• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.470-476
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• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1675-1682
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• 2017

This paper deals with three dimensional orientation estimation algorithm for an attitude and heading reference system (AHRS) based on nine-axis inertial/magnetic sensor signals. In terms of the orientation estimation based on the use of a Kalman filter (KF), the quaternion is arguably the most popular orientation representation. However, one critical drawback in the quaternion representation is that undesirable magnetic disturbances affect not only yaw estimation but also roll and pitch estimations. In this paper, a sequential direction cosine matrix-based orientation KF for AHRS has been presented. The proposed algorithm uses two linear KFs, consisting of an attitude KF followed by a heading KF. In the latter, the direction of the local magnetic field vector is projected onto the heading axis of the inertial frame by considering the dip angle, which can be determined after the attitude KF. Owing to the sequential KF structure, the effects of even extreme magnetic disturbances are limited to the roll and pitch estimations, without any additional decoupling process. This overcomes an inherent issue in quaternion-based estimation algorithms. Validation test results show that the proposed method outperforms other comparison methods in terms of the yaw estimation accuracy during perturbations and in terms of the recovery speed.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1373-1378
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• 2007

Metal forming ins the process changing shapes and mechanical properties of the workpiece without initial material reduction through plastic deformation. Above all, because of hot working carried out above recrystallization temperature can be generated large deformation with one blow, it can produce with forging complicated parts or heat resisting super alloy such as Inconel 718 has the worst forgeability. In this paper, we established optimal variation of hot heading precess of the Inconel 718 used in heat resisting component and evaluated mechanical properties hot worked produce. Die material is SKD61 and initial temperature is $300^{\circ}C$. Initial billet temperature and punch velocity changed, relatively. Friction coefficient is 0.3 as lubricated condition of hot working. CAE is carried out suing DEFORM software before making the tryout part, and it is manufactured 150 ton screw press with optimal condition. It is known that forming load was decreased according to decreasing punch velocity.

• Journal of the Korean Society for Library and Information Science
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• v.30 no.3
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• pp.85-108
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• 1996

This paper studied the process of changes of the heading which is access point of the catalog in the cataloging Rules. The first described change of the concept of heading, and described change of headings in the Korean Cataloging Rules and Anglo-American Cataloging Rules And then described heading; in the online environment and future of cataloging rules. The concept of the main entry has lost any meaningful purpose in today's online catalog environment despite a multiplicity of definition. To bring cataloging rules up-to-date, Headings of KCR, AhCR2 Chapter 21, the MARC format and KORMARC format need to be revised The revision of this cataloging rules should be based on Hypertext and Hypermedia. A Continued empirical research would be most welcome, and should be incorporated into future cataloging rules.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.2
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.42 no.6
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• pp.759-765
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• 1997

The process of the senescence in Oryza glaberrima Steud. strains and Oryza sativa L. cultivars were examined in terms of SPAD value(chlorophyll content) and photosynthetic rate. SPAD values and photosynthetic rates of flag leaves for 10 genotypes of each species was measured at the 1, 3 and 5 weeks after heading. SPAD values and photosynthetic rates of O. glaberrima strains tended to decrease rapidly after heading. O. sativa cultivars showed slower decrease as compared to O. glaberrima strains, in particular during the period from 1 to 3 weeks after heading. Although there was no significant difference between the two species in the mean value of photosynthetic rate and SPAD value at 1 weeks after heading, O. glaberrima had lower values after 3 weeks after heading. There were significant positive correlation coefficients between the photosynthetic rate and the SPAD value at 1 and 3 weeks after heading for O. glaberrima strains, and at 1 and 5 weeks after heading for O. sativa cultivars. There were significant positive correlation between the decreasing rates of the photosynthetic rates and the decreasing rates of the SPAD values at the period from the 1 to 3 weeks after heading for both species. At the period from 3 to 5 weeks after heading, only O. glaberrima showed a significant correlation between two traits, indicating that rapid decrease in chlorophyll content would affect the photosynthesis in O. glaberrima.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.39 no.1
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• pp.92-97
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• 1994

The reports on the chemical composition of developing job's tears seeds is very insufficient by this time. The purpose of this study was to obtain the fundamental information on chemical component of the developing job's tears seed, including starch, sugar, oil, protein, fatty acid, Alkali Digestibility Value(ADV), 100-grain weight. Two job's tears varieties in different by maturity types were analyzed for those components from 10 days after heading to maturity, with 5-day intervals. Total sugar content in seeds followed a pattern of linear increase after heading, but it started to decreased around 15 days after heading. On the other hand, starch content continued to increased until maturity and the highest increasing occurred between 15 and 20 days after heading. The protein content of seeds was decreased, while oil content was increased through the ripening process. Starch content showed a positive correlation with 100-grain weight, ADV, oil and germination percent, but it had negative correlation between total sugar and protein contents in ripening process. Maximum starch content, 100 grain weight, and germination percent obtained by quadratic equation were attained 38 to 43 days after heading. So that the physiological maturity of job's tears seeds was considered to be 40 days after heading.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.4
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• pp.27-32
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• 2010

This paper presents an investigation into the pinhead forming process with the objective of finding the optimal forming conditions. In order to this, the orbital forming analysis of a heading MIG was carried out using the explicit finite element method. Relationships between temperature by forming of load and stresses, rake angle by forming final shape and stress distribution were investigated through analysises in order to find an efficient solution. As a result, the higher temperature and orbital rake angle were the better forming conditions.

• Transactions of Materials Processing
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• v.20 no.1
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• pp.48-53
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• 2011

Fasteners are used to join the various electronic products and machines. So, the quality and reliability of the fastener are strongly requested. In this study, the analyses of the multi-stage cold forging of TORX screws for storage parts are carried out. In manufacturing of TORX screws, crack and folding defects are observed. Therefore, the analysis is focused on the prediction of the defects. Based on the analysis results, the upper die and process conditions are redesigned to reduce the defects. The upper die shape for preform forming is redesigned to prevent folding and sharp shape change. The Cockroft-Latham damage criterion is introduced to predict the crack initiation. Analysis results shows that the maximum Cockroft-Latham damage value is decreased by 40% in the forming using the modified upper die.

• Transactions of Materials Processing
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• v.19 no.2
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• pp.88-94
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• 2010

The next generation of diesel engine can operate at high injection pressure up to 1,800bar. The common rail pipe must have higher internal strength because it is directly influenced by the high-pressure fuel. Folding defects in the Common rail pipe can not ensure the structural safety. Therefore, Preform design and fatigue-life analysis are very important for preventing the head of the common rail pipe from folding in the heading process and for predicting fatigue life according to the amount of folding. In this study, a closed form equation to predict fatigue life was suggested by Goodman theory and pressure vessels theory in ASME Code in order to develop an optimization technique of the heading process and verified its reliability through fatigue-structural coupled field analysis. The results calculated by the theory were in good agreement with those obtained by the finite element analysis.