• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.7-13
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• 2015

Unmanned air vehicles (UAVs) are getting popular not only as a private usage for the aerial photograph but military usage for the surveillance, reconnaissance and supply missions. For an UAV to successfully achieve these kind of missions, geolocation (localization) must be implied to track an interested target or fly by reference. In this research, we adopted multi-sensor fusion (MSF) algorithm to increase the accuracy of the geolocation and verified the algorithm using two multicopter UAVs. One UAV is equipped with an optical camera, and another UAV is equipped with an optical camera and a laser range finder. Throughout the experiment, we have obtained measurements about a fixed ground target and estimated the target position by a series of coordinate transformations and sequential Kalman filter. The result showed that the MSF has better performance in estimating target location than the case of using single sensor. Moreover, the experimental result implied that multi-sensor geolocation algorithm is able to have further improvements in localization accuracy and feasibility of other complicated applications such as moving target tracking and multiple target tracking.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.12
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• pp.1683-1689
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• 2014

In this paper, we propose an image processing based time-frequency domain reflectometry(TFDR) in order to estimate the fault location of a cable. The Wigner-Ville distribution is used for analysis in both the time domain and the frequency domain when the conventional TFDR estimates the fault location in a cable. However, the Winger-Ville distribution is a bi-linear function, and hence the cross-term is occurred. The conventional TFDR cannot estimate the accurate fault location due to the cross-term in case the fault location is close to the position where the reference signal is applied to the cable. The proposed method can reduce the cross-term effectively using binarization and morphological image processing, and can estimate the fault location more accurately using the template matching based cross correlation compared to the conventional TFDR. To prove the performance of the proposed method, the actual experiments are carried out in some cases.

• Journal of the Korean Society of Safety
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• v.15 no.4
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• pp.139-149
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• 2000

This study aims to review and assess the existing postural classification schemes used for evaluating postural loads in industry. The schemes can be classified into three categories: self-report, observational and instrument-based techniques depending upon how to record working postures. Of the three techniques, this study was mainly focused on the observational methods. The observational technique is most widely used in the industrial sites because it does not interfere with work, and is easy and simple to use and cost-effective without requiring the use of expensive equipment for estimating the angular deviation of a body segment from the neutral position. In spite of the usefulness and applicability, the techniques have some problems: 1) The existing observational techniques lack the consistency in the class limits of the motion categories in each body segment; 2) Most of them do not provide the post-analysis criteria needed to judge whether or not any posture is acceptable in view point of the postural load; and 3) They can not precisely evaluate the postural load for a given posture because the external loads and dynamic factors including acceleration, moment and force were not taken into consideration.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.3
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• pp.292-299
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• 1999

DC motors are widely used in many industrial fields as the actuator of the robot and the driving power motors of the electrical vehicle, Usually in the sensors of DC motors such as the encoder the tachogenerator and the potentiometer etc. are applied, But usage of these sensors results in the increased price and operating cost such that the application of the motors are limitted. To solve this problem another method to construct low cost control system is investigates. In this paper a new speed control method for DC motor is proposed. This method uses motor parameters instead of using speed or position sensors. In this way the angular velocity is estimated by the measure-ment values of the armature voltage and current instead of measuring the sensor signal. This paper presents an alorithm for estimating the angular velocity of DC motor The effectiveness of the proposed method is verified by experimental results. Also the applicability of the proposed method is presented by applying to the velocity contol of a wheeled mobile robot.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1700-1711
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• 2004

Piston friction is one of the important but complicated sources of energy loss of a hydraulic axial piston machine. In this paper, two formulas are derived for estimating instantaneous piston friction force and average piston friction moment loss. The derived formula can be applicable for piston guides with or without bushing as well as for axial piston machines of motoring and pumping operations. Through the formula derivation, a typical curve shape of friction force found from several experimental measurements during one revolution of a machine is clearly explained in this paper that it is mainly due to the equivalent friction coefficient dependent on its angular position. Stribeck curve effect can easily be incorporated into the formula by replacing outer and inner friction coefficients at both edges of a piston with the coefficient given by Manring (1999) considering mixed/boundary lubrication effects. Novel feature of the derived formula is that it is represented only by physical dimensions of a machine, hence it allows to estimate the piston friction force and loss moment of a machine without hardworking experimental test.

• Korean Journal of Computational Design and Engineering
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• v.21 no.3
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• pp.341-352
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• 2016

Manual 3D pipeline modeling from LiDAR scanned point cloud data is laborious and time-consuming process. This paper presents a method to extract the pipe, elbow and branch information which is essential to the automatic modeling of the pipeline connection. The pipe geometry is estimated from the point cloud data through the Hough transform and the elbow position is calculated by the medial axis intersection for assembling the nearest pair of pipes. The branch is also created for a pair of pipe segments by estimating the virtual points on one pipe segment and checking for any feasible intersection with the other pipe's endpoint within the pre-defined range of distance. As a result of the automatic modeling, a complete 3D pipeline model is generated by connecting the extracted information of pipes, elbows and branches.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.639-647
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• 2011

In this paper, we have designed the Anti-Aircraft Artillery(AAA) model for the surface-to-air virtual engagement. The AAA model for the virtual combat simulation needs to detect the present target and estimate the target flight trajectory to find the aiming point. To find collision point of projectile fired from the artillery with the moving air target, we have presented the estimating technique for artillery aiming point. And we have analyzed the target probability of kill using Calton Hit function. Anti-air threat envelops are presented when the target velocity, position and the arrangement of four AAA are varying. Then we have compared the analyzed result using developed model with AEM model of MSA program.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.4
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• pp.350-357
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• 2005

This paper presents a mechanical sensorless vector-controlled system with parameter identification by the aid of image processor. Based on the flux observer and the model reference adaptive system method, the proposed sensorless system includes rotor speed estimation and stator resistance identification using flux errors. Since the mathematical model of this system is constructed in a synchronously rotating reference frame, a linear model is easily derived for analyzing the system stability, including motor operating state and parameter variations. Because it is difficult to identify rotor resistance simultaneously while estimating rotor speed, a low-accuracy image processor is used to measure the mechanical axis position for calculating the rotor speed at a steady-state operation. The rotor resistance is identified by the error between the estimated speed using the estimated flux and the calculated speed using the image processor. Finally, the validity of this proposed system has been proven through experimentation.

• Journal of Mechanical Science and Technology
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• v.15 no.9
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• pp.1302-1310
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• 2001

This paper introduces modeling and simulation results for pipeline inspection gauge (PIG) with bypass flow control in natural gas pipeline. The dynamic behaviour of the PIG depends on the different pressure across its body and the bypass flow through it. The system dynamics includes: dynamics of driving gas flow behind the PIG, dynamics of expelled gas in front of the PIG, dynamics of bypass flow, and dynamics of the PIG. The bypass flow across the PIG is treated as incompressible flow with the assumption of its Mach number smaller than 0.45. The governing nonlinear hyperbolic partial differential equations for unsteady gas flows are solved by method of characteristics (MOC) with the regular rectangular grid under appropriate initial and boundary conditions. The Runge-Kuta method is used for solving the steady flow equations to get initial flow values and the dynamic equation of the PIG. The sampling time and distance are chosen under Courant-Friedrich-Lewy (CFL) restriction. The simulation is performed with a pipeline segment in the Korea Gas Corporation (KOGAS) low pressure system, Ueijungboo-Sangye line. Simulation results show us that the derived mathematical model and the proposed computational scheme are effective for estimating the position and velocity of the PIG with bypass flow under given operational conditions of pipeline.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.429-433
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• 2004

According to researchers, the influential factors of scouring are generally divided into three factors: the flow conditions, the type and position of structures, and the characteristics of bed materials. In addition, scouring is affected by the 3-dimensional turbulent boundaries, the unsteady flow, the movement of sediment in the scour-hole area, the approach flow velocity and depth, the width of bridge foundation/pier, and the particle size of bed materials. However, it is difficult to estimate the scour depth near bridge piers when all conditions are factored in at once. Therefore, for reasonably accurate estimates of scour depth, it is essential to consider sufficiently the flow force and resisting force for scour. That is, to determine the shear stress concerning the bed material distribution is needed. In this study, the experiments were performed under the condition of a steady state of flow. As a result, scouring occurred at velocity ratios of 0.476,$(V/V_c=0.476)$, and the scour depth was increased linearly as the velocity ratio increased. in addition, the average values of shear stress ratio at zero scouring depth in both rectangular and circular piers were approximately 7$(\tau_c/\tau_{approach})$ and in the case for same size bed particle material. The results of this study can be used for the fundamental material for estimating the scour depth of bed materials.