• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.980-991
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• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

• Journal of electromagnetic engineering and science
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• v.9 no.3
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• pp.130-140
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• 2009

The design theory and experimental results of a true random noise radar system are presented in this paper. Target range information can be extracted precisely by correlation processing between the delayed reference and the signal received from a target, and the velocity information by the Doppler processing with successive correlation data. A K-band noise radar system was designed using random FM noise signal, and the characteristics of the fabricated system were examined with laboratory and outdoor experiments. A C-band random FM noise signal was generated by applying a low-frequency white Gaussian noise source to VCO(Voltage Controlled Oscillator), and a K-band Tx noise signal with 100 MHz bandwidth was obtained by using a following frequency multiplier. Two modified wave-guide horn arrays were designed and fabricated, and used for the Tx and Rx antennas. The required amount of Tx/Rx isolation was attained by using a coupling cancellation circuit as well as keeping them apart with predetermined spacing. A double down-conversion scheme was used in the Rx and reference channels, respectively, for easy post processing such as correlation and Doppler processing. The implemented noise radar performance was examined with a moving bicycle and a very high-speed target with a velocity of 150 m/s. The results extracted by the Matlab simulation using the logging data were found to be in a reasonable agreement with the expected results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.8
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• pp.706-713
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• 2007

The jet structure issuing from a conventional convergent nozzle of variable expansion rate is compared with the result from the nozzle of a constant expansion rate using a normal type annular slit. In experiments, to investigate the jet characteristics between the two cases of jet, the mean velocity of nozzle exit is fixed to be 90m/s, the pressures along the jet axis and radial directions are measured by a scanning valve system moving with 3-axis auto-traverse unit, and the velocity distribution obtained by calculation from the measured static and total pressures is compared. Also to obtain the highly stable and convergence jets, it is turned out that the flow through a nozzle of constant expansion rate using the Coanda effect with an annular slit is the most preferable than that case through variable expansion rate nozzle. Furthermore, it is found that the pressure drop along the nozzle for the constant expansion rate nozzle is small relatively against to the case of variable expansion rate nozzle.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.12
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• pp.866-873
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• 2015

The transverse vibration of the deploying beam from rigid hub was analyzed by simulation and experiment. The linear governing equation of the deploying beam was obtained using the Euler-Bernoulli beam theory. To discretize the governing equation, the Galerkin method was used. After transforming the governing equation into the weak form, the weak form was discretized. The discretized equation was expressed by the matrix-vector form, and then the Newmark method was applied to simulate. To consider the damping effect of the beam, we conducted the modal test with various beam length. The mass proportional damping was selected by the relation of the first and second damping ratio. The proportional damping coefficient was calculated using the acquired natural frequency and damping ratio through the modal test. The experiment was set up to measure the transverse vibration of the deploying beam. The fixed beam at the carriage of the linear actuator was moved by moving the carriage. The transverse vibration of the deploying beam was observed by the Eulerian description near the hub. The deploying or retraction motion of the beam had the constant velocity and the velocity profile with acceleration and deceleration. We compared the transverse vibration results by the simulation and experiment. The observed response by the Eulerian description were analyzed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.39 no.2
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• pp.119-124
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• 2015

Numerical study on the new design of the liquid mass flow meter in infinitesimal flow rate for semiconductor production is performed. The heater and thermistor are wired on the circular tube about 0.3mm inner diameter with designed gap between them. After the time interval from the single pulse heating the thermistor reaches its peak temperature and this time interval is almost inversely proportional to the liquid mass flow rate. The axial conduction in tube wall and convection through the flow is combined. As a result, the peak temperature moving velocity is much smaller than flow mean velocity and there is no linear relationship between them. In this study, the effects of design parameters such as the tube inner/outer diameter, wired heater width, and the gap between heater and thermistor are investigated and the trends of optimization in these parameters are discussed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.47 no.4
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• pp.411-418
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• 2011

As a fish way is a structure for fish migrating well toward upper stream due to breaking river flow by a dam or dammed pool, the specific fish's swimming ability is one of the main factors in making a plan and managing it. In addition, it also needs to understand the current field in fish road to evaluate its performance. This study is aimed to analyze the swimming patterns with current velocity changes using a Particle Imaging Velocimetry (PIV) in order to understand the swimming ability of silver fish (Plecoglossus altivelis) that is one of the fishes migrating through the fish way of Nakdong River, and to analyze the 2 dimensional current field near to silver fish at swimming momentum. The results showed that average values of tail beat frequencies for continuous swimming with current velocity were 2.8 Hz at 0.3 m/s, 3.2 Hz at 0.4 m/s, 3.8 Hz at 0.5 m/s, respectively. The wake would be produced by direction turning of fish's tail fin and its magnitude would be verified by the difference of pressure. The pressure turbulent flow produced by its tail beat would be made in both sides, and then, the magnitude of wake should be the source of moving direction. The swimming momentum will help to support the primary factor in making a suitable design for specific fish species migrating toward the district river.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.1
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• pp.102-109
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• 2016

The hydrodynamic interaction between two large vessels can't be neglected when two large vessels are closed to each other in restricted waterways such as in a harbor or narrow channel. This paper is mainly concerned with the ship maneuvering motion based on the hydrodynamic interaction effects between two large vessels moving each other in curved narrow channel. In this research, the characteristic features of the hydrodynamic interaction forces between two large vessels are described and illustrated, and the effects of velocity ratio and the spacing between two vessels are summarized and discussed. Also, the Inchon outer harbor area through the PALMI island channel in Korea was selected, and the ship maneuvering simulation was carried out to propose an appropriate safe speed and distance between two ships, which is required to avoid sea accident in confined waters. From the inspection of this investigation, it indicates the following result. Under the condition of $SP_{12}{\leq}0:5L$, it may encounter a dangerous tendency of grounding or collision due to the combined effect of the interaction between ships and external forces. Also considering the interaction and wind effect as a parameter, an overtaken and overtaking vessel in narrow channel can navigate while keeping its own original course under the following conditions; the lateral separation between two ships is about kept at 0.6 times of ship length and 15 degrees of range in maximum rudder angle. On the other hand, two ships while overtaking in curved narrow channel such as Inchon outer harbor in Korea should be navigated under the following conditions; $SP_{12}$ is about kept at 1.0 times of ship length and the wind velocity should not be stronger than 10 m/s.

• Korean Journal of Optics and Photonics
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• v.7 no.4
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• pp.341-347
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• 1996

The photocount distribution from a quasi-thermal light source, a moving ground glass disk (surface roughness; 9 ${\mu}{\textrm}{m}$) illuminated by a well-stabilized He-Ne laser, is measured by a photon counting system, and analyzed with theoretical calculations. The distribution approaches the Poisson distribution for the long coherence time ${\tau}_c$ compared to the measuring time T. The coherence time ${\tau}_c$ of the quasi-thermal source can be changed by controlling the velocity v of the motor driving the glass disk. By the comparison of experimental results and theory for the condition of T/ ${\tau}_c$ >>1, the coherence time ${\tau}_c$ of the quasi-thermal source is turned out to be in the range of 31.43 $mutextrm{s}$~2.48 $mutextrm{s}$ according to the circumferential velocity of the disk, and compared with the simple calculation of $\sigma$/v.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.