• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.488-498
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• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• 한국기계연구소 소보
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• s.17
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• pp.157-165
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• 1987

The SWATH concept hull form which is capable of high speed navigation with small oscillatory motions in waves, was developed from the catamaran type hull forms. This paper describes how the motion of a SWATH ship in irregular waves can be reduced by regulating the stabilizing fins. The optimal regulator and LQG (Linear Quadratic Gaussian) controller for vertical plane motion have been applied for both platforming mode and contouring mode controls. The calculations of hydrodynamic coefficients and external forces are possible for defining the system equation for the design purpose of motion control. Performances of the controlled system are compared with those of original system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.173.4-173
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• 2001

This paper presents a stable nonlinear adaptive control for AUV(Autonomous Underwater Vehicle) by using neural network. AUV's dynamics are highly nonlinear, and their hydrodynamic coefficients vary with different operational conditions. In this paper, the nonlinear uncertainties of the AUV's dynamics are approximated by using LPNN(Linearly parameterized Neural Network). The presented controller is consist of three parallel terms; linear feedback control, sliding mode control, and adaptive control(LPNN). Lyapunov theory is used to guarantee the stability of tracking errors and neural network´s weights errors. Numerical simulations for nonlinear control of the AUV show the effectiveness of the proposed techniques.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.2A
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• pp.198-203
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• 2008

In this paper, we consider the diffuse type of indoor wireless optical communication (WOC) system. To find the channel characteristics of indoor wireless infrared communication system, we investigate the simulation process to get the impulse response of diffuse type and analyze the scenario of the indoor structure which we have built. The simulation results of the impulse response include power ratio and time delay due to bounce times. We get and discuss the receiving power distribution according to six configurations which have different transmitter and receiver positions and reflection coefficients of the indoor structure assumed. The results of this paper are useful to design the indoor wireless optical communication systems.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.105-108
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• 2003

The local motion at the top of an A-frame fixed on a research vessel for deep sea ROV floating in irregular waves is studied in the time-domain. The motion is analyzed in the time-domain using the convolution integral of the radiation forces. The memory effect functions and infinite frequency added masses are obtained from the solution of the three dimensional improved Green integral equation in the frequency domain by making use of the Fourier transformation.

• Structural Engineering and Mechanics
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• v.88 no.2
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• pp.189-200
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• 2023

Silicate glass is usually a brittle and plate-like material, and it is difficult to measure the elastic modulus by the traditional method. This paper develops a test method for the glass elastic modulus based on the fundamental frequency of the cantilever beam with an elastic support and a free end. The method installs the beam-type specimen on a semi-rigid support to form an elastic support-free end beam. The analytic solution of the stiffness coefficients of the elastic support is developed by the fundamental frequency of the two specimens with known elastic modulus. Then, the glass elastic modulus is measured by the fundamental frequency of the specimens. The method significantly improves the measurement accuracy and is suitable for the elastic modulus with the beam-type specimen whether the glass is homogeneous or not. Several tests on the elastic modulus measurement are conducted to demonstrate the reliability and validity of the test method.

• Korean Journal of Agricultural Science
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• v.10 no.2
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• pp.324-333
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• 1983

Modeling of longterm runoff is theoritically based on waterbalance analysis. Simplified equation of water balance with rainfall, evapotranspiration and soil moisture storage could be formulated into regression model with variables of rainfall, pan evaporation and previous-month streamflow. The hydrologic response of water shed could be represented lumpedly, qualitatively and deductively by regression coefficients of water-balance regression model. Characteristics of regression modeling of water-balance were summarized as follows; 1. Regression coefficient $b_1$ represents the rate of direct runoff component of precipitation. The bigger the drainage area, the less $b_1$ value. This means that there are more losses of interception, surface detension and transmission in the downstream watershed. 2. Regression coefficient $b_2$ represents the rate of baseflow due to changes of soil moisture storage. The bigger the drainage area and the milder the watershed slope, the bigger b, value. This means that there are more storage capacity of watershed in mild downstream watershed. 3. Regression coefficient $b_3$ represents the rate of watershed evaporation. This depends on the s oil type, soil coverage and soil moisture status. The bigger the drainage area, the bigger $b_3$ value. This means that there are more watershed evaporation loss since more storage of surface and subsurface water would be in down stream watershed. 4. It was possible to explain the seasonal variation of streamflow reasonably through regress ion coefficients. 5. Percentages of beta coefficients what is a relative measure of the importance of rainfall, evaporation and soil moisture storage to month streamflow are approximately 89%, 9% and 11% respectively.

• Magazine of the Korean Society of Agricultural Engineers
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• v.30 no.3
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• pp.25-37
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• 1988

The purpose of this study is to fmd out the bask data for irrigation plans of tomato and chinese cabbage during the growing period, such as total amount of evapotranspiration, coefficients of evapotranspiration at each growth stage, the peak stage of evapotranspiration, the maximum evapotranspiration, optimum irrigation point, total readily available moisture and intervals of irrigation date. The plots of experiment were arranged with split plot design which were composed of two factors, irrigation point for main plot and soji texture for split plot, and three levels, irrigation points with PF 1.8, PF 2.2, PF 2.6 for tomato and those with PF 1.9, PF 2.3, PF 2.7, for Chinese cabbage, soil textures of silty clay, sandy loam and sandy soil for both tomato and Chinese cabbage, with two replications. The results obtained are summarized as follows 1. There was the highest significant correlation between the evapotranspiration and the pan evaporation, beyond all other meteoralogical factors considered. Therefore, the pan evaporation is enough to be used as a meteorological index measuring the quantity of evapotranspiration. 2. 1/10 probability values of maximum total pan evaporation during growing period for tomato and Chinese cabbage were shown as 355.8 mm and 233.0 mm, respectively, and those of maximum ten day pan evaporation for tomato and Chinese cabbage, 68.0 mm and 43.8 mm, respectively. 3. The time that annual maximum of ten day pan evaporation can be occurred, exists at any stage of growing period for tomato, and at any growth stage till the late of Septemberfor Chinese cabbage. 4. The magnitude of evapotranspiration and of its coefficient for tomato and Chinese cabbage was occurred in the order of pF 1.8>pF 2.2>pF 2.6 and of pF 1.9>pF 2.3>pF 2.7 respectively in aspect of irrigation point and of silty clay>sandy loam>sandy soil in aspect of soil texture. 5. 1/10 probability value of evapotranspiration and its coefficient during the growing period of tomato were shown as 327.3 mm and 0.92 respectively, while those of Chinese cabbage, 261.0 mm and 1.12 respectively. 6. The time that maximum evapotranspiration of tomato can be occurred is at the date of fortieth to fiftieth after transplanting and the time for Chinese cabbage is presumed to he in the late of septemben At that time, 1/10 probability value of ten day evapotranspiration and its coefficient for tomato is presumed to be 74.8 mm and 1.10 respectively, while those of Chinese cabbage, 43.8 mm and 1.00. 7. In aspect of only irrigaton point, the weight of raw tomato and Chinese cabbage were mcreased in the order of pF 2.2>pF 1.8>pF 2.6 and of pF 1.9>pF 2.3>pF 2.7, respectively but optimum irrigation point for tomato and Chinese cabbage, is presumed to be pF 2.6 - 2.7 if nonsignificance of the yield between the different irrigation treatments, economy of water, and reduction in labour of irrigaion are synthetically considered. 8. The soil moisture extraction patterns of tomato and Chinese cabbage have shown that maximum extraction rate exists at 7 cm deep layer at the beginning stage of growth m any soil texture and that extraction rates of 21 cm to 35 cm deep layer are increased as getting closer to the late stage of growth. And especially the extraction rates of 21 cm deep layer and 35 cm deep layer have shown tendency to be more increased in silty clay than in any other soils. 9. As optimum irrigation point is presumed to be pF Z6-2.7, total readily available moisture of tomato in silty clay, sandy loam and sandy sofl becomes to be 19.06 mm, 21.37 mm and 20.91 mm respectively while that of Chinese cabbage, 18.51 mm, 20.27 mm, 21.11 mm respectively. 10. On the basis of optimum irrigation point with pF 2.6 - 2.7 the intervals of irrigation date of tomato and Chinese cabbage at the growth stage of maximum consumptive use become to be three days and five days respectively.

• Magazine of the Korean Society of Agricultural Engineers
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• v.31 no.3
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• pp.41-56
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• 1989

The purpose of this study is to find out the basic data for irrigation plans of garlic and cucumber during the growing period, such as total amount of evapotranspiration, coefficients of evapotranspiration at each growth stage, the peak stage of evapotranspiration and the maximum evapotranspiraton, optimum irrigation point, total readily available moisture, and intervals of irrigation date. The plots of experiment were arranged with split plot design which were composed of two factors, irrigation point for main plot and soil texture for split plot, and three levels ; irrigation points with pP 1.7-2.1, pP 2.2-2.5, pP 2.6-2.8, for garlic and those with pP 1.9, pF 2.3, pP 2.7, for cucumber, soil textures of silty clay, sandy loam and sandy soil for both garlic and cucumber, with two replications. The results obtained are summarized as follows 1.There was the highest significant correlation between the avapotranspiration of garlic and cucumber and the pan evaporation, beyond all other meteorological factors considered, as mentioned in the previous paper. Therefore, the pan evaporation is enough to be used as a meteorological index measuring the quantity of evapotranspiration. 2.1/10 probability values of maximum total pan evaporation during growing period for garlic and cucumber were shown as 495.8mm and 406.8mm, respectively, and those of maximum ten day pan evaporation for garlic and cucumber, 63.8mm and 69.7mm, respectively. 3.The time that annual maximum of ten day pan evaporation can be occurred, exists at any stage between the middle of May and the late of June(harvest period) for garlic, and at any stage of growing period for cucumber. 4.The magnitude of evapotranspiration and of its coefficient for garlic and cucumber was occurred in the order of pF 1.7-2.1>pF 2.2-2.5>pF 2.6-2.8 and of pF 1.9>pF 2.3>pF2.7 respectively in aspect of irrigation point and of sandy loam>silty clay>sandy soil in aspect of soil texture for both garlic and cucumber. 5.The magnitude of leaf area index was shown in the order of pF 2.2-2.5>pF 1.7-2.1>pF 2.6-2.8 for garlic and of pF 1.9>pF 2.3>pF 2.7 for cucumber in aspect of irrigation point, and of sandy loam>sandy soil>silty clay in aspect of soil texture for both garlic and cucumber. 6.1/10 probability value of evapotranspiration and its coefficient during the growing period for garlic were shown as 391.7mm and 0.79 respectively, while those of cucumber, 423.lmm and 1.04 respectively. 7.The time the maximum evapotranspiration of garlic can be occurred is at the date of thirtieth before harvest period and the time for cucumber is presumed to be at the date of sixtieth to seventieth after transplanting, At that time, 1/10 probability value of ten day evapotranspiration and its coefficient for garlic is presumed to be 65.lmm and 1.02 respectively, while those of cucumber, 94.8mm and 1.36 respectively. 8.In aspect of irrigation point, the weight of raw garlic and cucumber were increased in the order of pF 2.2-2.5>pF 1.7-2.1>pF 2.6-2.8 and of pF 1.9>pF 2.3>pF 2.7 respectively. Therefore, optimum irrigation point for garlic and cucumber is presumed to be pF 2.2-2.5 and pF 1.9 respectively, when the significance of yield between the different irrigation treatments is considered. 9.Except the mulching period of garlic that soil moisture extraction patterns were about the same, those of garlic and cucumber have shown that maximum extraction rate exists at 7cm deep layer at the beginning stage after removing mulching for garlic and at the beginning stage of growth for cucumber and that extraction rates of 21cm to 35cm deep layer are increased as getting closer to the late stage of growth. 10.Total readily available moisture of garlic in silty clay, sandy loam, sandy soil become to be 18.71-24.96mm, 19.08-25.43mm, 10.35- 13.80mm respctively on the basis of the optimum irrigation point with pF 2.2-2.5, while that of cucumber, 11.8lmm, 12.03mm, 6.39mm respectively on the basis of the optimum irrigation point with pF 1.9. 11.The intervals of irrigation date of garlic and cucumber at the growth stage of maximum consumptive use become to be about three and a half days and one and a half days respectively, on the basis of each optimum irrgation point.

• Korean Journal of Soil Science and Fertilizer
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• v.21 no.4
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• pp.386-408
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• 1988

A study was conducted to develop a model for estimating evapotranspiration and yield of Chinese cabbages from meteorological factors from 1981 to 1986 in Suweon, Korea. Lysimeters with water table maintained at 50cm depth were used to measure the potential evapotranspiration and the maximum evapotranspiration in situ. The actual evapotranspiration and the yield were measured in the field plots irrigated with different soil moisture regimes of -0.2, -0.5, and -1.0 bars, respectively. The soil water content throughout the profile was monitored by a neutron moisture depth gauge and the soil water potentials were measured using gypsum block and tensiometer. The fresh weight of Chinese cabbages at harvest was measured as yield. The data collected in situ were analyzed to obtain parameters related to modeling. The results were summarized as followings: 1. The 5-year mean of potential evapotranspiration (PET) gradually increased from 2.38 mm/day in early April to 3.98 mm/day in mid-June, and thereafter, decreased to 1.06 mm/day in mid-November. The estimated PET by Penman, Radiation or Blanney-Criddle methods were overestimated in comparison with the measured PET, while those by Pan-evaporation method were underestimated. The correlation between the estimated and the measured PET, however, showed high significance except for July and August by Blanney-Criddle method, which implied that the coefficients should be adjusted to the Korean conditions. 2. The meteorological factors which showed hgih correlation with the measured PET were temperature, vapour pressure deficit, sunshine hours, solar radiation and pan-evaporation. Several multiple regression equations using meteorological factors were formulated to estimate PET. The equation with pan-evaporation (Eo) was the simplest but highly accurate. PET = 0.712 + 0.705Eo 3. The crop coefficient of Chinese cabbages (Kc), the ratio of the maximum evapotranspiration (ETm) to PET, ranged from 0.5 to 0.7 at early growth stage and from 0.9 to 1.2 at mid and late growth stages. The regression equation with respect to the growth progress degree (G), ranging from 0.0 at transplanting day to 1.0 at the harvesting day, were: $$Kc=0.598+0.959G-0.501G^2$$ for spring cabbages $$Kc=0.402+1.887G-1.432G^2$$ for autumn cabbages 4. The soil factor (Kf), the ratio of the actual evapotranspiration to the maximum evapotranspiration, showed 1.0 when the available soil water fraction (f) was higher than a threshold value (fp) and decreased linearly with decreasing f below fp. The relationships were: Kf=1.0 for $$f{\geq}fp$$ Kf=a+bf for f$$I{\leq}Esm$$ Es = Esm for I > Esm 6. The model for estimating actual evapotranspiration (ETa) was based on the water balance neglecting capillary rise as: ETa=PET. Kc. Kf+Es 7. The model for estimating relative yield (Y/Ym) was selected among the regression equations with the measured ETa as: Y/Ym=a+bln(ETa) The coefficients and b were 0.07 and 0.73 for spring Chinese cabbages and 0.37 and 0.66 for autumn Chinese cabbages, respectively. 8. The estimated ETa and Y/Ym were compared with the measured values to verify the model established above. The estimated ETa showed disparities within 0.29mm/day for spring Chinese cabbages and 0.19mm/day for autumn Chinese cabbages. The average deviation of the estimated relative yield were 0.14 and 0.09, respectively. 9. The deviations between the estimated values by the model and the actual values obtained from three cropping field experiments after the completion of the model calibration were within reasonable confidence range. Therefore, this model was validated to be used in practical purpose.