• 수산해양기술연구
• /
• 제53권4호
• /
• pp.337-348
• /
• 2017

The tension of warp from trawler and sea-floor contact can generate tilt and wake turbulence around otter boards. Preliminary measurements of otter board tilt and 3-D flow velocity during bottom trawl operations were taken using a vector instrument to investigate the effects of wake turbulence at the trailing edge of the otter board. Tilt data (i.e., yaw, pitch, and roll) at 1 Hz and flow data (velocities in the towing, lateral, and vertical directions) at 16 Hz were analyzed to determine their periods and amplitudes using global wavelet and peak event analyses. The mean period (${\pm}standard$ deviation) of the tilt from the peak event analysis ($5{\pm}2s$) was longer or double than that of flow velocity ($3{\pm}2s$). The two periods also had a significant linear relationship. The turbulence rate of flow was 30-50% at the trailing edge and was closely related to roll deviation. The frequency of phase difference ratios (i.e., peak time differences between tilts and flow periods) was significantly different from random occurrence in two trials, possibly due to side tidal effects. However, in the other trials, flow peaks were random, as shown by the even peak times between tilts and flows. Future studies should focus on reducing tilt variation, wake turbulence, and bottom contact to stabilize otter board motion.

• 한국콘텐츠학회논문지
• /
• 제8권2호
• /
• pp.27-32
• /
• 2008

본 논문은 각변위 방식을 이용한 소화경로 모델링 및 경로에 대한 캡슐의 오리엔테이션 측정 방법을 제안하였다. 제안하는 방법은 캡슐 내시경의 자세를 3차원 방향벡터와 이의 회전성분으로 표현하였다. 소화경로에 대한 캡슐의 오리엔테이션 정보인 롤, 피치 그리고 요우 값은 각각 $1.6^{\circ}$ 이내의 오차를 보였다. 제안된 방법은 자기장을 이용한 오리엔테이션 측정에서 롤값 측정 문제를 해결하였다. 오일러 각을 이용한 기존의 오리엔테이션 측정 방식과 비교하여 알고리즘의 복잡도를 줄였다.

• 항공우주기술
• /
• 제4권1호
• /
• pp.186-195
• /
• 2005

본 논문에서는 우주비행체 자세제어용으로 추력기 시스템이 사용될 경우의 3축 자세제어설계 문제를 다룬다. 블로우다운 방식의 추력기 시스템이 사용되는 경우를 가정한다. 추력기 시스템의 심각한 시간 지연 효과를 제어설계 시에 적절히 고려하기 위한 방안으로 리미트 사이클 분석 결과를 토대로 최적제어설계 문제를 정의한다. 공진화 기법을 적용해서 주어진 요구조건을 만족하는 최적 롤 제어기 및 최적 피치/요 제어기 설계가 가능함을 보인다. 설계된 제어기에 대한 성능 분석은 비선형 시뮬레이션을 통해 이루어지게 된다.

• 전자공학회논문지B
• /
• 제30B권1호
• /
• pp.29-37
• /
• 1993

The purpose of this paper is to estimate the attitude and the position of SPOT satellite which are needed in producing DEM(Digital Elevation Model) using SPOT satellite image pairs. DEM extraction is consists of three parts. First part is the modeling of satellite position and atitude, second part is the matching of two images to find corresponding point of them and third part is to calculate the elevation of each point by using the result of the first and second part. For modeling inaccessible area, extended modeling algorithm which removes the GCP(Ground Control Point) most errorneous from the GCPs extracted from map iteratively is proposed According to the experiments using a collinearity equation, the second order polynomials are shown to the optimal for .omega.(pitch), and Zs parameters while the first order ones for .kappa.(yaw) .PHI.(roll), Xs, and Ys parameters. The input images used in this paper are 6000*6000 level 1A panchromatic digital SPOT images of Chungchong-do, Korea. With 30 GCPs, experiments on SPOT images show that the planimetric and altimetric RMS errors are 7.11m and 7.10m, respectively, for test points.

• Transactions on Control, Automation and Systems Engineering
• /
• 제4권3호
• /
• pp.231-238
• /
• 2002

In this paper, we present a new approach to autopilot design for skid-to-turn missiles which may have severe aerodynamic cross-couplings and nonlinearities with angle of attack. The model of missile motion is derived in the maneuver plane and, based on that model, pitch, yaw, and roll autopilot are designed. They are composed of a nonlinear term which compensates for the aerodynamic couplings and nonlinearities and a linear controller driven by the measured outputs of missile accelerations and angular rates. Besides the outputs, further information such as Mach number, dynamic pressure, total angle of attack, and bank angle is required. With the proposed autopilot and simple estimators of bank angle and total angle of attack, it is shown by computer simulations that the induced moments and some aerodynamic nonlinearities are properly compensated and that the performance is superior to that of the conventional ones.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.762-766
• /
• 2003

In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.

• International Journal of Ocean System Engineering
• /
• 제2권4호
• /
• pp.223-232
• /
• 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.

• 동력기계공학회지
• /
• 제15권1호
• /
• pp.64-71
• /
• 2011

The Tension Leg Platform(TLP) is restrained from oscillating vertically by tethers(or tendons), which are vertical anchor lines tensioned by the platform buoyancy larger than the platform weight. Thus a TLP is a compliant structure which allows lateral movements of surge, sway, and yaw but restrains heave, pitch, roll. In this paper, the motions of a TLP in current and waves were investigated. Hydrodynamic forces and wave exciting forces acting on the TLP were evaluated using the three dimensional source distribution method. The motion responses and tension variations of the TLP were analyzed in the case of including current or not including one in regular waves and effects of current on the TLP were investigated.

• 제어로봇시스템학회논문지
• /
• 제6권2호
• /
• pp.138-145
• /
• 2000

In this paper an initial alignment algorithm for a strapdown inertial navigation system is implemented using a RISC CPU board. The algorithm computes roll pitch and yaw angles of the direction cosine matrix utilizing measured components of the specific force and earth rate when the navigation system is stationary. The coarse alignment algorithm is performed first and then the fine alignment algorithm containing a 3rd-order gyrocompass loop follows. The experimental set consists of an IMU a CPU board and a monitoring system Experimental results show that the implemented algorithm can be utilized in navigation systems.

• 제어로봇시스템학회논문지
• /
• 제12권3호
• /
• pp.300-306
• /
• 2006

In this paper an error analysis of 3-dimensional GNSS attitude determination system is given. The attitude error covariance matrix is derived and analyzed. It implies that attitude errors are affected by the baseline length and configuration, the satellites numbers and geometry, receiver measurement noises and the nominal attitude of the vehicle. By defining Euler Angle Dilution Of Precision (EADOP) which is analogous to GDOP, roll, pitch and yaw errors can be efficiently analyzed. However the expression of the attitude error is too complex to get some intuitions. Therefore with a commonly adopted assumption, new expressions for attitude error are derived. The formulas are easy to compute and represent the attitude error as a function of the nominal attitude of a vehicle, the baseline configuration and the receiver noise. Using the formula, the accuracy of the attitude can be analytically predicted without the computer simulations. Applications to some widely used configurations reveal the effectiveness of the proposed method.