• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.185-195
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• 2000

This pacer studied on the lateral motion and yaw motion of the gantry crane which is used for the automated container terminal with two driving wheel types. Though several problems are occcurred in driving of gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operation. There are two types, cone and flat t y pin driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane with two driving wheel types are derived. Then, we investigate the driving characteristics of gantry crane. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and yaw angle of the gantry crane. The simulation result of the driving mechanism using the Runge-Kutta Method is presented in this paper.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.36-39
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• 2000

A small electrical potential difference which appears on any solid body when subjected to illumination by a modulated light beam generated by laser is called photocharge voltage(PCV)[1,2]. This voltage is proportional to the induced change in the surface electrical charge and is capacitatively measured on various materials such as conductors, semiconductors, ceramics, dielectrics and biological objects. The amplitude of the detected signal depends on the type of material under investigation, and on the surface properties of the sample. In photocharge voltage spectroscopy measurements[3], the sample is illuminated by both a steady state monochromatic bias light and the pulsed laser. The monochromatic light is used to created a variation in the steady state population of trap levels in the surface and space charge region of semiconductor samples which does result in a change in the measured voltage. Using this technique the spatial variation of PCV can be utilized to evalulate the surface conditions of the sample and the variation of the PCV due to the monochromatic bias light are utilized to charactrize the surface states. A qualitative analysis of the proposed measuremen is present along with experimental results performed on amorphous silicon samples. The deposition temperature was varied in order to obtain samples with different structural, optical and electronic properties and measurements are related to the defect density in amorphous thin film.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.756-762
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• 2009

As nonlinear friction, stick-slip friction in hydraulic actuators are a problem for accuracy and repeatability. Therefore friction compensation has been approached through various control algorithms. A Adaptive discrete time sliding mode tracking controller has been applied in order to compensate the nonlinear friction characteristics in a hydraulic Actuator. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law which includes a friction and modeling error. Robustness is increased by using both a projection algorithm and a sliding function-based nonlinear feedforward. From the results of simulation and experiment good tracking performance is achieved.

• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.190-195
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• 2016

In this paper, Propose to prevent compressor surge and improve the transient response of the fuel flow control system of turbojet engine. Turbojet engine controller is designed by applying Fuzzy-PID control algorithm. To prevent any surge or a flame out event during the engine acceleration or deceleration, the Fuzzy-PID controller effectively controls the fuel flow input of the control system. Fuzzy-PID results are used as the fuel flow control inputs to prevent compressor surge and flame-out for turbo-jet engine and the controller is designed to converge to the desired speed quickly and safely. Using LabVIEW to perform computer simulations verified the performance of the proposed controller. Response characteristics pursuant to the gain were analyzed by simulation.

• Journal of Advanced Navigation Technology
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• v.13 no.1
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• pp.34-40
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• 2009

The phase delay of output signal of APD(avalanche photo diode) caused by intensity of reflected light which comes from target. These difference of phase delay is an one of the main reason of measurement error, but there is no reasonable measurement meter and method to detect it. In this paper, to solve the problem, we propose and implement a method to measure the intensity of radiation. The method measures DC voltage which is proportional to the reflected intensity of radiation and come out from APD in receiver by realtime.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.261-272
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• 2020

A Kalman filter algorithm is used for the generation of an ensemble timescale with three hydrogen masers maintained in KRISS. Allan deviation curves of three pairs of clocks were obtained by a three-cornered hat method and were used as reference curves for determination of parameters of the Kalman filter-based timescale. The ensemble timescale equation of a 3-clock system was established, and the clocks' phases estimated by the Kalman filter were used as the prediction time of each clock in the equation. The weight of each clock was determined inversely proportional to the Allan variance calculated with the clocks' phases. The Allan deviation of the weighted mean was 1.2×10^-16 at the averaging time of 57,600 s. However when we made fine adjustments of the clocks' weight, the minimum Allan deviation of 2×10^-17 was obtained. To find out the reason of the great improvement in the frequency stability, additional researches are in progress theoretically and experimentally.

• Journal of the Korean Institute of Navigation
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• v.12 no.2
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• pp.33-42
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• 1988

As a basic study for enhancing the sensitivity of the follow-up system of the marine gyrocompass, the geometric characteristics of the deflection sensor were investigated and the theoretical model of it was formulated. The output signal voltage of the deflection sensor was esamined by changing the attitude of gyrosphere against follow-up container. The characteristics of the output are found to be indentical with those of the distance difference versus the relative azimuthal deflection of the gyrosphere against the follow up container. On the base of the theoretical model, some useful points for the design of the deflection sensor are suggested as following : 1. When the difference between semidiamter of gyrophere and that of the follow-up container decreases, the sensitivity of deflection sensor increases. 2. If the semidiameter difference of two spheres is constant, the sensitivity of deflection sensor is proportional to the magnitude of the semidiamter of each sphere. 3. The farther the gyrosphere is deviated from the center of follow-up container, the higher the sensitivity of deflection sensor is. 4. It is recommendable that the value of the datum deflection of the electrodes on the gyrosphere should be within the range between $4^{\circ}$ and $16^{\circ}$deviated from north-south line.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• Journal of Navigation and Port Research
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• v.30 no.2
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• pp.167-172
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• 2006

In this paper, the issue of blind detection of Alamouti-type differential space-time (ST) ${\pi}/2$-shifted BPSK modulation in static Rayleigh fading channels is considered. We introduce a novel transformation to the received signal from each receiver antenna such that this binary ST modulation, which has a second-order transmit-diversity, is equivalent to QPSK modulation with second-order receive-diversity. The pre-detection combining of the result of transformation allows us to apply a low complexity detection technique specifically designed for receive-diversity, namely, scalar multiple-symbol differential detection (MSDD). With receiver complexity proportional to the observation window length, our receiver can achieve the performance 1.5dB better than that of conventional differential detection ST and 0.5dB worse than that qf a coherent maximum ratio combining receiver (with differential decoding) approximately.

• Journal of the Korean Institute of Navigation
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• v.16 no.4
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• pp.47-54
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• 1992

The purpose of this study is to provide against to the meteorological disasters in Korea caused by the typhoons by means of the statistical analyses for the relation between the intensities of the typhoons and the meteorological disasters. The data are extracted from the "TYPHOON REPORT OF KOREA" and the "TYPHOON WHITE BOOK" issued by the Central Meteorological Office. The results are summarized as follows : (1) The annual mean frequency and the total number of the typhoon causing the disasters during 30 years (1956∼1985) are 2.2, 65 respectively, and the highest number appears in August followed by September and the third is July. And the degrees of themeteorolgocal disasters are alsio the same order. (2) The more serious disasters occurred by the TS degree typhoons, and the TS degree typhoons occupy the highest frequency. (3) The more serious disasters occurred by the TS degree typhoons, and the TS degree typhoons occupy the highest frequency. (3) The meteorological disaster per typhoon is most severe in August, and the July and September are alike in the degree of the disasters per typhoon. (4) The meteorological disasters are approximately a proportional relation to the intensities of the typhoons. (5) The frequency of the Rain typhoon , Wind typhoon and Rain·Wind typhoon are about 2 : 1: 3 in July, August and September respectively. And the severe disasters occur more frequently by the Rain typhoon than by the Wind typhoon.