• 한국해양공학회지
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• 제32권3호
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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.

• 대한조선학회논문집
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• 제53권1호
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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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• 제34권6호
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• pp.350-356
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• 2021

활주 선형의 선박은 직선으로 운항하거나 선회할 때, 그 속도에 따라 위치와 트림이 변화하며, 선체에 큰 저항이 발생한다. 본 논문에서는 탄소복합소재를 선체에 적용하여 선체무게와 내구성이 향상된 레저보트의 전산유체역학을 통해 선형에 대한 저항을 추정하였다. 18ft급 레저보트의 선수부와 선미부의 저항 성능을 확인하고 선형 전체의 유동장을 추정하였으며, 수치해석을 통해 각 트림의 저항을 비교하여 선형에 대한 안정성을 확인하였다. 또한, 선체에 걸리는 힘이 크지 않아 설계된 선형이 충분히 견딜 수 있을 것을 확인하였고, 파도의 파장과 배의 길이를 관성력에 대한 중력의 비로 계산하여 롤링이 얼마의 힘으로 발생하는지 확인하여 보트의 안정성을 분석하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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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.

• 한국통신학회논문지
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• 제40권7호
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• pp.1307-1312
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• 2015

최근 스마트폰에 블루투스 LE의 적용을 계기로, 블루투스 비컨의 RSSI 기반 거리측정 기법에 의한 실내 측위 방법이 실용적인 측면에서 새로운 관심을 받고 있다. 정확한 위치정보의 계산을 위해서는 RSSI 측정은 안테나 패턴의 불규칙성, 환경의 영향, 동적인 사람의 움직임 등에 따른 오차를 고려해서 비컨의 위치를 결정하여야 한다. 본 논문은 비컨 송신기의 위치에 따른 RSSI/거리 확률모델을 바탕으로, 소형 서비스 공간에서의 측정의 정확성을 예측하고 보장하는 방안을 제시하였다. 그 결과, 전체공간상에서 평균적인 정확도를 최대화하기 위해서는 서비스공간에 골고루 신호가 도달할 수 있도록 분산해서 배치하는 것이 효과적인 반면, 측위오차의 최대치를 줄기위해서는 해당공간의 가장자리에 위치하는 것이 효과적임을 보였다.

• 제어로봇시스템학회논문지
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• 제21권6호
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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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• 제27권3호
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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.

• 기술사
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• 제16권2호
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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.

• 전기학회논문지
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• 제60권11호
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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.

• 해양환경안전학회지
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• 제23권5호
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• pp.566-573
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• 2017

고속 활주선에서 차인은 활주자세 변화 뿐 아니라 선체의 균형을 잡아주는 역할을 하며, 저항성능에 큰 영향을 미친다. 그러나 이러한 차인의 설계는 배수량, 선저경사각, 흘수, 선폭 등 다양한 설계 인자들에 영향을 받는 변수로 많은 경험을 필요로 한다. 본 연구에서는 경험식이 아닌 계산을 통해 차인에 대한 설계 시 형상에 대한 기본적인 지침 마련을 목적으로 고속 활주선의 차인의 형상에 따른 저항성능에 대해 계산하였다. 설계는 상용 설계 프로그램인 Yacht-one을 이용하였으며, 유동해석은 상용 해석프로그램인 STAR-CCM+으로 DFBI(Dynamic Fluid Body Interaction)방법을 적용하여 수행하였다. 초기 설계 차인 각도인 17도를 기준으로 차인 15도, 차인 16도, 차인 19도로 변경하여 설계 속도인 30노트에서 해석을 수행하였다. 그 결과, trim은 4개의 차인 중 16도가 가장 컸으며, heave는 차인 15도에서 가장 우수하였다. 해석 결과를 봤을 때 저항 측면에서 초기 설계 각도인 차인 17도 보다 차인 16도가 우수함을 보이고 있어 실제 설계 시 초기 설계 각도에서 +2도, -2도의 범위로 계산을 통해 저항 성능과 자세에서 우수한 차인을 선택해야 함을 알 수 있다.