• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.5
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• pp.557-565
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• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• Journal of the Korean Society of Radiology
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• v.15 no.7
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• pp.935-942
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• 2021

Involuntary movement of internal organs by respiration is a factor that greatly affects the results of radiotherapy and diagnosis. In this study, a moving phantom was fabricated to simulate the movement of an organ or a tumor according to respiration, and ¹⁸F-FDG PET/CT scan images were acquired under various respiratory simulating conditions to analyze the movement range of the tumor movement by respiration, the level of artifacts according to the size of the tumor and the maximum standardized uptake value (SUVmax). Based on Windows CE 6.0 as the operating system, using electric actuator, electric actuator positioning driver, and programmable logic controller (PLC), the position and speed control module was operated normally at a moving distance of 0-5 cm and 10, 15, and 20 reciprocations. For sphere diameters of 10, 13, 17, 22, 28, and 37 mm at a delay time of 100 minutes, 80.4%, 99.5%, 107.9%, 113.1%, 128.0%, and 124.8%, respectively were measured. When the moving distance was the same, the difference according to the respiratory rate was insignificant. When the number of breaths is 20 and the moving distance is 1 cm, 2 cm, 3 cm, and 5 cm, as the moving distance increased at the sphere diameters of 10, 13, 17, 22, 28, and 37 mm, the ability to distinguish images from smaller spheres deteriorated. When the moving distance is 5 cm compared to the still image, the maximum values of the standard intake coefficient were 18.0%, 23.7%, 29.3%, 38.4%, 49.0%, and 67.4% for sphere diameters of 10, 13, 17, 22, 28, and 37 mm, respectively.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.4
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• pp.591-598
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• 2021

The digital phase-locked loops(DPLL) is a circuit used for phase synchronization and has been generally used in various fields such as communication and circuit fields. State estimators are used to design digital phase-locked loops, and infinite impulse response state estimators such as the well-known Kalman filter have been used. In general, the performance of the infinite impulse response state estimator-based digital phase-locked loop is excellent, but a sudden performance degradation may occur in unexpected situations such as inaccuracy of initial value, model error, and disturbance. In this paper, we propose a minimum variance finite impulse response filter with optimal horizon for designing a new digital phase-locked loop. A numerical method is introduced to obtain the measured value interval length, which is an important parameter of the proposed finite impulse response filter, and to obtain a gain, the covariance matrix of the error is set as a cost function, and a linear matrix inequality is used to minimize it. In order to verify the superiority and robustness of the proposed digital phase-locked loop, a simulation was performed for comparison and analysis with the existing method in a situation where noise information was inaccurate.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.2
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• pp.43-57
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• 2021

The Forward Collision Warning, a representative technology of the Advanced Driver Assistance Systems, was selected as the target technology. The cognitive response time, deceleration, and impact were selected as the measures of effectiveness. And the amount of change with and without the Forward Collision Warning was measured. The experimental scenarios included a sudden stop event (1) of the vehicle in front of the driver and an event (2) in which the vehicle intervened in the next lane. All experiments were divided into day and night. As a result of the analysis, response time and the deceleration rate decreased when the forward collision warning system was installed. It was analyzed that the driver's risk situation could be detected quickly and the number of front-end collisions could be reduced as a result. Reflecting the driver's operating habits and diversifying the experimental scenarios will increase the installation effectiveness of ADAS and be used to estimate the effectiveness of other technologies.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.11
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• pp.541-549
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• 2018

This paper deals with the braking dynamic behavior of diesel electric locomotive pulling domestic cargo and passenger vehicles. Friction coefficient, pneumatic pressure, and running resistance affecting the braking system were tested. For the friction coefficient, the Dynamo test was performed with reference to UIC 541-4. The results are analyzed by multivariate regression and the relationship between braking force and ititial velocity is presented. The pneumatic pressure were classified into service braking and emergency braking. In order to reflect the characteristics of the brake valve and piping, the pressure rising over time was measured in the vehicle. In order to reflect the external force acting on the vehicle, we carried out the test of EN 14067-4 and presented the second order polynomial formula on a running resistance. The running resistance test results were compared with other countries. The dynamic behavior of a diesel electric locomotive running on a straight flat track based on vehicle resources, friction coefficient, braking pressure, and running resistance is simulated using the time integration presented in EN 14531-1. The simulation results were compared and verified with the vehicle braking test results. The results of this study can be used to analyze the dynamic braking behavior of a train. Also, it is expected that various parameters affecting braking in vehicle design can be analyzed and used as basic data for braking performance improvement.

• Journal of Korean Society of Disaster and Security
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• v.12 no.2
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• pp.15-24
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• 2019

In the previous study, the rainfall data of 1 hour, 6 hours and 3 days were used as the rainfall criterion according to the grade to trigger the debris flow in the highway area, using the rainfall data of Gangwon area and the rainfall time-series data at the spot where the debris flow occurred. In this study, we propose an early warning criterion of the highway debris flow triggering through appropriate combination of three rainfall criteria selected through previous studies and adjustments of rainfall criterion in the highway debris flow triggering. In addition, simulations were conducted using the time-series rainfall data of 2010~2012, which had a large amount of precipitation for the five sites where debris flows occurred in 2013. As a result of the study, the criteria for the early warning of highway unsteadiness on the highway were prepared. In case of the grade-based adjustment, it is preferable to apply the unified rating to the grade B. Also, if the fatigue of the monitoring is not a problem, adjusting it to A or S may be a way to positively cope with the occurrence of highway debris flow.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.2
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• pp.107-113
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• 2019

In this paper, a robust filter based wind velocity estimation algorithm without an air velocity sensor in an air vehicle is presented. The wind velocity is useful information for the air vehicle to perform precise guidance and control. In general, the wind velocity can be obtained by subtracting an air velocity which is obtained by an air velocity sensor such as a pitot-tube, and a ground velocity which is obtained by a navigation equipment. However, in order to simplify the configuration of the air vehicle, the wind estimation algorithm is necessary because the wind velocity can not be directly obtained if the air velocity measurement sensor is not used. At this time, the aerodynamic coefficient of the air vehicle changes due to the turbulence, which causes the uncertainty of the system model of the filter, and the wind estimation performance deteriorates. Therefore, in this study, we propose a wind estimation method using $H{\infty}$ filter to ensure robustness against aerodynamic coefficient uncertainty, and we confirmed through simulation that the proposed method improves the performance in the uncertainty of aerodynamic coefficient.

• Clean Technology
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• v.25 no.1
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• pp.63-73
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• 2019

Numerical analysis was done to evaluate the chemical reaction and the reduction rate inside of selective non-catalytic reduction to denitrification in combustion process. The $NO_X$ reduction in selective non-catalytic reduction is converted to not only nitrogen but also nitrous oxide. Simultaneous $NO_X$ reduction and nitrous oxide generation suppressing is required in selective non-catalytic reduction because nitrous oxide influences the global warming as a greenhouse gas. The current study was performed compare the computational analysis in the same temperature and amount of NaOH, and in comparison with the previous research experiments and confirmed the reliability of the computational fluid dynamics. Additionally, controlling the addition amount of NaOH to predict the $NO_X$ reduction efficiency and nitrous oxide production. Numerical analysis was done to check the mass fraction of each material in the measurement point at the end of selective non-catalytic reduction. Experimental Value and simulation value by numerical analysis showed an error of up to 18.9% was confirmed that a generally well predicted. and it was confirmed that the widened temperature range of more than 70% $NO_X$ removal rate is increased when the addition amount of NaOH. So, large and frequent changes of the reaction temperature waste incineration facilities are expected to be effective.

• Geomechanics and Engineering
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• v.17 no.4
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• pp.333-342
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• 2019

Geological dynamic hazards during coal mining can be caused by the failure of a composite system consisting of roof rock and coal layers, subject to different loading rates due to different advancing velocities in the working face. In this paper, the uniaxial compression test simulations on the composite rock-coal layers were performed using $PFC^{2D}$ software and especially the effects of loading rate on the stress-strain behavior, strength characteristics and crack nucleation, propagation and coalescence in a composite layer were analyzed. In addition, considering the composite layer, the mechanisms for the advanced bore decompression in coal to prevent the geological dynamic hazards at a rapid advancing velocity of working face were explored. The uniaxial compressive strength and peak strain are found to increase with the increase of loading rate. After post-peak point, the stress-strain curve shows a steep stepped drop at a low loading rate, while the stress-strain curve exhibits a slowly progressive decrease at a high loading rate. The cracking mainly occurs within coal, and no apparent cracking is observed for rock. While at a high loading rate, the rock near the bedding plane is damaged by rapid crack propagation in coal. The cracking pattern is not a single shear zone, but exhibits as two simultaneously propagating shear zones in a "X" shape. Following this, the coal breaks into many pieces and the fragment size and number increase with loading rate. Whereas a low loading rate promotes the development of tensile crack, the failure pattern shows a V-shaped hybrid shear and tensile failure. The shear failure becomes dominant with an increasing loading rate. Meanwhile, with the increase of loading rate, the width of the main shear failure zone increases. Moreover, the advanced bore decompression changes the physical property and energy accumulation conditions of the composite layer, which increases the strain energy dissipation, and the occurrence possibility of geological dynamic hazards is reduced at a rapid advancing velocity of working face.

• Journal of the Korean Society of Radiology
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• v.13 no.4
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• pp.661-666
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• 2019

Diverging collimators is used to obtain reduced images of an object, or to detect a wide filed-of-view (FOV) using a small gamma camera. In the gamma camera using the diverging collimators, the block scintillator, and the pixel scintillator array, gamma rays are obliquely incident on the scintillator surface when the source is located the periphery of the FOV. Therefore, the spatial resolution is reduced because it is obliquely detected in depth direction. In this study, we designed a novel system to improve the spatial resolution in the periphery of the FOV. Using a tapered crystal array to configure the scintillation pixels to coincide with the angle of the collimator's hole allows imaging to one scintillation pixel location, even if events occur to different depths. That is, even if is detected at various points in the diagonal direction, the gamma rays interact with one crystal pixel, so resolution does not degrade. The resolution of the block scintillator and the tapered crystal array was compared and evaluated through Geant4 Application for Tomographic Emission (GATE) simulation. The spatial resolution of the obtained image was 4.05 mm in the block scintillator and 2.97 mm in the tapered crystal array. There was a 26.67% spatial resolution improvement in the tapered crystal array compared to the block scintillation.