• Journal of Advanced Marine Engineering and Technology
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• v.32 no.7
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• pp.1068-1079
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• 2008

Tilt and heading angles information of a remotely operated vehicle (ROV) are very important in underwater navigation. This paper presents a low.cost tilt and heading estimation system. Three single.axis rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer are used. Output signals coming from these sensors are fused by two Kalman filters. The first Kalman filter is used to estimate roll and pitch angles and the other is for heading angle estimation. By using this method, we have obtained tilt (roll and pitch angles) and heading information which are reliable over long period of time. Results from experiments have shown the performance of the presented system.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.201-203
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• 2006

This paper describes a new LOS(Line-of-Sight) estimator for BTT missiles. The dynamic models of LOS rate and a seeker are derived. Based on these dynamic models, we design a nonlinear estimator, which takes into account roll motion of BTT missiles and sensor noises. Simulation results show that the LOS rate estimates of the proposed estimator are more accurate than those of the conventional estimator.

• Journal of Navigation and Port Research
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• v.44 no.3
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• pp.145-150
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• 2020

The ship motion of large LNG ships affects ships' safety. The purpose of this study was to estimate the transfer function of roll motion among the hull motion of 153,000 m3 class LNG vessels. The ship motion transfer function was modeled using a Linear Time-Invarient system with single input, single output, and transfer function. The transfer function of the ship motion was estimated by the system identification method using single ocean wave as input of the model, and using the roll motion of the LNG ship obtained through ANSYS as the output of the model. The usefulness of the experimental results was evaluated using the precision and estimation rate of the model for cases wherein the different transfer function dimensions. Results of the experiment showed a precision at 99% and 98%, with estimation rate at 78% and 50%. From these results, we found the proposed method of estimating the transfer function of ship motion in this study reasonable. In the future, data of ship motion in actual sea conditions will be acquired and it will be applied to make the construction of models with multiple inputs and multiple outputs for practical use.

• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.1024-1030
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• 2001

In this paper, a horizontal LOS(line of sight) rate estimator for conventional sea skimming ASM(anti-ship missile) is proposed. A LOS rate dynamics model for a 2-axis gimbal system and the homing geometry is derived. A new LOS rate estimator is proposed by applying the Kalman filter theory to the LOS rate dynamics model. The proposed filter estimates LOS rates by taking roll motions into account. Simulation results show that the proposed filter produces smaller estimation errors than a conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.5A
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• pp.634-640
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• 2000

This paper proposes a new extended decision directed-decision estimated phase recovery algorithm based on maximum likelihood parameter estimation for OQPSK. In this scheme, comparing conventional one, the data dependent noise of phase recovery loop is reduced by inserting filter with 2 taps to in-phase and quadrature-phase channel respectively before phase detector. The proposed scheme is compared to conventionalscheme and OQPSK in aspect to BER(Bit Error Rate) and phase error according to the roll-off factor of baseband filter, the output back-offs of nonlinear satellite channel, and loop bandwidth.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• Transactions of The Korea Fluid Power Systems Society
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• v.5 no.4
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• pp.10-16
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• 2008

In this paper, the authors benchmark a servo valve model for the fuel supply system of Auxiliary Power Unit (APU) in the KHP helicopter. This valve is directly driven with a torque motor, and the size of small gap controlled by a flapper can make change of flow rate under given pressure drop between inlet and outlet. CFD analyses using a commercial code, ANSYS-CFX 10 are performed for the series of three-dimensional models at various openness conditions. The computational results on simplified models show that CFD can play a fine roll in the design of flow path as well as in the estimation of flow force due to its precision and good repeatability. Consequently, the CFD analysis helps valve designers to understand its flow characteristics from the basis of physical fundamentals.

• Journal of Korean Society of Rural Planning
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• v.20 no.4
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• pp.253-262
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• 2014

This, an association research for design-improvement and model-development of exhibition shops at rural tourism communities, is to secure objective data by analyzing customers' awareness-tendency of and demand for agricultural-specialty exhibition shops. Survey-questions for finding out consumers' awareness-tendency and demand were determined through brainstorming of a professional council, 30 rural communities of which visit-rate by consumers is considerably high were selected for the recruit of 200 consumers. For investigation and analysis, survey and in-depth interview were carried out at the scene with the application of frequency analysis and summarization of their opinions, which revealed that they have a strong will to visit the rural tourism communities for the purchase of agricultural specialties along with the experience of learning-program and on-the-scene direct dealing and that their viewpoint on the direct dealing at the scene was very positive. Also it was confirmed hat their satisfaction with the purchase of agricultural specialties by on-the-scene direct dealing, their pleasure at the purchase, their satisfaction with services and their intention for re-purchase of them were very high while their satisfaction with the exhibition shops was very low. With on-the-scene survey, the consumers' opinions could be listened to in depth. Almost all of them said their satisfaction with the trip to those rural tourism communities was considerably high since they could go to those communities themselves to relieve the stress from their modern life, to experience healing and to see the goods on the scene. Their satisfaction also was attributed to the fact that they have enough trust in purchase along with feeling the warm-heartedness of rural residents. As to their awareness of exhibition shops, they showed a positive response to the on-the-scene direct dealing at rural communities while they, thinking that the space in those exhibition shops was not sufficiently wide, demanded for more systematic counters in more accessible and affordable exhibition shops so that they might be more satisfied with the exhibition shops. Their demand for the necessity of exhibition shops selling agricultural specialties was found to be over 80%, which indicates that the necessity is very high. As to the suitability of function, they have the opinion that the business at those shops had better be focused on sales since they have the understanding of information when they take a trip to the rural communities, while there was another opinion: since agricultural products are seasonal items they should be exhibited and sold at the same time. More than 90% of the respondents had a positive viewpoint on direct dealing of agricultural specialties on the scene, which showed that their response to it was very high. They preferred the permanent shops equipped with roll-around table-booths. In addition, it was revealed that they want systematic exhibition shops in rural communities because they frequent those communities for on-the-scene direct purchase. The preferred type and opinion resulting from estimation of consumers' demands have been reflected for development of practical designs. The structure of variable principles has been designed so that the types of display-case and table-booth might be created. The result of this study is a positive data as a design model which can be utilized at rural communities and will be commercialized for the verification of its validity.