC actuator in the presence of excessive external disturbances, a relief valve is designed as a key component of the actuator. It is shown that the relief valve can resolve the stability problems which occur due to actuator failure in the presence of excessive disturbance torques on the actuator. Six degree-of-freedom simulation shows that relief valves with low operating pressure and low LOHM parameter may be better is stability and performance of the TVC actuator system.

• Journal of Astronomy and Space Sciences
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• v.23 no.4
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• pp.397-404
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• 2006

Geometric singularity problems are principle difficulties of single-gimbal control moment gyros in spacecraft attitude control. To overcome these singularities, many steering logics have been studied. In this paper, a new null motion steering law is suggested, which is based on the minimization of the directional components of output torque with respect to the required torque. The suggested steering law has been simulated and verified to work well around several critical singular points which have been classified as testing points of avoidance algorithm in previous literatures.