• Journal of the Society of Naval Architects of Korea
• /
• v.38 no.4
• /
• pp.30-38
• /
• 2001

The current is considered in the conventional manoeuvering equation. This equation is represented as the nonlinear state and measurement equations in which external forces and the direction and the velocity of current are augmented as that variables. The external forces are modeled as the third-order Gauss-Markov processes and the direction and the velocity of current are assumed to be constant. The augmented state variables are estimated with extended Kalman-Bucy filter and the fixed-interval smoother. While Hwang estimated motion state variables, hydrodynamic coefficients and the current variables simultaneously by using extended Kalman filter, external forces of surge, sway and yaw and the direction and the velocity of current are the only parameters to be estimated in the estimation-before-modeling method. The current variables are satisfactorily estimated in simulation process where the measurement noise is present.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.10
• /
• pp.970-976
• /
• 2012

In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.

• Journal of the Korean Institute of Navigation
• /
• v.10 no.2
• /
• pp.97-114
• /
• 1986

Ship's maneuverability is very important factor in safe ship handling and economical ship operation. Steering characteristics are consisted of course stability and maneuverability. Today in many advanced ship-building countries, they study ship's course stability, using model ship tests, such as straight line tests, rotating arm tests and Planar Motion Mechanism (PMM) etc., in tow in tanks. It is the purpose of this paper to provide ship's handlers with better understanding of steering characteristics and to help them in safe controlling and manevering . In this paper, the author simulated response of various vessels, running straight course with constant speed, and they are disturbed by small external disturbance of one degree yaw angle with no angular velocity . The author used the hydrodynamic derivtives resulted at tests of Davidson's laboratory in Stevens Institute of Technology, New Jersey, U.S.A. Course stability was evaluated and analyzed in various respects, such as block coefficient, ratio of ship's length to beam, draft and rudder area ratio etc. The obtained results are as follows : (1) The ship's course stability is affected by magnitude of block coefficient greatly. In case that the block coefficient is more than 0.7, the deviation varies at nearly same rate but the requistite time to reach the steady course is different. (2) The ship's course stability is affected by magnitude of L/B. When the dimensionless time reaches about 3, the deviation and requisite time to reach the steady course are influenced nearly same. After the dimensionless time is about 3, they change on invariable ratio. (3) The effect to course stability by L/T and RA' can be neglected. (4) The reason why thy VLCC and container feeder vessel are unstable on their course is that their block coefficient is generally more than 0.8 and the ratio of ship's length to beam is about 6.0.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.4
• /
• pp.1523-1531
• /
• 2011

Multi-axle driving vehicle are favored for military use in off road operations because of their high mobility on extreme terrains and obstacles. Especially, Military Vehicle needs an ability to driving on hills of 60% angle slope. This paper presents the improvement of the ability of hill climbing for 6WD/6WS vehicle through the optimal tire force distribution method. From the driver's commands, the desired longitudinal force, the desired lateral force, and the desired yaw moment were obtained for the hill climbing of vehicle using optimal tire force distribution method. These three values were distributed to each wheel as the torque based on optimal tire force distribution method using friction circle and cost function. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. Two vehicles, the one the proposed algorithm is implemented and the another the tire's forces are equivalently distributed, are compared. At the hill slop, the ability to driving on hills is improved by using the optimum tire force distribution method.

• Journal of the Korea Society for Simulation
• /
• v.26 no.3
• /
• pp.47-54
• /
• 2017

This paper analyzed the motion characteristics of two ships according to the ship's dimension using Ship Handling Simulator. When the panamax container ship passes the smaller ship, peak point and patterns of interaction forces for the moored ship are noticeable. Accordingly, special attention should be paid to the movements of moored ship because surge force and yaw moment changes in the opposite direction before and after condition of ship's beam. However, when the container ship passes the larger moored ship in reverse, peak point stood out on the passing ship at the beginning of ship-to-ship interaction and attraction force on the passing ship occurred steadily during 1L(length overall of passing ship) interval at a point of beam. In addition, as the lateral distance between the hull of two ships decreases less than 2B(breadth of passing ship), interaction forces on the passing ship at the beginning are sharply increase.

• Journal of Auto-vehicle Safety Association
• /
• v.13 no.4
• /
• pp.14-19
• /
• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Journal of Ocean Engineering and Technology
• /
• v.36 no.2
• /
• pp.91-100
• /
• 2022

In general, the effect of roll motion is not considered in the study on maneuverability in calm water. However, for high-speed twin-screw ships such as the DTMB 5415, the coupling effects of roll and other motions should be considered. Therefore, in this study, the estimation of maneuverability using a 4-degree-of-freedom (DOF; surge, sway, roll, yaw) maneuvering mathematical group (MMG) model was conducted for the DTMB 5415, to improve the estimation accuracy of its maneuverability. Furthermore, a study on the change in turning performance according to the fin angle was conducted. To accurately calculate the lift and drag forces generated by the fins, it is necessary to consider the three-dimensional shape of the wing, submerged depth, and effect of interference with the hull. First, a maneuvering simulation model was developed based on the 4-DOF MMG mathematical model, and the lift force and moment generated by the side fins were considered as external force terms. By employing the CFD model, the lift and drag forces generated from the side fins during ship operation were calculated, and the results were adopted as the external force terms of the 4-DOF MMG mathematical model. A 35° turning simulation was conducted by altering the ship's speed and the angle of the side fins. Accordingly, it was confirmed that the MMG simulation model constructed with the lift force of the fins calculated through CFD can sufficiently estimate maneuverability. It was confirmed that the heel angle changes according to the fin angle during steady turning, and the turning performance changes accordingly. In addition, it was verified that the turning performance could be improved by increasing the heel angle in the outward turning direction using the side fin, and that the sway speed of the ship during turning can affect the turning performance. Hence, it is considered necessary to study the effect of the sway speed on the turning performance of a ship during turning.

• Journal of the Society of Naval Architects of Korea
• /
• v.59 no.1
• /
• pp.1-8
• /
• 2022

To understand physical phenomena of ship maneuvering deeply, a numerical study based on computational fluid dynamics is required. A computational method that can simulate the interaction between the ship hull, propeller, and rudder will provide informative local flows during ship maneuvering tests. The analysis of local flows can be applied to improve a physical model of ship maneuvering that has been widely used in maneuvering simulations. In this study, the numerical program named as WAVIS that has been developed for ship resistance and propulsion problems is extended to simulate ship maneuvering by free-running tests. The six degree-of-freedom of ship motion is implemented based on Euler angles and the overset technique is applied to treat the moving grid of ship hull and rudder. The propulsion force due to a propeller is calculated by a panel method that is based on the lifting-surface theory. The newly extended code is applied to simulate turning and zig-zag tests of KCS and the comparison with the available experimental data has been made.

• The Journal of Korean Society for Radiation Therapy
• /
• v.21 no.1
• /
• pp.1-7
• /
• 2009

Purpose: The purpose is to evaluate the accuracy of correcting the targeting error through the Target Location System (TLS) for the location change error of the reference point which arises from the movement or motion of patient during the treatment using the CyberKnife. Materials and Methods: In this test, Gafchromic MD-55 film was inserted into the head and neck phantom to analyze the accuracy of the targeting, and then the 6 MV X-ray of CyberKnife (CyberKnife Robotic Radiosurgery System G4, Accuray, US) was irradiated. End to End (E2E) program was used to analyze the accuracy of targeting, which is provided by Accuray Corporation. To compute the error of the targeting, the test was carried out with the films that were irradiated 12 times by maintaining the distance within the rage of $0{\pm}0.2\;mm$ toward x, y, z from the reference point and maintaining the angle within the rage of $0{\pm}0.2^{\circ}$ toward roll, pitch, yaw, and then with the films which were irradiated 6 times by applying intentional movement. And the correlation in the average value of the reference film and the test film were analyzed through independent samples t-test. In addition, the consistency of dose distribution through gamma-index method (dose difference: 3%) was quantified, compared, and analyzed by varying the distance to agreement (DTA) to 1 mm, 1.5 mm, 2 mm, respectively. Results: E2E test result indicated that the average error of the reference film was 0.405 mm and the standard deviation was 0.069 mm. The average error of the test film was 0.413 mm with the standard deviation of 0.121 mm. The result of independent sampling t-test for both averages showed that the significant probability was P=0.836 (confidence level: 95%). Besides, by comparing the consistency of dose distribution of DTA through 1 mm, 1.5 mm, 2 mm, it was found that the average dose distribution of axial film was 95.04%, 97.56%, 98.13%, respectively in 3,314 locations of the reference film, consistent with the average dose distribution of sagittal film that was 95.47%, 97.68%, 98.47%, respectively. By comparing with the test film, it was found that the average dose distribution of axial film was 96.38%, 97.57%, 98.04%, respectively, at 3,323 locations, consistent with the average dose distribution of sagittal film which was 95.50%, 97.87%, 98.36%, respectively. Conclusion: Robotic CyberKnife traces and complements in real time the error in the location change of the reference point caused by the motion or movement of patient during the treatment and provides the accuracy with the consistency of over 95% dose distribution and the targeting error below 1 mm.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.1 s.94
• /
• pp.20-28
• /
• 2005

This paper addresses uncertainty issues encountered recently in measuring head vibration using the conventional 6-axis or 9-axis bite-bar model. Those conventional bite-bar models are shown to present insufficient information to evaluate a generalized motion of head vibration. In order to overcome such limit, a new theoretical measurement model that consists of four 3-axis linear accelerometers is suggested. It is shown to enable the measurement of three angular acceleration components and six second-order angular velocity-dependent terms. Those nine angular motion-related ones, in addition to the three linear acceleration terms at the origin, are found to make it possible to evaluate the generalized head vibration for a given position. To examine the feasibility of the proposed method, a newly designed 12-axis bite-bar was developed. Detailed experimental results obtained from the developed 12-axis bite-bar are demonstrated in this paper. They illustrate that the popular 6-axis bite-bar model yield about $4.0\%$ relative measurement uncertainty for the pitch component of head vibration, $14\%$ and $10\%$ relative measurement uncertainty for the roll and yaw components of head vibration, respectively. Furthermore, this paper proposes other uncertainty factors to be considered in the future.