• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.596-603
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• 2010

This paper presents a homing guidance law of anti-ship missiles using flight path angle to achieve an impact time constraint as well as an impact angle constraint. the independent variable in the nonlinear engagement model is change d from the flight time to the heading angle of the missile. The proposed guidance law can home a missile to the target with zero miss distance as well as satisfying both of the impact angle and time constraints. The performance of the proposed guidance law is evaluated by the computer simulations.

• Journal of Ocean Engineering and Technology
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• v.34 no.6
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• pp.394-405
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• 2020

To assess the station-keeping performance of floating structures in the Arctic region, the ice load should be considered along with other environmental loads induced by waves, wind, and currents. However, present methods for performance evaluation in the time domain are not effective in terms of time and cost. An ice load generation module is proposed based on the experimental data measured at the KRISO ice model basin. The developed module was applied to a time domain simulation. Using the results of a captive model test conducted in multiple directions, the statistical characteristics of ice loads were analyzed and processed so that an ice load corresponding to an arbitrary angle of the structure could be generated. The developed module is connected to commercial dynamic analysis software (OrcaFlex) as an external force input. Station-keeping simulation in the time domain was conducted for the same floating structure used in the model test. The mooring system was modeled and included to reflect the designed operation scenario. Simulation results show the effectiveness of the proposed ice generation module and its application to station-keeping performance evaluation. Considering the generated ice load, the designed structure can maintain a heading angle relative to ice up to 4°. Station-keeping performance is enhanced as the heading angle conforms to the drift direction. It is expected that the developed module will be used as a platform to verify station-keeping algorithms for Arctic floating structures with a dynamic positioning system.

• ETRI Journal
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• v.27 no.3
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• pp.280-288
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• 2005

This paper presents an efficient algorithm for using the two-axis magnetic compass in portable devices. The general magnetic compass module consists of a three-axis magnetic compass and a two-axis inclinometer to calculate tilt-compensated azimuth information. In this paper, the tilt error is compensated using just a two-axis magnetic compass and two-axis accelerometer. The third-axis data of the magnetic compass is estimated using coordinate information that includes the extended dip angle and tilt information. The extended dip angle is estimated during the normalization process. This algorithm can be used to provide the tilt-compensated heading information to small portable devices such as navigation systems, PDAs, cell phones, and so on.

• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.35-41
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• 2009

A waypoint tracking algorithm(WTA) is designed for Unmanned Surface Vehicle(USV) in which water-jet system is installed for propulsion To control the heading of USV for waypoint tracking, the steering nozzle of water-jet need, to be controlled. Firstly, target heading is calculated by using the position information of waypoints input from the land control center. Secondly, the command for the steering nozzle of water-jet is calculated in real time by using the heading and the rate-of-turn( ROT) from magnetic compass, In this study, in order to consider the drift angle due to external disturbance such as wind and wave, the course of ground( COG) can be used instead of heading at higher speed than a certain value, To test the performance of newly-designed WTA, the tests were carried out in actual sea area near Gwang-an bridge of Busan. In this paper, the sea trial test results from WTA are analyzed and compared with those from manual control and those from commercial controller.

• Korean Journal of Organic Agriculture
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• v.11 no.3
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• pp.75-90
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• 2003

A total of 192 Korean landraces were investigated for the comparison of each other as useful germplasm to organic farming and examined correlation between quantitative traits. Almost Korean landraces were classified into medium-heading variety and average days from seeding to heading was 111.1 days. Plant height and culm length were longer about 20∼40cm than general Japonica cultivar. Average width of leaf blade and average length of panicle were 1.3cm and 22.4cm, respectively, Average number of panicles per plant was 10.0 and almost varieties showed low tilling habit. Average length/width ratio of brown rice was 1.7 and several varieties were long grain type and average 1,000 grain weight was 21.6g. In correlation coefficient among quantitative traits, positive significant correlations were observed between culm length and leaf width, days from seeding to heading, but negative correlations were observed between days from seeding to heading and 1000 grain weight. 27.1% of Korean landraces showed weak and lodging degree in culm strength and 3.6% of total varieties showed purple margin on leaf blade and leaf sheath. In leaf blade angle and flag leaf angle, erect type was 46.9% and 10.9%, respectively. 24.0% of total varieties showed the slow and late degree of leaf senescence. The rate of awned type, waxy type and brown seed coat were 74.5%, 20.3% and 4.2%, respectively. The color of stigma, spikelet, apiculus and awn showed diverse color such as white, brown, red and purple.

• Journal of the Korean Society for Marine Environment & Energy
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• v.8 no.1
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• pp.17-22
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• 2005

The movement of drifting ships on the sea is closely related to marine environmental forces such as waves, currents, winds, etc. To develop a prediction model for trajectories oi drifting ships, an experiment on the movement of drifting ships was carried out in the Southeastern Sea of Korea. Five types of ships including a lire raft and tour ships with G/T 10tons, G/T 2o tons, G/T 50 tons, and G/T 80 tons, were considered in the experiment. The G/T 50 ton class ship was used as a base ship for obtaining the currents, winds and heading angles of ship following the trajectory. The trajectory of each ship was measured by DGPS(Differential Global Positioning System) and collected using APRS(Automatic Position Reporting System) installed on the base ship. The error range in position fix of DGPS are approximately ±1 m. The drift speed of ship in the experiment was between 3％ to 5％ of wind speed and drift direction of ship was deflected by ±90° from wind direction. Also, the heading of drifting ship was normal to wind direction.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.129-137
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• 2016

In the present study we verified performance of feed-forward control algorithm using short term prediction of ship motion information by taking advantage of developed numerical simulation model of FPSO motion. Up until now, various studies have been conducted about thrust control and allocation for dynamic positioning systems maintaining positions of ships or marine structures in diverse sea environmental conditions. In the existing studies, however, the dynamic positioning systems consist of only feedback control gains using a motion of vessel derived from environmental loads such as current, wind and wave. This study addresses dynamic positioning systems which have feedforward control gain derived from forecasted value of a motion of vessel occurred by current, wind and wave force. In this study, the future motion of vessel is forecasted via Brown's Exponential Smoothing after calculating the vessel motion via a selected mathematical model, and the control force for maintaining the position and heading angle of a vessel is decided by the feedback controller and the feedforward controller using PID theory and forecasted vessel motion respectively. For the allocation of thrusts, the Lagrange Multiplier Method is exploited. By constructing a simulation code for a dynamic positioning system of FPSO, the performance of feedforward control system which has feedback controller and feedforward controller was assessed. According to the result of this study, in case of using feedforward control system, it shows smaller maximum thrust power than using conventional feedback control system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.794-798
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• 1995

We performed analysis for crank shaft and connecting rod in driving device of Cold Heading Machine. The results of this study is following ; 1. The nominal pressure is happened at 8mm under bottom dead center. And then the theoretical angel of crank (.theta.) and connecting rod (.phi.) are .theta. = 25 .deg. 1' and .phi.= 6 .deg. 1' but the analysis angel are .theta. = 25 .deg. and .phi.= 7 .deg. 2. The load is loaded at theta. = 51 .deg. in crank angle. 3. The maximum stress of connecting rod is about290MPa. It is exited inner stress range in consideration of safety factor.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.591-595
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• 1990

This paper describes a method of aisle following of a mobile robot using machine vision. As a navigation guide, Black strip painted on the lower part of wall of aisle is used. The offset of the vehicle position from the center of aisle and the heading angle are determined from the binary image of guide strip captured by a CCD camera. To remove the effect of noise. i.e. break of guide strip for the door or reflection of light, pixel sampling method together with consistency check of the incline for the sampled pixels is used.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1055-1060
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• 2001

Springing phenomena of ships is introduced with its concept, research history and approach methodology. Being a hydroelasticity problem, non-linear vibration and stochastic process, springing was formulated and modeled in vibration point of view separating hydrodynamic force into system properties and excitation force. Both RAO and response spectrum as well as wave spectrum were presented as a case study of springing analysis for a flexible vessel with wide breadth. The effect of advance speed, heading angle and loading condition were investigated as parametric study. The results and observations showed availability of analysis for the prediction of the ship springing behavior.