• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.6
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• pp.219-230
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• 2017

This paper proposes a vehicle to road tracking algorithm based on vision sensor by using EKF(Extended Kalman Filter). The lateral offset, heading angle, and curvature which are obtained from vehicle to road tracking might be used as inputs to steering controller of LKAS(Lane Keeping Assist System) or for the warning decision logic of LDWS(Lane Departure Warning System). To the end, in this paper, the yaw rate, steering angle, and vehicle speed as well as lane raw points together with considering of vehicle lateral dynamics are utilized to improve the exactness and convergence of the vehicle to road tracking. The proposed algorithm has been tested at a proving ground that consists of straight and curve sections and compared with GPS datum using DGPS-RTK equipment to show the feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1048-1052
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• 2013

Recently, many countries have attempted to protect their satellites from damage caused by space debris. To design these collision avoidance maneuvers, optimal algorithms based on numerical simulations are widely used due to their practicality. However, these algorithms often require a great expenditure of time in order to find solutions. Therefore, in this paper, a simple analytical strategy is suggested to find the initial prediction required to find these numerical solutions for collision avoidance maneuvers by using relative dynamics for the rendezvous and docking problems. For this analytical strategy, the simple dynamics on the CW (Clohessy-Wiltshire) frame is adopted as an attempt to introduce an analytical solution.

• Nuclear Engineering and Technology
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• v.14 no.4
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• pp.186-195
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• 1982

The steam line break accident for Kori Unit 1 is analyzed by a code SYSRAN which calculates nuclear power and heat flux using the point kinetics equation and the lumped-parameter model and calculates system transient using the mass and energy balance equation with the assumption of uniform reactor coolant system pressure. The 1.4 f $t^2$ steam line break accident is analyzed at EOL (End of Life), hot shutdown condition in which case the accident would be most severe. The steam discharge rate is assumed to follow the Moody critical flow model. The results reveal the peak heat flux of 38% of nominal full power value at 60 second after the accident initiates, which is higher than the FSAR result of 26%. Trends for the transient are in good agreement with FSAR results. A sensitivity study shows that this accident is most sensitive to the moderator density coefficient and the lower plenum mixing factor. The DNBR calculation under the assumption of $F_{{\Delta}H}$=3.66, which is used in the FSAR with all the control and the shutdown assemblies inserted except one B bank assembly and of Fz=1.55 shows that minimum DNBR reaches 1.62 at 60 second, indicating that the fuel failure is not anticipated to occur. The point kinetics equation, the lumped-parameter model and the system transient model which uses the mass and energy balance equation are verified to be effective to follow the system transient phenomena of the nuclear power plants.lear power plants.

• Journal of Astronomy and Space Sciences
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• v.12 no.1
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• pp.78-89
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• 1995

We solved n-body problem about 9 planets, moon, and 4 minor planets with relativistic effect related to the basic equation of motion of the solar system. Perturbations including flgure potential of the earth and the moon and solid earth tidal effect were considered on this relativistic equation of motion. The orientations employed precession and nutation for the earth, and lunar libration model with Eckert's lunar libration model based on J2000.0 were used for the moon. Finally, we developed heliocentric ecliptic position and velocity of each planet using this software package named the SSEG (Solar System Ephemerides Generator) by long-term (more than 100 years) simulation on CRAY-2S super computer, through testing each subroutine on personal computer and short-time(within 800 dyas) running on SUN3/280 workstation. Epoch of input data JD2440400.5 were adopted in order to compare our results to the data archived from JPL's DE 200 by Standish and Newhall. Above equation of motion was integrated numerically having 1-day step-size interval through 40,000 days (about 110 years long) as total computing interval. We obtained high-precision ephemerides of the planets with maximum error, less $than\pm2\times10^{-8}AU(\approx\pm3km)$ compared with DE200 data (except for mars and moon).

• Journal of the Korean GEO-environmental Society
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• v.4 no.1
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• pp.5-10
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• 2003

The solids and the fluids in porous media have a relative velocity to each other. Due to physically and chemically different material properties and their relative velocity, the behavior of saturated porous media is extremely complicated. Thus, in order to describe and clarify the deformation behavior of saturated porous media, constitutive models for deformation of porous media coupling several effects need to be developed in frame of Arbitrary Lagrangian Eulerian(ALE) description. The aim of ALE formulations is to maximize the advantages of Lagrangian and Eulerian elements, and to minimize the disadvantages. Therefore, this method is appropriate for the analysis of porous media which are considered for the behavior of the solids and the fluids. For this reason, mass balance equations for saturated porous media are derived here in ALE description frames. ALE formulations of mass conservation for the solid phase and the fluid phase are expressed. Then, linear momentum balance equation for porous media as multiphase media is expressed.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.4 no.3
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• pp.53-61
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• 1984

A nonlinear formulation of a beam finite element(NB6) on the total Lagrangian mode for the geometrically nonlinear analysis of two-dimensional elastic framed structures is presented. The NB6 beam element has been degenerated from the three-dimensional continuum by introducing the deep beam assumptions and consists of three reference nodes and three relative nodes. The element characteristics are derived by discretizing the beam equations of motion using the Galerkin weighted residual method and are reduced-integrated repeatedly for each loading step by the Newton-Raphson iteration techpique. Several numerical examples are given to demonstrate the accuracy and versatility of the proposed nonlinear NB6 beam element.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.1
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• pp.153-160
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• 2020

The kinetic energy of the rain drops was predicted in a relation between the rain rate and rain quantity, derived directly from the rain drop size distribution (DSD), which had been measured by a disdrometer located in the eastern state of Alagoas-Brazil. The equation in the form of exponential form suppressed the effects of large drops at low rainfall intensity observed at the beginning and end of the rainfall. The kinetic energy of the raindrop was underestimated in almost rain intensity ranges and was considered acceptable by the performance indicators such as coefficient of determination, average absolute error, percent relative error, mean absolute error, root mean square error, Willmott's concordance index and confidence index.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.5 no.1
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• pp.123-132
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• 1985

The flexibility of base material gives considerable influences on seismic responses of a structure. The effects of relative stiffness between super-structure and base material on dynamic soil-structure interaction are evaluated by parametric studies. Two 5-story buildings are used for the study; one is shearwall structure with relatively higher fundamental frequency and the other is frame structure with relatively lower fundamental frequency. The structures are modeled as beam-sticks coupled with springs and dashpots representing the base material. Dynamic equilibrium equations of the soil-structure interaction system are sloved by mode superposition method using Rosset modal damping values. Soil-structure interaction effect is found to be major concern in seismic analysis of shearwall structure in most cases while it seldom becomes engineering problem in frame-type structure. It is also found that seismic responses at lower elevation of the super-structure are amplified though they decrease at higher elevation as soil-structure interaction effects of the system increase.

• Journal of Astronomy and Space Sciences
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• v.22 no.4
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• pp.463-472
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• 2005

In this paper, the dynamic model development for interplanetary navigation has been discussed. The Cowell method for special perturbation theories was employed to develop an interplanetary trajectory propagator including the perturbations due to geopotential, the Earth's dynamic polar motion, the gravity of the Sun, the Moon and the other planets in the solar system, the relativistic effect of the Sun, solar radiation pressure, and atmospheric drag. The equations of motion in dynamic model were numerically integrated using Adams-Cowell 11th order predictor-corrector method. To compare the influences of each perturbation, trajectory propagation was performed using initial transfer orbit elements of the Mars Express mission launched in 2003, because it can be the criterion to choose proper perturbation models for navigation upon required accuracy. To investigate the performance of dynamic model developed, it was tested whether the spacecraft can reach the Mars. The interplanetary navigation tool developed in this study demonstrated the spacecraft entering the Mars SOI(Sphere of Influence) and its velocity .elative to the Mars was less than the escape velocity of the Mars, hence, the spacecraft can arrive at the target planet. The obtained results were also verified by using the AGI Satellite Tool Kit. It is concluded that the developed program is suitable for supporting interplanetary spacecraft mission for a future Korean Mars mission.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.