• Journal of Korean Society of Coastal and Ocean Engineers
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• v.20 no.4
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• pp.333-341
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• 2008

A remote sensing technique to identify trajectories of breaking waves in the surf zone using oblique digital nearshore videos is proposed. The noise arising from white foam induced by wave breaking has hindered accurate remote sensing of wave properties in the surf zone. For this reason, this paper focuses on image processing to remove the noise and wave trajectory identification essential for wave property estimation. The nearshore video imagery sampled at 3 Hz are used, covering length scale(100 m). Original image sequences are processed through image frame differencing and directional low-pass image filtering to remove the noise characterized by high frequencies in the video imagery. The extraction of individual wave crest features is conducted using a Radon transform-based line detection algorithm in the processed cross-shore image timestacks having a two-dimensional space-time domain. The number of valid wave crest trajectories identified corresponds to about 2/3 of waves recorded by the in-situ sensors.

• Journal of ILASS-Korea
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• v.1 no.2
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• pp.57-65
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• 1996

Breakup models are evaluated using the experimental drop trajectory ill this study. The experimental conditions corespond to Weber # 56, 260, 463. Computations are carried out using a modified KIVA-II program with 2 different breakup submodel(TAB and Wave breakup model) and dynamic drag model which the drag coefficient changes dynamically with distortion parameter. Results show that computation with wave breakup model represents the experimental drop trajectory better than that with TAB submodel. And result with wave breakup model shows similar breakup pattern to experimental breakup process. It is thought that in wave breakup model the small drops are shed from the parent drop throughout parcel lifetime such thai this modelling represents the real breakup process well.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.875-882
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• 2007

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.87-95
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• 2002

The aim of this article is to perform the numerical simulation far drop drag and breakup processes in air-assisted sprays using the Taylor analogy breakup (TAB) model with a modified drop drag model, in which a random method is newly used to consider the variation of the drop's frontal area. The predicted results for drop trajectory and Salter mean diameter (SMD) were compared with experimental data and the simulation results using the earlier published models such as TAH model, surface wave instability (Wave) model, and Wave model with original drop drag model. In addition, the effects of the breakup model constant, Ck, on prediction of spray behaviors were discussed. The results shows that the TAB model with the modified drop drag model is in better agreement with experimental data than the other models, indicating the present model is acceptable for predicting the drop breakup process in air-assisted sprays. At higher Weber numbers, the smaller Ck shows the best fitting to experimental data. It should be noted that more elaborated studies is required in order to determine the breakup model constant in the suggested model in the study.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.

• Bulletin of the Korean Chemical Society
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• v.32 no.12
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• pp.4210-4214
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• 2011

Quasiclassical trajectory (QCT) calculations of Ne + ${H_2}^+$ reaction have been carried out on the adiabatic potential energy surface of the ground state $1^2$ A'. The reaction probability of the title reaction for J = 0 has been calculated, and the QCT result is consistent with the previous quantum mechanical wave packet result. Quasiclassical trajectory calculations of the four polarization-dependent differential cross sections have been carried out in the center of mass (CM) frame. The P(${\theta}_r$), P(${\phi}_r$) and P(${\theta}_r$, ${\phi}_r$) distributions, the k-k'-j' correlation and the angular distribution of product rotational vectors are presented in the form of polar plots. Due to the well in $1^2$ A' PES, the reagent vibrational excitation has greater influence on the polarization of the product rotational angular momentum vectors j' than the collision energy.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.3
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• pp.227-232
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• 1995

A new evaluation procedure for calculating the Jacobian elliptic parameter is presented. This procedure is useful in calculating the trajectory for cnoidal wave generation. Upon specification of water depth, the wave height and either the wave period or the wavelength, the presented algorithm uses the Newton-Raphson method and the arithmetic and geometric-mean scales to calculate the profile directly, without trial and error procedures or look-up in tables. It is shown that the algorithm provides equally accurate result as the ad hoc methods previously used.

• Journal of the Korean Physical Society
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• v.73 no.9
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• pp.1269-1278
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• 2018

Using the thawed Gaussian wave packets [E. J. Heller, J. Chem. Phys. 62, 1544 (1975)] and the adaptive reinitialization technique employing the frame operator [L. M. Andersson et al., J. Phys. A: Math. Gen. 35, 7787 (2002)], a trajectory-based Gaussian wave packet method is introduced that can be applied to scattering and time-dependent problems. This method does not require either the numerical multidimensional integrals for potential operators or the inversion of nearly-singular matrices representing the overlap of overcomplete Gaussian basis functions. We demonstrate a possibility that the method can be a promising candidate for the time-dependent $Schr{\ddot{o}}dinger$ equation solver by applying to tunneling, high-order harmonic generation, and above-threshold ionization problems in one-dimensional model systems. Although the efficiency of the method is confirmed in one-dimensional systems, it can be easily extended to higher dimensional systems.