• Journal of Advanced Marine Engineering and Technology
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• v.39 no.7
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• pp.709-715
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• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.1
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• pp.74-81
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• 2024

In the near future, autonomous ships, ships controlled by shore remote control centers, and ships operated by navigators will coexist and operate the sea together. In the advent of this situation, a method is required to evaluate the safety of the maritime traffic environment. Therefore, in this study, a plan to evaluate the safety of navigation through ship control simulation was proposed in a maritime environment, where ships directly controlled by navigators and autonomous ships coexisted, using autonomous operation technology. Own ship was designed to have autonomous operational functions by learning the MMG model based on the six-DOF motion with the PPO algorithm, an in-depth reinforcement learning technique. The target ship constructed maritime traffic modeling data based on the maritime traffic data of the sea area to be evaluated and designed autonomous operational functions to be implemented in a simulation space. A numerical model was established by collecting date on tide, wave, current, and wind from the maritime meteorological database. A maritime meteorology model was created based on this and designed to reproduce maritime meteorology on the simulator. Finally, the safety evaluation proposed a system that enabled the risk of collision through vessel traffic flow simulation in ship control simulation while maintaining the existing evaluation method.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.08a
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• pp.75-75
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• 2010

배변 후 toilet flushing 시 다량의 세균을 포함한 물방울들이 화장실 곳곳으로 퍼지는 현상이 있다. 이러한 현상을 방지하기 위해 변기 뚜껑에 자기 세정 효과를 갖는 초발수 표면을 위해 플라즈마를 이용한 표면 처리가 시도되고 있으며, 이 연구의 일환으로 flushing시의 변기내의 유동 분석을 초고속 카메라를 이용하여 수행하였다. Toilet flushing 시 물 튀김 현상은 육안으로는 잘 관찰하기 어렵지만 최고 1000 frame/sec의 속도를 갖는 CCD camera를 이용하여 정량적으로 물 튀김에 의한 오염 가능성을 촬영 분석하였다, 두 번째로 소변 시의 변기 표면에서의 튀김현상을 분석하기 위하여 소변의 발사각도 및 속도를 가장 실제와 유사한 조건으로 설정하고 이를 상용 전산 유체 역학 소프트웨어인 CFD- ACE+의 자유 표면 계산 기능과 두 가지 유체(액체 및 기체)의 혼합 계산 모델을 사용한 계산 결과와 비교 하였다. 그 결과 변기 표면의 표면장력을 아주 작게 설정한 경우(작은 접촉각, 친수성)에는 중력의 영향을 고려하였음에도 불구하고 소변이 변기에 충돌 후 상부로 상당부분 튀어 올라가는 결과를 얻었다. 여러 가지 각도와 발사 속도, 실제의 인체와 유사한 발사 부위의 형상 변화로 인한 유체 표면의 난류 발생과 이에 따른 변기 표면 충돌 현상 변화 등을 수치적으로 고찰하였다. 한 예로 5.6 mm 직경의 노즐에서 소변이 나오는 경우를 발사 속도 3 m/s, 각도 $10^{\circ}$로 주고 중력을 고려하여 10초 동안을 계산하면, 방뇨 시 toilet bowl 내부에서의 물의 유동과 toilet 표면을 맞고 튀기는 현상을 그림 1과 같이 볼 수 있었다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.1A
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• pp.31-43
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• 2009

In this study, the numerical method is presented, which can consider the various train types and can solve the equations of motion for a vehicle-bridge interaction analysis by non-iteration procedure through formulating the coupled equations of motion. The coupled equations of motion for the vehicle-bridge interaction are solved by the Newmark ${\beta}$ of a direct integration method, and by composing the effective stiffness matrix and the effective force vector according to a analysis step, those can be solved with the same manner of the solving procedure of equilibrium equations in static analysis. Also, the effective stiffness matrix is reconstructed by the Skyline method for increasing the analysis effectiveness. The Cholesky's matrix decomposition scheme is applied to the analysis procedure for minimizing the numerical errors that can be generated in directly calculating the inverse matrix. The equations of motion for the conventional trains are derived, and the numerical models of the conventional trains are idealized by a set of linear springs and dashpots with 16 degrees of freedom. The bridge models are simplified by the 3 dimensional space frame element which is based on the Euler-Bernoulli theory. The rail irregularities of vertical and lateral directions are generated by the PSD functions of the Federal Railroad Administration (FRA). The results of the vehicle-bridge interaction analysis are verified by the experimental results for the railway plate girder bridges of a span length with 12 m, 18 m, and the experimental and analytical data are applied to the low pass filtering scheme, and the basis frequency of the filtering is a 2 times of the 1st fundamental frequency of a bridge bending.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.5
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• pp.635-644
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• 2012

In order to design a wave energy generating system, a 6-DOF analysis technique is applied to the three-Dimensional CFD analysis on of a floating body and the behavior is interpreted according to the nature of the incoming wave. A wave period of 5.5s & amplitude of 0.57m from Marado is chosen. 12 case of natural pitching period from 1.25 to 2.8s has been modeled. The relation between tuning factor & pitch angle for the waves generated is compared to analyze the effects of energy absorption variables, namely mass moment of inertia, angular velocity and angular acceleration. From the results obtained, we conclude that model L is the maximum power absorbed, 6kW approximately. A maximum pitch angle of 1.91 degree was attained by Model F, and the maximum displacement of nearly 0.7m was attained by Model L among models D, F and L.

• Journal of KIISE:Computing Practices and Letters
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• v.6 no.4
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• pp.411-420
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• 2000

The performance of soft handoffs of CDMA mobile communication systems is potentially determined by several factors such as handoff-related system parameters (T_ADD, T_DROP, T_COMP, T_TDROP), mobile stations' mobility, service areas, capacity of base stations. Due to the importance of handoffs in mobile communications, several methods have been proposed and tested through computer simulations to prove the efficiency of proposed methods. Different assumptions on the above mentioned factors often produce different simulation results. Therefore, the credibility of a simulation result is directly determined by the objectivity of the assumptions made by the simulation. This paper proposes a new soft handoff method that controls handoff delay time based on a mobile station's speed, and compares it with the current method of CDMA systems. The simulation results showed that the new method is much more efficient for mobile stations that are free in their moving direction and space than for those restricted in their moving direction and space. In addition, the results showed that even the same handoff method may produces different simulation results depending on whether a service area is modeled as two-dimensional space or three-dimensional space. These results indicate the importance of suitable models of user mobility, especially the movement types and space allowed for mobile stations, which have been neglected in simulation studies of mobile communications.

• Journal of the Earthquake Engineering Society of Korea
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• v.10 no.6 s.52
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• pp.93-102
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• 2006

Control input's saturation of active control devices for large structures under large external disturbances are often occurred. It is more difficult to obtain the exact values of mass and stiffness as structures are higher. The modelling errors between mathematical models and real structures must be also included as parameter uncertainties. Therefore, in active vibration control of civil engineering structures like buildings and bridges, the robust saturation controller design method considering both control input's saturation and parameter uncertainties of system is needed. In this paper, stabilities of linear optimal controller LQR, modified bang-bang controller, saturated sliding mode controller, and robust saturation controller among various controllers which have been studied and applied to active vibration control of buildings are investigated. Especially, unstable phenomena of the LQR, the modified bang-bang controller and the saturated sliding mode controller when the control input is saturated or parameter uncertainties exist are presented to show the necessity of the robust saturation controller. The robust stability of the robust saturation controller are shown through a numerical example of a 2DOF linear vibrating system and an experimental test of the two-story structure with an active mass damper (AMD).

• Korean Journal of Optics and Photonics
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• v.31 no.6
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• pp.274-280
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• 2020

In this paper, the effect of atmospheric turbulence is numerically modeled and analyzed via a phase-screen model, in regard to long-range optical energy transfer using coherent beam combination. The coherent-beam-combination system consists of three channel beams pointing at a target at a distance of 1-2 km. The phase and propagation direction of each channel beam are assumed to be corrected in an appropriate manner, and the atmospheric turbulence that occurs while the beam propagates through free space is quantified with a phase-screen model. The phase screen is statistically generated and constructed within the range of fluctuations of the structure constant Cn2 from 10-15 to 10-13 [m-2/3]. Particularly, in this discussion the shape, distortion, and combining efficiency of the 3-channel combined beam are calculated at the target plane by varying the structure constant used in the phase-screen model, and the effect of atmospheric turbulence on beam-combination efficiency is analyzed. Analysis with this numerical model verifies that when coherent beam combination is used for long-range optical energy transfer, the received power at the target can be at least three times the power obtainable by incoherent beam combination, even for maximal atmospheric fluctuation within the given range. This numerical model is expected to be effective for analyzing the effects of various types of atmospheric-turbulence conditions and beam-combination methods when simulating long-range optical energy transfer.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.611-622
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• 2020

As the advancement of technologies on indoor positioning systems and measuring devices such as LiDAR (Light Detection And Ranging) and cameras, the demands on analyzing and searching indoor spaces and visualization services via virtual and augmented reality have rapidly increasing. To this end, it is necessary to model 3D objects from measured data from real-world structures. In addition, it is important to store these structured data in standardized formats to improve the applicability and interoperability. In this paper, we propose a method to construct IndoorGML data, which is an international standard for indoor modeling, from point cloud data acquired from LiDAR sensors. After examining considerations that should be addressed in IndoorGML data, we present a construction method, which consists of free space extraction and connectivity detection processes. With experimental results, we demonstrate that the proposed method can effectively reconstruct the 3D model from point cloud.

• Journal of the Korea Computer Graphics Society
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• v.11 no.2
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• pp.40-46
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• 2005

본 논문에서는 스윕곡면(sweep surface)을 기반으로 복잡한 3차원 물체의 형상을 변형하는 새로운 자유형상 변형(free-form deformation)기법을 제시한다. 본 논문에서 제시한 방법은 기존의 격자점(control lattices)을 조정하는 체적기반의 방법에 비해 스윕기반의 절차적 (procedural) 모델링 기법의 직관성을 활용하여 사용자에게 보다 효율적인 형상변형 기법을 제공한다. 3차원 물체의 정점들은 스윕곡면의 단면(cross-section)에 바인딩(binding) 되어 곡면의 변화에 따라 형상변형을 한다. 본 논문에서 제시한 스윕기반 형상변형 기법은 3차원 물체를 부분적으로 변형하는 기법과 계층구조를 기반으로 전반적인 형상을 변형하는 기법으로 구분된다. 부분적인 형상변형 기법은 스윕곡면을 구성하는 성분의 다단계(multi-level) 표현을 통하여 사용자에게 다중해상도(multi-resolution) 형상변형 기능을 제공한다. 계층구조에 기반한 형상변형 기법은 복잡한 3차원 물체를 위상구조에 따라 여러 계층으로 분할하고, 각 부분의 형상을 근사하는 스윕곡면들을 생성한다. 분할된 각 부분의 정점(vertices)들은 해당 스윕곡면에 바인딩 되어 스윕곡면의 단면의 변화를 따르게 된다. 이러한 상황하에서 스윕곡면들은 3차원 물체의 계층구조에 따라서 서로 상호작용(interaction)을 하게 되고, 결과적으로 3차원 물체의 각부분은 상호반응적 형상변형을 한다. 이러한 계층구조에 기반한 상호반응적 형상변형 기법은 사용자의 의도에 부합하는 보다 사실적이고 기능적인 형상변형을 가능하게 한다. 본 논문에서는 다양한 3차원 물체에 대한 실험을 통해 제시된 방법의 효율성을 입증한다. 결과 막성 사구체병증과 같은 신질환이 발견될 수 있으므로 신조직검사의 적응증에 합당한 경우 적극적인 신조직검사를 시행하여 원인 질환을 찾는 노력이 필요할 것으로 사료된다.. 남아가 75명으로 남녀비는 3.6:1을 보였다. 임상병리학적 분류상 일차성 신증후군이 89명(92.7%), 이차성 신증후군이 7명(7.3%)이었으며 일차성 신증후군에서 minimal change nephrotic syndrome이 71명으로 79.8%, focal segmental glomerulosclerosis 11.2%, mesangial proliferation 4.5%, membranoprolifrative glomeulonephritis 3.4%, membranous nephropathy 1명 1.1%이었으며 2차성 신증후군은 $Henoch-Sch\"{o}nlein$ nephritis가 3례로 가장 많았다. 미세변화 신증후군 71명 중 비재발군이 16명으로 22.5%, 비빈발 재발군 49.3%, 빈발 재발군 18.3%, 스테로이드 의존군 9.9%를 보였다. 결론 : 대전시에서의 신증후군 환아의 발생빈도는 15세이하 소아 10만명당 약 5명으로 추정되었으며 10여 년전과 비교하여 큰 변화를 보이지는 않았다. 또한 저자들의 임상병리학적 연구결과가 다른 문헌에서 보고된 소아 신증후군의 연구결과와 큰 차이를 보이지 않음을 알 수 있었다. 자극에 차이가 있지 않나 추측되며 이에 관한 추후 연구가 요망된다. 총대장통과시간의 단축은 결장 분절 모두에서 줄어들어 나타났으나 좌측결장 통과시간의 감소 및 이로 인한 이 부위의 통과시간 비율의 저하가 가장 주요하였다. 이러한 결과는 차가운 생수 섭취가 주로 결장 근위부를 자극하는