• Journal of Advanced Navigation Technology
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• v.18 no.4
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• pp.312-318
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• 2014

The altitudes of GEO satellites are higher than those of GPS satellites. Therefore the visibility and the received power of GPS signals are totally different from those of the users near the Earth's surface. In this study, we analyzed the visibility of GPS signals received on GEO satellites. And we also developed a software GPS receiver that works on GEO satellites using CCMDB algorithm which is a weak signal receiver algorithm. GPS signals received on a GEO satellite are generated by a commercial hardware GPS simulator and used for the verification of the developed software GPS receiver. The mean 3D position and velocity error are calculated as 165.636 m and 0.5081 m/s.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.11
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• pp.795-802
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• 2019

This paper deals with position-attitude coupling motion during spacecraft relative operation, and suggests dual quaternion-based kinematics for the problem. The position-attitude coupling motion can occur when the target point is located at an arbitrary point on the satellite body, not the center of mass. This is especially apparent in close proximity operation case. The dual quaternion-based kinematics directly reflects the angular velocity state, so that the coupling motion in which the change of attitude affects the position can be concisely defined. In this study, a new dual quaternion-based kinematics is presented along with a conventional approach to solve the coupling problem. Numerical simulations show that the position error for the target point is generated by the coupling motion, and verify that the dual quaternion-based kinematics can solve this problem.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.6A
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• pp.676-684
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• 2008

In digital video broadcasting-terrestrial (DVB-T), which is the European digital terrestrial television standard, the orthogonal frequency division multiplexing (OFDM) has been adopted for signal transmission. The main reasons using OFDM are to increase the robustness against the frequency selective fading and impulse noise, and to use available bandwidth efficiently. However, channel variation within an OFDM symbol destroys orthogonality between subcarriers, resulting in inter-carrier interference (ICI), which increases an error floor in proportional to maximum Doppler spread. This paper provides an ICI analysis in both time and frequency domains while existing literatures analyze the ICI effects mainly in frequency domain and proposes the algorithms that estimate the channel impulse response and channel variation using least square (LS) algorithm which is the most simple channel estimation technique. And we propose adaptive channel estimation algorithm that estimates the velocity of terminals. The simulation results show that proposed algorithm has similar performance with about 1.5% computational complexity of noise and ICI reduction LS algorithm in low speed environments.

• Journal of Biosystems Engineering
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• v.25 no.6
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• pp.457-462
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• 2000

Boom sprayers have been known by their excellency in field efficiency worker’s safety and pest control efficacy. The boom sprayer in Korea that was developed for paddy field is not suitable for upland field of which shape is irregular and inclination is steep, due to heavy chemical tank long boom width and manual on-off control of spraying. The goal of the study was to develope a boom control system that could control boom angles of left and right boom automatically and independently corresponding to local field slope. The prime mover was selected as a cultivating tractor. Main results of this study were as follows. 1. Ultrasonic sensor whose response time was 0.1s and response angle was within $\pm$20$^{\circ}$was selected to measure distance. Voltage output of the sensor(X, Volt) had a highly significant linear relationship with the vertical distance between the sensor and ground surface(Y, mm) as follows; Y=0.0036X-0.437 2. Left and right section of the boom could be folded up by a position control device(on-off control) which could control the left and right boom independently corresponding to local slope by equalizing distances between the sensor and boom at the center and left/right boom. Most reliable DB(dead band) was experimentally selected to be 75$\Omega$(6cm). 3. At traveling velocity of 0.3~0.5m/s RMS of error between desired and achieved height was less than 4.5cm The developed boom angle controller and boom linkage system were evaluated to be successful in achieving the height control accuracy target of $\pm$10cm.

• Journal of Soil and Groundwater Environment
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• v.7 no.4
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• pp.17-23
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• 2002

Pumping tests were carried out from seven wells in fractured rocks. The time-drawdown data were obtained from pumping wells and corrected for the elapsed time of step drawdown test using Cooper-Jacob's method. A statistical method. the least square of error, was used to yield the coefficient of aquifer losses, the coefficient of well losses, and the power which indicates the severity of the turbulence. The values of the power range from 1.65 to 6.48. The well losses result mainly from turbulent flow caused by radial flow nearby pumping wells. The turbulent flow depends on Reynolds number. Since the hydraulic characteristics of fractured rocks control the fluid velocity, the value of the power is an important factor to understand the aquifer system of fractured rocks.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.9 no.2
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• pp.110-122
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• 1999

Hot-wire anemometers are most commonly used in measuring hood capture velocities due to their accuracy and convenience. But it was questionable that the anemometers being used in the field are accurate enough for the purpose of measurements. To answer this ques tion, a calibration wind tunnel was newly devised and tested. Subsequently, 53 hot-wire anemometers being currently used in the field were tested to evaluate the accuracy of anemometers. The average error was 16.93% while the average errors in the low (0.5~5m/s) and high (5~20m/s) velocity range were 17.40% and 16.45%, respectively. Most of anemometers underestimated the true velocities. It might be due to the contamination of hot-wire, resulting in the slow heat transfer between the sensor and air flow. Astonishingly, 16 of 53 anemometers were out of order due to the malfunctioning of zero adjustment control, power supply, display panel and sensor. It is desirable to calibrate periodically and clean the sensor after using in the dirty environment.

• Water for future
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• v.21 no.1
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• pp.67-76
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• 1988

Analyzed was the circulation phenomena in the open channel with sudden expansion, by applying the Galerkin's finite element method to the depth-averaged 2-dimensional continuity and momentum equations. Wave tests were done in the simplified channel in order to review the validity of this newly developed model and the computed results were within 0.5% of $L_2$-norm error, and application of this model to the simulation of simplified dam-break gave very close results compared with the analytical solution, thus, it can be concluded that this model is valid and efficient. The main flow in the expanded channel was defined as a new initial condition with given velocity and the flow in the expanded portion was at rest in simulating the circulation, and besides the Neumann's condition the slip boundary condition for lateral wall was found to be proper condition than the no-slip condition. It can be concluded, from the numerical tests in the sudden expension, that the circulating phenomena depend mainly on the convective inertia and the effect of turbulence due to bottom shear and lateral shear is insignificant.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.29-36
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• 2013

This paper presents a sensitivity optimization of a MEMS (microelectromechanical systems) gyroscope for a magnet-gyro system. The magnet-gyro system, which is a guidance system for a AGV (automatic or automated guided vehicle), uses a magnet positioning system and a yaw gyroscope. The magnet positioning system measures magnetism of a cylindrical magnet embedded on the floor, and AGV is guided by the motion direction angle calculated with the measured magnetism. If the magnet positioning system does not measure the magnetism, the AGV is guided by using angular velocity measured with the gyroscope. The gyroscope used for the magnet-gyro system is usually MEMS type. Because the MEMS gyroscope is made from the process technology in semiconductor device fabrication, it has small size, low-power and low price. However, the MEMS gyroscope has drift phenomenon caused by noise and calculation error. Precision ADC (analog to digital converter) and accurate sensitivity are needed to minimize the drift phenomenon. Therefore, this paper proposes the method of the sensitivity optimization of the MEMS gyroscope using DEAS (dynamic encoding algorithm for searches). For experiment, we used the AGV mounted with a laser navigation system which is able to measure accurate position of the AGV and compared result by the sensitivity value calculated by the proposed method with result by the sensitivity in specification of the MEMS gyroscope. In experimental results, we verified that the sensitivity value through the proposed method can calculate more accurate motion direction angle of the AGV.

• Applied Chemistry for Engineering
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• v.10 no.2
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• pp.310-318
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• 1999

The concentration breakthrough curves were examined to predict mass transfer coefficients of nitrogen and oxygen in adsorption column for design data of PSA process. Experimental breakthrough curves for bulk gas flow were compared with theoretical simulation results. For quantitative analysis of the adsorption, coupled Langmuir isotherm was considered and LDF model was used to describe the mass transfer effect. In the experimental and theoretical results, it was found that mass transfer coefficient was not affected by flow rate but strongly affected by pressure. As a result of this tendency, mass transfer resistance in this system was proved to belong to the macropore diffusion controlling region and the mass transfer coefficients could be expressed by exponential functions of pressure change. The mass transfer coefficients for one component, nitrogen or oxygen, were successfully applied to breakthrough curves for bulk mixed gases. The experimental curves were reasonably in consistent with the theoretical curves and the error time was less than 5 percent.