• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.1
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• pp.21-29
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• 2003

The Strap Down Inertial Measurement Unit(SDIMU) is recently used for the sensor package of the modern underwater vehicles such as torpedoes and unmanned underwater-vehicles. For using SDIMU, an initial alignment must be carried out before the fire or navigation stage. The general initial alignment methods require that a mother vehicle Is a stationary condition or the Inertial Navigation System(INS) of vehicle is received the specific of data navigation from the mother vehicle. But an underwater vehicle dropped from aircraft is hard to satisfy above both necessary conditions of the general initial alignment. So, we suggest a new strap down initial alignment method of an underwater vehicle dropped from aircraft without using any aided sensors. The highlight point of this method is that a period of initial alignment is not before the fire but during running stage to fix alignment error. And we verify it by analyzing various data of S/W simulations, Hardware In the Loop Simulation(HILS) tests and sea trials.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.384-389
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• 2005

The objective on this project is to develop a cooperative Field Robot (FR), by using a customize Open Control Platform (OCP) as design and development process. An OCP is a CORBA-based solution for networked control system, which facilitates the transitioning of control designs to embedded targets. In order to achieve the cooperation surveillance system, two FRs are distributed by navigation messages (GPS and sensor data) using CORBA event-channel communication, while graphical information from IR night vision camera is distributed using CORBA Asynchronous Method Invocation (AMI). The QoS features of AMI in the network are to provide the additional delivery method for distributing an IR camera Images will be evaluate in this experiment. In this paper also presents an empirical performance evaluation from the variable chunk sizes were compared with the number of clients and message latency, some of the measurement data's are summarized in the following paragraph. In the AMI buffers size measurement, when the chuck sizes were change, the message latency is significantly change according to it frame size. The smaller frame size between 256 bytes to 512 bytes is more efficient fur the message size below 2Mbytes, but it average performance in the large of message size a bigger frame size is more efficient. For the several destination, the same experiment using 512 bytes to 2 Mbytes frame with 2 to 5 destinations are presented. For the message size bigger than 2Mbytes, the AMI are still able to meet requirement far more than 5 clients simultaneously.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.246-257
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• 2004

This paper proposes two contributions. One is an analysis for the limit of the subject of goal-directed reactive robot navigation, and the other is an effective navigation method employing the scheme of the subject. The analysis for the subject is presented in order to clarify the limit of the method. On the basis of the analysis, a safety-guaranteeing and deadlock-free reactive navigation method is newly proposed. The proposed method has a simple behavior-based frame such that it can make the required navigation tasks such as obstacle avoidance, deadlock resolving, and etc. with a very small set of behaviors in entirely unknown environments such as a living room, an office, and etc. Some results of experiments show these validities.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.317-322
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• 2004

In this study the structural design of conveyor frame was carried out for the high efficiency gantry crane which can improve the productivity of the container transportation job by reducing cycle time. When the gantry crane was operated, the conveyor frame was deflected largely by its deadload and the total weight of containers placed on it. Therefore thicknesses of conveyor frame to minimize its deadload were designed by the size optimization using ANSYS program as the bending stress and the deflection of frame due to this simulation satisfied their required values.

• Journal of Navigation and Port Research
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• v.28 no.10 s.96
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• pp.941-946
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• 2004

In this study the structural design of conveyor frame was carried out for the high efficiency gantry crane which can improve the productivity of the container transportation work by reducing cycle time. When the gantry crane was operated, the conveyor frame was deflected largely by its deadload and the total weight of containers placed on it. Therefore thicknesses of conveyor frame to minimize its deadload were designed by the size optimization using ANSYS program as the bending stress and the deflection cf frame due to this simulation satisfied their required values.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.429-432
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• 2005

LMTT(Linear Motor based Transfer Technology) is a new type of transfer system used in the maritime container terminal for the port automation, and largely consists of a controller, shuttle car, and rail. The shuttle car is divided into the frame part, the driving part, and wheels. In order to design this system, various researched on each part of it must be conducted. In this study, we dealt with the optimum design for the frame part of the shuttle car designed from previous studies on the strength of the frame with respect to the number of cross beams to minimize the weight of the shuttle car and to satisfy design criteria of cargo-handling systems in container terminal. For the optimization of the frame, thicknesses of each beam were adopted as design variables, the weight of the frame as objective function, and stress and deflection per unit length as constraint conditions.

• Journal of Navigation and Port Research
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• v.37 no.2
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• pp.221-229
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• 2013

To find the influence of incident angle of wave on the moment of 3 storied steel moment resisting frame which is placed on the concrete rectangular pontoon, the fluid dynamic analysis is carried out, varying the period of wave from 5 to 15 second by 2 seconds. As increasing incident angle of wave to longitudinal axis, the influence of RAO-rolling is increased. The moment of longitudinal frame is increased apparently by the wave pressure when the incident angle is $0^{\circ}$. And the moment of the frame due to the wave pressure is decreased as the incident angle is increased. But the moment of frame due to acceleration caused from pitching and rolling is increased. It is shown that the increased moment when incident angle is $90^{\circ}$ is much greater than that of incident angle $0^{\circ}$.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.06b
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• pp.355-360
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• 2006

The damping force of a jaw pad is determined by the displacements of main part when two lockers are locked, after the damping angle of a locker was set up in the wedge type rail damp for a container crane. In this time, of the resistance of wedge frame generates due to several factors, the damping angle of a locker to display the initial clamping force will be changed because of the reduction of displacement of extension bar. This resistance is determined by the eccentric distance between the roller and the wedge, and by the gap between the wedge frame and outer frame. In this study we measured the tensile force of both extension bar through the performance test of the prototype rail damp in order to evaluate the effect of the resistance of wedge frame on the damping force of the wedge type rail clamp.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.2
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• pp.179-187
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• 2024

The performance of a Strapdown Inertial Navigation System (SDINS) relies heavily on the accuracy of sensor error calibration. Systematic calibration is usually employed when only a 2-axis turntable is available. For systematic calibration, the body frame is commonly defined with respect to sensor axes for ease of computation. The drawback of this approach is that sensor axes may undergo time-varying deflection under temperature change, causing pseudo gyro bias. The effect of pseudo gyro bias on navigation performance is negligible for low grade navigation systems. However, for higher grade systems undergoing rapid temperature change, the error is no longer negligible. This paper describes in detail conditions leading to the presence of pseudo gyro bias, and proposes two techniques for mitigating the error. Experimental results show that applying these techniques improves navigation performance for precision SDINS, especially under rapid temperature change.

• Journal of the Korean Society for Precision Engineering
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• v.4 no.4
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• pp.56-71
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• 1987

Determination of navigation variables (latitude, longitude, and altitude) near the earth's surface is termed 'Terrestrial Navigation'. The quantities that are measured inertially are the total acceleration (or the integral fo this acceleration over a fixed time interval) and the total angular rate (or the integral of this angular rate over the same time interval). These measurements when suitably compensated can be manipulated to yield the navigation variables. Hence, it is essential that the initial values of position, orientation and velocity are accurately set up during the initial alignment process. Initial alignment of gimballed inertial navigation system ( GINS) is accomplished by gyrocompassing techniques. These cannot be used, in the case of strapdown inertial navigation system(SDINS), where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital method for the determination of the initial axes erection of a SDINS from vibration and sway currupted data on the launch pad.