• International Journal of Automotive Technology
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• v.7 no.7
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• pp.833-839
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• 2006

In this paper, roll behavior of three planar half car models are compared. The first model is a simple model whose contact point between a wheel and the ground is assumed to be fixed with a revolute joint. The second model is a modified model of the fIrst model, whose wheel tread width can vary. In this model, the instant center of a wheel with respect to the ground, which is crucial to find the roll center, is assumed to be at the contact point of a wheel and the ground. The last model uses the pole of a wheel with respect to the ground for small displacement as the instant center of a wheel with respect to the ground. Loci of the center of gravity point, the fixed and the moving centrodes which are traces of roll center position in the ground and the body frame respectively, wheel contact points, and instant centers of a wheel with respect to the ground are calculated.

• Geophysics and Geophysical Exploration
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• v.26 no.2
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• pp.37-51
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• 2023

The ground roll is the most common coherent noise in land seismic data and has an amplitude much larger than the reflection event we usually want to obtain. Therefore, ground roll suppression is a crucial step in seismic data processing. Several techniques, such as f-k filtering and curvelet transform, have been developed to suppress the ground roll. However, the existing methods still require improvements in suppression performance and efficiency. Various studies on the suppression of ground roll in seismic data have recently been conducted using deep learning methods developed for image processing. In this paper, we introduce three models (DnCNN (De-noiseCNN), pix2pix, and CycleGAN), based on convolutional neural network (CNN) or conditional generative adversarial network (cGAN), for ground roll suppression and explain them in detail through numerical examples. Common shot gathers from the same field were divided into training and test datasets to compare the algorithms. We trained the models using the training data and evaluated their performances using the test data. When training these models with field data, ground roll removed data are required; therefore, the ground roll is suppressed by f-k filtering and used as the ground-truth data. To evaluate the performance of the deep learning models and compare the training results, we utilized quantitative indicators such as the correlation coefficient and structural similarity index measure (SSIM) based on the similarity to the ground-truth data. The DnCNN model exhibited the best performance, and we confirmed that other models could also be applied to suppress the ground roll.

• Geophysics and Geophysical Exploration
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• v.22 no.4
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• pp.177-185
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• 2019

Ground roll is a surface wave which is usually observed in the land seismic data. It is one of the typical coherent noise. During the reflection data processing, ground roll is removed because it is considered as noise. This removal process often causes the loss of reflection signals if the ground roll overlaps reflection signals. In this study, we look over Karhunen-Loeve Transform (KLT) and analyze its effects to suppress the ground roll appropriately while reducing the reflection loss. Numerical tests in homogeneous elastic media show that the ground roll has been properly rejected. However, the field data application reveals that there is no significant suppression of ground roll when compared to band-pass filtering. This can be considered that it is hard to calculate horizontally aligned gathers in the field data because the ground roll contains a wide range of frequency bands. On the contrary, the result of singular value decomposition (SVD) filtering shows that the ground roll has been significantly reduced. It is thought that the SVD filtering performs better in the ground roll suppression than KLT because it is easy to calculate the horizontally aligned gathers in the SVD filtering.

• Journal of Aerospace System Engineering
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• v.10 no.3
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• pp.39-43
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• 2016

In this paper, a wind-tunnel test is accomplished to investigate the roll characteristics of a variable-span wing flying inside a channel. The factors that affect the roll characteristics of the wing were identified by analyzing the measured data; accordingly, when the wing is flying without both the ground and sidewall effects, the asymmetric wing extension causes the roll moment. Both the ground and the sidewall can increase the roll moment, but when the wing is affected by both the ground and the sidewall, the roll moment does not increase as much as the case where the wing is only affected by the ground. Also, the aerodynamic characteristics of the flying wing inside a channel are the nonlinear function of the wing height and the gap between the wingtip and the sidewall, both of which should be considered in a study of the stability and the flight control of the wing-in-ground effect of the vehicle flying inside a channel.

• Journal of Power System Engineering
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• v.13 no.1
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• pp.26-32
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• 2009

This study is about roll characteristics evaluation to show the advantage of using MR(magneto-rheological) dampers for steering of a SUV(sports utility vehicle). Roll characteristics is very important to observe the roll-propensity of the SUV. ADAMS/Car program was used to simulate the basic steering motion, using 63 D.O.F. vehicle model. Sky-Hook and Ground-Hook control algorithms were used as a semi-active suspension system controller. The roll characteristics from the steering motion were compared between the simulation results from the semi-active suspension system and the passive suspension system.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.2
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• pp.76-81
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• 2002

A numerical simulation of wake behavior behind three-dimensional wings in ground effect is done using an indirect boundary element method (Panel Method). An integral equation is obtained by applying Green's 2nd Identity on all surfaces of the flow domain. The AIC is constructed by imposing the no penetration condition on solid surfaces, and the Kutta at the wing's trailing edge. The ground effect is included using an image method. At each time step, a row of wake panels from wings' trailing edge are convected downstream following the force-free condition. The roll-up of wake vortices behind wings in close proximity is simulated.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• Journal of Advanced Information Technology and Convergence
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• v.8 no.2
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• pp.101-110
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• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.713-718
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• 2006

Supersonic jet fighter aircraft have several different weapon loading configuration to support air-to-air combat and air-to-ground delivery of weapon modes. Especially, asymmetric loading configurations could result in decreased handling qualities for the pilot maneuvering of the aircraft. The design of the T-50 lateral-directional roll axis control laws change from beta-betadot feedback structure to simple roll rate feedback structure and gains such as F-16 in order to improve roll-off phenomena during pitch maneuver in asymmetric loading configuration. Consequently, it is found that the improved control law decreases the roll-off phenomenon in lateral axes during pitch maneuver, but initial roll response is very fast and wing pitching moment is increased. In this paper, we propose the lateral control law blending between beta-betadot and simple roll rate feedback system in order to decreases the roll-off phenomenon in lateral axes during pitch maneuver without degrading of roll performance.

• The Journal of Engineering Geology
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• v.28 no.3
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• pp.465-473
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• 2018

The application of singular value decomposition (SVD) filtering is examined for attenuation of the ground-roll in land seismic data. Prior to the SVD computation to seek singular values containing the highly correlatable reflection energy, processing steps such as automatic gain control, elevation and refraction statics, NMO correction, and residual statics are performed to enhance the horizontal correlationships and continuities of reflections. Optimal parameters of SVD filtering are effectively chosen with diagnostic display of inverse NMO (INMO) corrected CSP (common shot point) gather. On the field data with dispersion of ground-roll overwhelmed, continuities of reflection events are much improved by SVD filtering than f-k filtering by eliminating the ground-roll with preserving the low-frequency reflections. This is well explained in the average amplitude spectra of the f-k and SVD filtered data. The reflectors including horizontal layer of the reservoir are much clearer on the stack section, with laminated events by SVD filtering and subsequent processing steps of spiking deconvolution and time-variant spectral whitening.