• 제목/요약/키워드: roll and yaw

검색결과 269건 처리시간 0.027초

한국형 공중 시뮬레이터 항공기 연구 (Study on Korean In-Flight Simulator Aircraft)

  • 고준수;안종민;박성수
    • 한국군사과학기술학회지
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    • 제14권6호
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    • pp.1026-1030
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    • 2011
  • This paper presented here contains development of variable stability system(VSS) control laws for the KIFS (Korean In-Flight Simulator) aircraft to simulate the dynamics of F-16 aircraft. Development of VSS Control law for pitch rate, roll rate, yaw rate simulation for three specified flight conditions using Model Following Technique with rate feedback autopilot for stability provision. The direct lift force controller was also added to the developed VSS control law to simulate the pitch rate and normal g-load simultaneously. The simulation results show high accuracy of F-16 aircraft's pitch, roll, yaw rate and g-load simulation.

자유회전 테일핀의 회전율 및 Roll-Lock 현상 연구 (A Study on the Roll-Rate of a Canard-Controlled Missile with Freely Spinning Tailfins)

  • 양영록;이진희;김문석;박찬혁;명노신;조태환
    • 한국전산유체공학회:학술대회논문집
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    • 한국전산유체공학회 2008년도 춘계학술대회논문집
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    • pp.126-129
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    • 2008
  • In this study the aerodynamic characteristics of a canard-controlled missile with freely spinning tailfins were investigated by using a CFD code. The aerodynamic coefficients and roll-rate of freely spinning tailfins were calculated by an analysis of 6-DOF and the Euler code. Results were in good agreement with experimental data, and the roll-rates of freely spinning tailfins were also in good agreement with the experimental data for the roll and yaw canard control inputs. This indicates that the CFD Euler code can be applied to predict the canard-controlled missile with freely spinning tailfins.

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차량 롤 각 추정 알고리즘 및 롤 저감력 분배 제어 전략 (Estimation Algorithm of Vehicle Roll Angle and Control Strategy of Roll Mitigation Force Distribution)

  • 정승환;이형철
    • 한국자동차공학회논문집
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    • 제23권6호
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    • pp.633-641
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    • 2015
  • The ROM (roll over mitigation) system is a next-generation suspension system that can improve vehicle-driving stability and ride comfort. Currently, mass-produced safety systems, such as ESC (electronic stability control) and ECS (electronic control suspension), enable measurements of longitudinal and lateral acceleration as well as yaw rate through inertial sensor clusters, but they lack direct measurements of the roll angle. Therefore, in this paper, a roll angle estimation algorithm from ESC system sensors and tire normal force has been proposed. Furthermore, this study presents a method for roll over mitigation force distribution between the front and rear of a ROM system. Performance and reliability of the roll angle estimation and roll over mitigation force distribution were investigated through simulations. The simulation results showed that the proposed control algorithm and strategy are reliable during vehicle rollovers.

차량 롤 주행안정성 향상을 위한 RSC (Roll Stability Control) 성능 해석에 관한 연구 (A Study on the Performance Analysis of RSC (Roll Stability Control) for Driving Stability of Vehicles)

  • 권성진
    • 대한임베디드공학회논문지
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    • 제17권5호
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    • pp.257-263
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    • 2022
  • Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.

Numerical Investigation of Motion Response of the Tanker at Varying Vertical Center of Gravities

  • Van Thuan Mai;Thi Loan Mai;Hyeon Kyu Yoon
    • 한국해양공학회지
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    • 제38권1호
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    • pp.1-9
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    • 2024
  • The vertical center of gravity (VCG) has a significant impact on the roll motion response of a surface ship, particularly oil tankers based on the oil level in the tanker after discharging oil at several stations or positional changes, such as changes in the superstructure and deck structure. This study examined the motion response of the Korea very large crude carrier 2 (KVLCC2) at various VCGs, especially roll motion when the VCG changed. The potential theory in the Ansys AQWA program was used as a numerical simulation method to calculate the motion response. On the other hand, the calculations obtained through potential theory overestimated the roll amplitudes during resonance and lacked precision. Therefore, roll damping is a necessary parameter that accounts for the viscosity effect by performing an experimental roll decay. The roll decay test estimated the roll damping coefficients for various VCGs using Froude's method. The motion response of the ship in regular waves was evaluated for various VCGs using the estimated roll-damping coefficients. In addition, the reliability of the numerical simulation in motion response was verified with those of the experiment method reported elsewhere. The simulation results showed that the responses of the surge, sway, heave, pitch, and yaw motion were not affected by changing the VCG, but the natural frequency and magnitude of the peak value of the roll motion response varied with the VCG.

정위적체부방사선치료시 ExacTrac과 CBCT를 이용한 Combine IGRT의 유용성 평가 (Evaluation of Combine IGRT using ExacTrac and CBCT In SBRT)

  • 안민우;강효석;최병준;박상준;정다이;이건호;이두상;전명수
    • 대한방사선치료학회지
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    • 제30권1_2호
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    • pp.201-208
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    • 2018
  • 목 적 : 본 연구에서는 정위적체부방사선치료시 ExacTrac과 CBCT를 단계적으로 적용한 Combine IGRT를 사용하여 Set-up 오차를 비교 및 분석하여 Combine IGRT의 유용성을 평가하고자 한다. 대상 및 방법 : 2014년 5월에서 2017년 11월까지 본원에 내원하여 trueBEAM Stx(Varian medical System, USA)에서 정위적체부방사선치료를 받은 환자 중 부위별로 뇌(Brain) 3명, 척추(Spine) 9명, 골반(Pelvis) 3명으로 분류하였다. 치료전 ExacTrac을 사용하여 Lateral(Lat), Longitudinal(Lng), Vertical(Vrt) 방향과 Roll, Pitch, Yaw 방향으로 Set-up 오차를 보정하였고, ExacTrac 이동 값을 적용 후 CBCT를 추가적으로 수행하여 Lat, Lng, Vrt, Rotation(Rtn) 방향으로 보정하였다. 결 과 : ExacTrac 사용시 뇌 부위의 오차는 Lat $0.18{\pm}0.25cm$, Lng $0.23{\pm}0.04cm$, Vrt $0.30{\pm}0.36cm$, Roll $0.36{\pm}0.21^{\circ}$, Pitch $1.72{\pm}0.62^{\circ}$, Yaw $1.80{\pm}1.21^{\circ}$, 척추 부위는 Lat $0.21{\pm}0.24cm$, Lng $0.27{\pm}0.36cm$, Vrt $0.26{\pm}0.42cm$, Roll $1.01{\pm}1.17^{\circ}$, Pitch $0.66{\pm}0.45^{\circ}$, Yaw $0.71{\pm}0.58^{\circ}$, 골반 부위는 Lat $0.20{\pm}0.16cm$, Lng $0.24{\pm}0.29cm$, Vrt $0.28{\pm}0.29cm$, Roll $0.83{\pm}0.21^{\circ}$, Pitch $0.57{\pm}0.45^{\circ}$, Yaw $0.52{\pm}0.27^{\circ}$로 나타났다. Couch 이동 후 CBCT를 하였을 때, 뇌 부위는 Lat $0.06{\pm}0.05cm$, Lng $0.07{\pm}0.06cm$, Vrt $0.00{\pm}0.00cm$, Rtn $0.0{\pm}0.0^{\circ}$, 척추 부위는 Lat $0.06{\pm}0.04cm$, Lng $0.16{\pm}0.30cm$, Vrt $0.08{\pm}0.08cm$, Rtn $0.00{\pm}0.00^{\circ}$, 골반 부위는 Lat $0.06{\pm}0.07cm$, Lng $0.04{\pm}0.05cm$, Vrt $0.06{\pm}0.04cm$, Rtn $0.0{\pm}0.0^{\circ}$ 오차가 발생하였다. 결 론 : 정위적체부방사선치료시 ExacTrac에 추가적으로 CBCT를 사용한 Combine IGRT의 경우는 ExacTrac만 사용한 경우보다 환자의 Set-up 오차를 줄일 수 있게 나타났다. 그러나 Combine IGRT를 적용함으로 환자 Set-up 확인시간, 영상획득을 위한 체내 흡수선량이 증가한다. 그러므로 환자 상황에 따라 Combine IGRT를 사용하여 환자의 Set-up 오차를 적게 함으로써 방사선치료 효과비를 증가시킬 수 있을 것으로 사료된다.

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Cone-beam computed tomography based evaluation of rotational patterns of dentofacial structures in skeletal Class III deformity with mandibular asymmetry

  • Ryu, Hyeong-Seok;An, Ki-Yong;Kang, Kyung-Hwa
    • 대한치과교정학회지
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    • 제45권4호
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    • pp.153-163
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    • 2015
  • Objective: The purpose of this study was to assess rotational patterns of dentofacial structures according to different vertical skeletal patterns by cone-beam computed tomography (CBCT) and analyze their influence on menton deviation in skeletal Class III deformity with mandibular asymmetry. Methods: The control group consisted of 30 young adults (15 men, 15 women) without any severe skeletal deformity. The asymmetry group included 55 adults (28 men, 27 women) with skeletal Class III deformity and at least 3-mm menton deviation from the midsagittal plane; it was divided into the hyperdivergent and hypodivergent subgroups using a mandibular plane angle cutoff of $35^{\circ}$. Fourteen rotational variables of the dental arches and mandible were measured and compared among the groups. Correlations between menton deviation and the other variables were evaluated. Results: The asymmetry group showed significantly larger measurements of roll and yaw in the mandible than the control group. The hypodivergent subgroup showed significant differences in maxillary posterior measurements of yaw (p < 0.01) and maxillary anterior shift (p < 0.05) compared with the hyperdivergent subgroup. All the mandibular measurements had significant correlations with menton deviation (p < 0.01). Most measurements of roll were positively correlated with one another (p < 0.01). Measurements of yaw and roll in the posterior regions were also positively correlated (p < 0.05). Conclusions: Menton deviation in skeletal Class III deformity with mandibular asymmetry is influenced by rotation of mandibular posterior dentofacial structures. The rotational patterns vary slightly according to the vertical skeletal pattern.

이족 로봇의 보행 모델링 및 롤/피치/요 운동 특성 분석 (Modeling and RPY Motion Analysis of Bipedal Walking Robots)

  • 김병호
    • 한국지능시스템학회논문지
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    • 제21권3호
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    • pp.353-358
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    • 2011
  • 본 논문에서는 이족 로봇을 위한 가상의 다리에 기반한 보행 모델을 제시한 후, 시뮬레이션을 통하여 제시한 보행 모델의 근본적인 롤/피치/요(roll/pitch/yaw) 운동 특성을 분석한다. 이를 위하여 로봇의 무게 중심과 압력 중심에서의 운동 경로를 사람의 발걸음 운동 패턴과 유사한 임의의 패턴으로 설정하고, 이러한 경로를 따라 보행할 경우에 나타나는 주요 관성 성분 특성을 확인한다. 결과적으로, 이족 보행에서 롤, 피치 및 요 방향으로의 운동은 보행과정에서 생성될 수 있는 자연스러운 현상이며, 이것은 발걸음의 간격, 무게 중심의 위치 및 로봇 몸체의 이동가속도와 밀접한 관계가 있음을 보인다. 또한, 이족보행의 밸런스 관점에서 발의 위치 설정을 위한 경로계획의 중요성을 고찰한다.

토모다이렉트 3D-CRT을 이용한 유방암 환자의 회전 오차 (Rotation Errors of Breast Cancer on 3D-CRT in TomoDirect)

  • 정재홍;조광환;문성권;배선현;민철기;김은석;여승구;최진호;정주영;최보영;서태석
    • 한국의학물리학회지:의학물리
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    • 제26권1호
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    • pp.6-11
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    • 2015
  • 본 연구의 목적은 토모다이렉트 3D-CRT (TD 3D-CRT)을 이용한 유방암 방사선치료에서 회전축(roll, pitch, and yaw) 오차를 분석하고 자 하였다. TD-3DCRT로 치료가 종료된 유방암 환자 총 20명을 선정하였고, 총 80회의 MVCT 영상을 바탕으로 시스템(systematic), 임의(random) 오류를 포함한 환자위치잡이 오차(patient setup errors)와 치료 여백(treatment margin, mm)을 후향적으로 분석하였다. 또한, 각 환자에 대한 회전축 오차 분석은 자동영상정합(automatic image registration)을 이용하였다. X, Y, Z 방향에 대한 치료여백은 각각 4.2 mm, 6.2 mm, 6.4 mm였다. 회전축 오차에 대한 평균 각도(degree)는 roll, pitch, yaw가 각각 0.3도, 0.5도, 0.1도였고, 시스템과 임의 오류는 모두 1도 이내였다. 전반적으로 환자 위치잡이 오차는 Y와 Z방향에서 X에 비하여 높게 나타났다. 본 연구에서 회전축 오차 각도가 2도 이내는 roll, pitch, yaw에서 각각 95.1%, 98.8%, 97.5% 분포였다. 그러나, 치료영역의 길이가 길어짐에 따라 치료 중심지점을 기준으로 상부와 하부의 가장자리(Edge)가 틀어지게(Twisted)될 가능성이 높아질 수 있다. 따라서 치료의 정확성과 재현성을 위하여 각 환자의 특성을 고려하고, 회전축 오차를 주기적으로 확인할 필요가 있다.

이산 웨이블렛 변환을 이용한 자유감쇠 횡요 데이타의 분리 (Decoupling of Free Decay Roll Data by Discrete Wavelet Transform)

  • Kwon, Sun-Hong;Lee, Hee-Sung;Lee, Hyoung-Suk;Ha, Mun-Keun
    • 한국해양공학회:학술대회논문집
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    • 한국해양공학회 2001년도 추계학술대회 논문집
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    • pp.169-173
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    • 2001
  • This study presents the results of decoupling of free decay roll test data by discrete wavelet transform. Free roll decay test was performed to decide the coefficients of damping terms in equation of motion. During the experiment, a slight yaw motion was found while the model was in the free roll decay motion. Discrete wavelet transform was applied to the signal to extract the pure roll motion. The results were compared to those of the Fourier transform. DWT was able to decouple the two signals efficiently while the Fourier transform was not.

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