• International Journal of Aeronautical and Space Sciences
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• v.11 no.1
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• pp.10-18
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• 2010

The purpose of this paper deals with direct multiple-shooting method (DMS) to resolve helicopter maneuver problems of helicopters. The maneuver problem is transformed into nonlinear problems and solved DMS technique. The DMS method is easy in handling constraints and it has large convergence radius compared to other strategies. When parameterized with piecewise constant controls, the problems become most effectively tractable because the search direction is easily estimated by solving the structured Karush-Kuhn-Tucker (KKT) system. However, generally the computation of function, gradients and Hessian matrices has considerably time-consuming for complex system such as helicopter. This study focused on the approximation of the KKT system using the matrix exponential and its integrals. The propose method is validated by solving optimal control problems for the linear system where the KKT system is exactly expressed with the matrix exponential and its integrals. The trajectory tracking problem of various maneuvers like bob up, sidestep near hovering flight speed and hurdle hop, slalom, transient turn, acceleration and deceleration are analyzed to investigate the effects of algorithmic details. The results show the matrix exponential approach to compute gradients and the Hessian matrix is most efficient among the implemented methods when combined with the mixed time integration method for the system dynamics. The analyses with the proposed method show good convergence and capability of tracking the prescribed trajectory. Therefore, it can be used to solve critical areas of helicopter flight dynamic problems.

• Journal of Ocean Engineering and Technology
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• v.29 no.2
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• pp.191-198
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• 2015

In this study, we proposed a new type of dual-buoy wave energy converter (WEC) exploiting multi-resonance and analyzed the experimental results from a model test in a 2-D wave flume. A dual-buoy WEC using multi-resonance has two advantages: high efficiency at the resonant frequencies and the potential to extend the frequency range available to extract wave power from the WEC. The suggested WEC was composed of an outer buoy and an inner buoy sliding vertically inside the outer buoy. As the power take-off device, a linear electric generator (LEG) consisting of permanent magnets and coils fixed at each buoy was adopted. Electricity was produced by the relative heave motion between the two buoys. To search for the optimal shape of a dual-buoy WEC, we conducted experiments on the heave motion of a two-body system in regular waves without an LEG installed. Model tests with six combinations of experimental models were conducted in order to find the motion characteristics of a dual-buoy WEC. It was found that model 2, which included a ring-shaped appendage to move the resonant frequency of the outer buoy toward a high value, showed a higher relative heave response amplitude operator (RAO) curve than model 1. In addition, the double-peak shape of the heave RAO curve shown for model 2 indicated the extension of the frequency range for extracting wave power in irregular waves.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.8
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• pp.1998-2009
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• 1998

An effective algorithm for tracking rigid or non-rigid moving object(s) which segments local moving parts from image sequence in the presence of backgraound motion by camera movenment, predicts the direction of it, and tracks the object is proposed. It requires no camera calibration and no knowledge of the installed position of camera. In order to segment the moving object, feature points configuring the shape of moving object are firstly selected, feature flow field composed of motion vectors of the feature points is computed, and moving object(s) is (are) segmented by clustering the feature flow field in the multi-dimensional feature space. Also, we propose IRMAS, an efficient algorithm that finds the convex hull in order to cinstruct the shape of moving object(s) from clustered feature points. And, for the purpose of robjst tracking the objects whose movement characteristics bring about the abrupt change of moving trajectory, an improved order adaptive lattice structured linear predictor is used.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2843-2845
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• 2000

A lane detection based on a road model or feature all need correct acquirement of information on the lane in a image, It is inefficient to implement a lane detection algorithm through the full range of a image when being applied to a real road in real time because of the calculating time. This paper defines two searching range of detecting lane in a road, First is searching mode that is searching the lane without any prior information of a road, Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It is allow to extract accurately and efficiently the edge candidates points of a lane as not conducting an unnecessary searching. By means of removing the perspective effect of the edge candidate points which are acquired by using the inverse perspective transformation, we transform the edge candidate information in the Image Coordinate System(ICS) into the plane-view image in the World Coordinate System(WCS). We define linear approximation filter and remove the fault edge candidate points by using it This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.585-586
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• 2015

4U 1323-62, a low mass X-ray binary with an orbital period of 2.94 hr, exhibits periodic X-ray dips, which are due to absorption by the bulge of the outer accretion disk. The purpose of this study is to search for orbital period changes using archived X-ray data over a time span of 20 years. We present our preliminary results from analyzing light curves observed by RXTE, BeppoSAX, XMM-Newton and Suzaku. We used the method proposed by Hu et al. (2008) to estimate dip center time and adopted the Observed - Calculated method to measure changes in period. We obtained an orbital period of 2.941917(36) hr and a period derivative of $\dot{P}_{orb}/P_{orb}=(-9.9{\pm}3.5){\times}10^{-7}yr^{-1}$. The F-test result shows that the quadratic ephemeris is describes the evolution of the dip phases better than the linear ephemeris at a greater than 95% confidence level. More X-ray data collected from the early 80s will be included to further refine the orbital ephemeris.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.1
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• pp.47-53
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• 2007

Satellite image mosaicking is essential for image interpretation and analysis especially for a large area such as the Korean Peninsula. This paper proposed the technique of automatic seam-line extraction and the method of creating image mosaic in automated fashion. The seam-line to minimize artificial discontinuity was extracted using Minimum Absolute Gray Difference Sum algorithm with constraint condition on search-area width and Canny Edge Detection algorithm. To maintain the radiometric balance among images acquired at different time epochs, we utilized Match Cumulative Frequency method. Experimental results showed that edge detection algorithm extracted the seam-lines significantly well along linear features such as roads and rivers.

• Journal of the Korea Convergence Society
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• v.8 no.4
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• pp.9-18
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• 2017

UAVs began to be actively applied to so-called 3D jobs, including the autonomous exploration, investigation, mapping, search and rescue, etc. since the mid-2000s. With this global trend, having a precise controllability of the UAV will certainly revolutionize the life of the modern human in the aspect of tremendous applications of the UAV. In the first part, a simplified dynamic model of the UAV identified using system identification techniques is compared with the previously built time-discrete linear model. In the second part, the three parameters of the dynamic model are estimated using the batch and RLS methods. Angular acceleration data of the quadrotor UAV at the hovering maneuver are analyzed and shown to be converging at all time. Also, according to the quadrotor flight data from both experiments and MATLAB simulations, the batch estimation method turns out to be more accurate than the RLS estimation method based on the comparison of final parameter values.

• Journal of Electrical Engineering and Technology
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• v.5 no.2
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• pp.179-190
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• 2010

This paper describes a new stochastic heuristic algorithm in engineering problem optimization especially in power system applications. An improved particle swarm optimization (PSO) called adaptive particle swarm optimization (APSO), mixed with simulated annealing (SA), is introduced and referred to as APSO-SA. This algorithm uses a novel PSO algorithm (APSO) to increase the convergence rate and incorporate the ability of SA to avoid being trapped in a local optimum. The APSO-SA algorithm efficiency is verified using some benchmark functions. This paper presents the application of APSO-SA to find the optimal location, type and size of flexible AC transmission system devices. Two types of FACTS devices, the thyristor controlled series capacitor (TCSC) and the static VAR compensator (SVC), are considered. The main objectives of the presented method are increasing the voltage stability index and over load factor, decreasing the cost of investment and total real power losses in the power system. In this regard, two cases are considered: single-type devices (same type of FACTS devices) and multi-type devices (combination of TCSC, SVC). Using the proposed method, the locations, type and sizes of FACTS devices are obtained to reach the optimal objective function. The APSO-SA is used to solve the above non.linear programming optimization problem for better accuracy and fast convergence and its results are compared with results of conventional PSO. The presented method expands the search space, improves performance and accelerates to the speed convergence, in comparison with the conventional PSO algorithm. The optimization results are compared with the standard PSO method. This comparison confirms the efficiency and validity of the proposed method. The proposed approach is examined and tested on IEEE 14 bus systems by MATLAB software. Numerical results demonstrate that the APSO-SA is fast and has a much lower computational cost.

• Korean Journal of Social Welfare Studies
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• no.37
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• pp.399-427
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• 2008

The purpose of this study is to examine the moderating effects of protective factors on the relations between deviant peer's influences and delinquent behaviors in adolescence. To investigate the moderating effects, simple slope and region of significance test based on multiple linear regression(MLR) model were used. This study used data from wave 1-2(2003-2004) of the Korea Youth Panel Survey(KYPS). Results showed that for female adolescents, self-esteem, parent monitoring, and attachment to parent moderated the link between best friend's deviancy and delinquent behaviors. For male adolescents, however, best friend's deviancy and protective factors didn't show any significant moderating effects. These results help clarify the conditions under which exposure to deviant best friends can influence delinquent behaviors in adolescence. Practice and policy implications as well as further research topic were discussed to aid the search for highly effective preventive and treatment interventions.

• Journal of The Korean Society of Agricultural Engineers
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• v.61 no.1
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• pp.131-144
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• 2019

The purpose of study was to determine the hygrophyte index of each plant(HIP) considering the moisture environment condition (MEC) of the native plants on the downstream slope of the fill dam and evaluate its applicability which to develop a method to search for leaks and saturated zones of the fill dam for status evaluation of precision safety diagnosis. The HIP was weighted average and consisted of 19 ranks. The weighted average was calculated according to the following three procedures: First, the linear assumption was made according to the actual habitat environmental conditions, the second one was weighted to 10% of the optimal habitat condition, and finally the average value of the distribution range values. The Hygrophyte index of vegetation at each plot (HIV) was obtained from the Sinheung reservoir (Yesan-gun, Chungcheongnam-do) using the results of vegetation survey of the Sinheung reservoir with precision safety diagnosis and suggested the use of the hygrophyte index of the cultivated vegetation. The average HIP range of plant species that emerged in 50 survey sites on the downstream slope of the Sinheung reservoir is 2.99 to 3.56. The coefficient of variation showed a large difference depending on the appearance of the leakage indicator plant(LIP) species. The range of HIV is 2.80 to 4.26, the mean value is 3.37, standard deviation is 0.37 and the coefficient of variation is 9.7%. As a result, the value of the coefficient of variation showed a large difference depending on the appearance of the plant species.