• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.114-120
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• 2011

This paper presents a cooperative standoff tracking of a moving target using multiple unmanned aircraft. To provide guidance commands, vector fields are designed utilizing the Lyapunov stability theory. A roll angle command is generated to keep a constant distance from the target in a circular motion. A speed command and a heading angle command are designed to keep a constant phase angle with respect to the front aircraft and to prevent a collision between aircraft. Numerical simulation is performed to verify the tracking and collision performance of the proposed control laws.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.565-573
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• 2017

This paper presents a multistage in-flight alignment (MIFA) method for a strapdown inertial navigation system (SDINS) suitable for moving vehicles with no initial attitude references. A SDINS mounted on a moving vehicle frequently loses attitude information for many reasons, and it makes solving navigation equations impossible because the true motion is coupled with an undefined vehicle attitude. To determine the attitude in such a situation, MIFA consists of three stages: a coarse horizontal attitude, coarse heading, and fine attitude with adaptive Kalman navigation filter (AKNF) in order. In the coarse horizontal alignment, the pitch and roll are coarsely estimated from the second order damping loop with an input of acceleration differences between the SDINS and GPS. To enhance estimation accuracy, the acceleration is smoothed by a scalar filter to reflect the true dynamics of a vehicle, and the effects of the scalar filter gains are analyzed. Then the coarse heading is determined from the GPS tracking angle and yaw increment of the SDINS. The attitude from these two stages is fed back to the initial values of the AKNF. To reduce the estimated bias errors of inertial sensors, special emphasis is given to the timing synchronization effects for the measurement of AKNF. With various real flight tests using an UH60 helicopter, it is proved that MIFA provides a dramatic position error improvement compared to the conventional gyro compass alignment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.8
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• pp.1362-1370
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• 2008

This paper describes the design and characteristic analysis of a novel 3-DOF(Degree of Freedom) spherical motor. For multi DOF actuating, several numbers of motors have been used. By the using of normal motors they connected each other in single joint, is necessary to a several type of complex power transmission devices. The 3-DOF spherical motor can drive roll, pitch, and yaw motion in only one unit and it is not necessary to use additional gears and links parts. Therefore the using of 3-DOF spherical motor can eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. In this paper, we propose the novel structured 3-DOF spherical motor and derive its principles of operation. Firstly, we designed concept model of novel structured 3-DOF spherical motor. Next, we derive the control method by calculating the currents. Also, to have intuitive driving control, we express the rotor position in equivalent angle-axis system and determine the exciting period of currents from the calculation result of the currents. To verify the control method, we calculated the currents by the position of rotor. and then we analyzed the characteristics by 3D Finite Element Method when the calculated currents are excited.

• Restorative Dentistry and Endodontics
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• v.25 no.2
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• pp.219-224
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• 2000

The purpose of this study is for evaluating the effect of MS Coat desensitizing agent in clinical situation. In this study total 60 teeth of 30 patients who is feeling hypersensitivity after periodontal surgery were treated with MS Coat desensitizing agent, and 20 teeth with saline solution for placebo effects and evaluated. All teeth were cleaned with rubber cup and pumice, after then the antibacterial agent was applied for 20 seconds and simply isolated using cotton roll Desensitizing agent was applied with a specific instrument in the manufacturers package by abrading motion for 10 seconds and re-done 8 times. Tactile stimulus with sharp explorer, air stimulus with syringe of dental unit, $7^{\circ}C$ cold water stimulus using micropipette applicator was done to evaluate hypersensitivity before apply test agent, immediate after application, 1 week after, and 3 month after application. The degree of hypersensitivity was recorded using 100mm Visual Analogue Scale and compared between group and evaluation times. From this clinical study sensitivity to the stimulus was significantly induced in both groups and MS Coat made a significant reduction in VAS score than placebo group did(p<.01). The results of this study could demonstrate that MS Coat desensitizing agent can use effectively to heat dentinal hypersensitivity.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.5 s.143
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• pp.435-447
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• 2005

The 24th ITTC Specialists Committee on Stability in Waves is conducting an international benchmark study where numerical methods for the calculation of ship motion in damaged condition are compared on the basis of specified tests in order to assess the present state of the art in this field. The study is finished and some results are presented in this paper providing an initial insight into the status of damage models and numerical methods and a collective assessment of their performance. The preliminary analysis has shown that current methods are satisfactory, capturing the fundamental physical performance of damaged ships in specified conditions.

• Journal of Korea Multimedia Society
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• v.24 no.12
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• pp.1632-1640
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• 2021

In order to improve target tracking performance of the conventional electro-optical tracking system (EOTS) in the high speed and high maneuvering vehicle, an EOTS navigation algorithm is proposed, in which an inertial measurement unit(IMU) is included and navigation results of the vehicle are used. The proposed algorithm integrates vehicle's navigation results and the IMU and the time-delay and the scale factor errors are augmented into the integrated Kalman filter. In order to evaluate the proposed navigation algorithm, a land vehicle navigation experiments were performed a navigation grade navigation system, TALIN4000 and a tactical grade IMU, LN-200 and a equipment for roll motion were loaded on the land vehicle. The performance evaluation results show that the proposed algorithm effecting works in high maneuvering environment and for the time-delay.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.6_1
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• pp.907-915
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• 2020

Specification selection, Layout, specifications and combinations of Power Drives, and Ship motions were studied for FGPP(Floating Gas-fired Power Plants), which are still needed in areas such as the Caribbean, Latin America, and Southeast Asia where electricity is not sufficiently supplied. From this study, the optimal equipment layout in ships was derived. In addition, the difference between engine and turbine was verified through LCOE(Levelized Cost of Energy) comparison according to the type and combination of Power Drives. Analysis of Hs(Significant Height of wave) and Tp(spectrum Peak Period of wave) for places where this FGPP will be tested or applied enables design according to wave characteristics in Brazil and Indonesia. Normalized Sloshing Pressures of FGPP and LNG Carrier are verified using a sloshing analysis program, which is CFD(Computational Fluid Dynamics) software developed by ABS(American Bureau of Shipping). Power Transmission System is studied with Double bus with one Circuit Breaker Topology. A nd the CFD analysis allowed us to calculate linear roll damping coefficients for more accurate full load conditions and ballast conditions. Through RAO(Response Amplitude Operator) analysis, we secured data that could minimize the movement of ships according to the direction of waves and ship placement by identifying the characteristics of large movements in the beam sea conditions. The FGPP has been granted an AIP(Approval in Principle) from a classification society, the ABS.

• Wind and Structures
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• v.37 no.3
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• pp.191-209
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• 2023

This work investigates the subcritical free-shear prism wake at Re=22,000 by the Koopman analysis using the Dynamic Mode Decomposition (DMD) algorithm. The Koopman model linearized nonlinearities in the stochastic, homogeneous anisotropic turbulent wake, generating temporally orthogonal eigen tuples that carry meaningful, coherent structures. Phenomenological analysis of dominant modes revealed their physical interpretations: Mode 1 renders the mean-field dynamics, Modes 2 describes the roll-up of the Strouhal vortex, Mode 3 describes the Bloor-Gerrard vortex resulting from the Kelvin-Helmholtz instability inside shear layers, its superposition onto the Strouhal vortex, and the concurrent flow entrainment, Modes 6 and 10 describe the low-frequency shedding of turbulent separation bubbles (TSBs) and turbulence production, respectively, which contribute to the beating phenomenon in the lift time history and the flapping motion of shear layers, Modes 4, 5, 7, 8, and 9 are the relatively trivial harmonic excitations. This work demonstrates the Koopman analysis' ability to provide insights into free-shear flows. Its success in subcritical turbulence also serves as an excellent reference for applications in other nonlinear, stochastic systems.

• Geophysics and Geophysical Exploration
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• v.14 no.4
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• pp.298-304
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• 2011

We conducted magnetic survey using IBRV (Ice Breaker Research Vessel) ARAON of KORDI (Korea Ocean Research and Development Institute), ROV (Remotely Operated Vehicle) of Oceaneering Co. and three components vector magnetometer, at Apr., 2011 in the western slope of the caldera of TA25 seamount, the Lau Basin, the southwestern Pacific. The depth ranges of the survey area are from about 900 m to 1200 m, below sea level. For the deep sea magnetic survey, we made the nation's first small deep sea three components magnetometer of Korea. The magnetometer sensor and the data logger was attached with the upper part and lower part of ROV, respectively. ROV followed the planning tracks at 25 ~ 30 m above seafloor using the altimeter and USBL (Ultra Short Base Line) of ROV. The three components magnetometer measured the X (North), Y (East) and Z (Vertical) vector components of the magnetic field of the survey area. A motion sensor provided us the data of pitch, roll, yaw of ROV for the motion correction of the magnetic data. The data of the magnetometer sensor and the motion sensor were recorded on a notebook through the optical cable of ROV and the network of ARON. The precision positions of magnetic data were merged by the post-processing of USBL data of ROV. The obtained three components magnetic data are entirely utilized by finding possible hydrothermal vents of the survey area.

• Physical Therapy Korea
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• v.17 no.3
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• pp.77-86
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• 2010

The purpose of this study was to investigate the variations in gait parameters in terms of the type of arm sling used in hemiplegic patients. Ten patients with hemiplegia and ten healthy adults participated in this study and walked at self-selected speeds on a GAITRite-instrumented carpet. The activities of the opposite shoulder girdle muscle including the latissimus dorsi, anterior deltoid, and posterior deltoid were simultaneously recorded using surface EMG during gait. They were randomly assigned a condition: without an arm sling, a single strap arm sling, a Harris hemi arm sling, a Rolyan humeral cuff arm sling, and a Bobath roll arm sling. The following gait variables were analyzed: the temporo-spatial parameters of velocity, step length, stride length, swing phase, stance phase, single support, step time and toe in/toe out. The statistical analysis was one-way ANOVA with repeated measures to compare the variation of each variable. In comparison of parameters in each trial in the hemiplegia group, the non-affected side stride length, single support, and toe in/toe out resulted in statistically significantly changes (p<.05). But without an arm sling group did not show any gait parameter differences with arm slings. This study found that several arm slings varied gait patterns in patients with hemiplegia and in healthy adults. In the EMG analysis, the Rolyan humeral cuff arm sling and the Bobath roll arm sling were higher muscle activity for the latissimus dorsi muscle than did the single strap ann sling. Further study should examine the problems that appeared in patients who worn arm slings by focusing on a larger number of subjects and by studying the variety of responses in more detail using an assessment tool that measures variation.