• Journal of Ocean Engineering and Technology
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• v.32 no.3
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• pp.208-212
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• 2018

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.1
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• pp.10-17
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• 2016

When a planing hull straightly runs and turns, its floating position and pitch angle are changed depending on its speed, and large transient motion happens. In this paper, six degrees of freedom(6 DOF) equations of motion, which could simulate the motion of a planing hull, are established. Static and dynamic forces in vertical plane are modeled using pre-calculated displacements and metacentric heights depending on various draft, lift under bottom, and vertical damping coefficients which are used to tune the final motion. Hydrodynamic coefficients in horizontal plane at various equilibrium state are calculated by using Lewandowski's empirical formula and the speed-dependent equilibrium state are calculated beforehand by Savitsky's formula. The speed effects are considered by curve-fitting the coefficients at various speed to the polynomials. Accelerating, decelerating and backing, turning, and zig-zag are simulated and compared with the sea trial results, and it is confirmed that the speed reduction, roll, and pitch during such maneuvers of sea trial and simulation are well consistent.

• Composites Research
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• v.34 no.6
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• pp.350-356
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• 2021

When a ship with a planing line operates or turns in a straight line, the floating position and trim change according to the speed, and a large resistance is generated on the hull. In this paper, the resistance to a planing line was estimated through the computational fluid dynamics of a leisure boat with improved hull weight and durability by applying a carbon composite material to the hull. The resistance performance of the bow and stern of the 18ft class leisure boat was checked and the flow field of the entire vessel was estimated, and the stability of the planing line was confirmed by comparing the resistance of each trim through numerical analysis. In addition, it was confirmed that the designed planing line could withstand it sufficiently because the force applied to the hull was not large, and The stability of the boat was analyzed by calculating the wavelength of the wave and the length of the ship as the ratio of gravity to the inertial force and checking how much force the rolling occurred.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.7
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• pp.1307-1312
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• 2015

The recent adoption of Bluetooth LE technology in smart phones triggered commercial interest in RSSI-based positioning technology. Estimation error in RSSI measurement due to the antenna pattern, multipath fading, environmental noise has to be considered for designing beacon systems. The paper proposes an analysis method and beacon planning rules for a small and isolated indoor service area, based on probabilistic model of RSSI estimation error. As an practically important guide, the beacons have to be installed at the boundary of the service area to minimize the maximum position error, whereas the beacons have to be evenly distributed in the service space to minimize the average estimation error.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Journal of Periodontal and Implant Science
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• v.27 no.3
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• pp.585-595
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• 1997

Removal of subgingival calculus is essential for the success in periodontal treatment. Subgingival instrumentation is used for the removal of all bacterial plaque and calculus. In this study, two types of anterior curet were used on ant. teeth to conduct subgingival scaling and root planing. The remaining amount of calculus was evaluated according to type of instrument, depth of pocket, and tooth surface. 24 teeth extracted from patients being treated at Dan Kook University dept. Perio. were used. 4 surfaces per tooth a total of 96 areas were evaluated. 12 teeth treated with Gracey No. 1-2 was used as the control group and 12 teeth treated with Mini-five curet No. 1-2 was the experimental group. The 4 surfaces of the teeth {buccal, mesial, lingual or palatal, distal) were observed under a stereomicroscope and the images were captured 3 times per surfaced with a CCD. The image were observed on the monitor using a $10{\times]10$ grid produced with the Microsoft power point. The amount of calculus remaining was evaluated 3 times per surface. The results were as follows. 1. There was no significant difference in remaining calculus according to the pre-treatment pocket depth, and tooth position{Mx. or Mn). 2. The Mini-five curet showed better results than the Gracey curet but there was no statistically significant difference. 3. In both Gracey curet group and Mini-five curet group the lingual(or palatal) surface showed significant difference compared to the other surfaces(p<0.05). From the results above, it is thought that when treating ant. teeth consideration of the tooth surface is more important than the choice of instrument.

• Journal of the Korean Professional Engineers Association
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• v.16 no.2
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• pp.1-11
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• 1983

The resistance property of a high speed passenger craft (: "DOL-PIN HO" designed by the author in 1972) is investigated as follows; -. The Resistance property of the craft is determined by savitsky′s method and blount-Fox′s method. The theoretical results are also compared with the full scale data. The comparison reveals that the result when using blount/fox′s method are in much closer agreement with the full scale data than savitsky′s. -. The effects of ship speed on the positions of the center of pressure and of the longitudinal center of gravity (L.C.G.) are investigated. The investigation shows that the position of L.C.G. of the craft is almost constant although the ship speed is changed. -. The effect of transom flap on the Resistance property of the craft is studied using savitsky/brown′s method. From the study it is found that the resistance of the craft is decreased and hence speed gain (about 3% of the service speed) can be obtained, when using transom flap for the craft.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.566-573
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• 2017

The chine of high speed vessels does not only play a role in changing position when planing but also helps balancing the hull. It also has a great influence on resistance performance. However, designing a chine requires a lot of experience because it is influenced by various factors such as displacement, transom shape, draft and width. Such a design is not based on an empirical formula, but the purpose of this study is to provide basic guidelines regarding the shape of chine through calculation. This design was developed using Yacht-one, a commercial design program, and analysis was performed using Star-CCM+, also a commercial analysis program. Analysis of the hull selected in this study was carried out by Dynamic Fluid Body Interaction (DFBI) method. Analysis of the chine was carried out at chine angles of 15, 16, 17, and 19degrees, at a speed of 30knots. The result indicated that the highest trim occurred at 16 degrees among the four chine angles considered, and the highest heave occurred at 15degree. In terms of resistance performance, minimum resistance was observed at 16 degrees. Consequently, for minimum ship resistance, it is necessary to complete calculations in accordance with the chine angles, ${\pm}2$ degrees from the initial chine angle, which should be carried out a the design stage.