• 한국해양공학회지
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• 제22권4호
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• pp.106-113
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• 2008

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.649-652
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• 1999

In this paper, the design method of target tracking systems using the extended $H^{\infty}$ filter(EHF) is proposed. Usually, a Cartesian coordinate frame is tell suited to describe the target dynamics. However, the measurements made in radar-centered polar coordinates are expressed as nonlinear equations in Cartesian coordinates. Thus the tacking problem is concerned with the nonlinear estimation. The extended $H^{\infty}$ filter is able to deal with the problems arising in the target tacking systems such as the parameter uncertainty included inevitably in modeling physical systems mathematically, the unavailableness of the stochastic information about exogenous disturbances, and errors due to the linearization of measurement equations. We show the proposed filter is robuster than the extended Kalman filter(EKF) through a simple target tracking example.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.1177-1182
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• 2006

This paper is concerned with the vibration analysis of a simply-supported rectangular plate with a circular cutout. Even though there have be en many methods developed for the free vibration of the rectangular plate with a rectangular cutout., very few research has been carried out for the rectangular plate with a circular cutout. In this paper, a new methodology called independent coordinate coupling method, which was developed to save the computational effort for the free vibration analysis of rectangular plate with a rectangular cutout, is applied to the case of circular cutout. The independent coordinate coupling method employs the global coordinate system for the plate and the local coordinate system for the cutout. In the case of the rectangular plate with a circular cutout, the global coordinate system is the Cartesian co ordinate system and the local coordinate system is the polar coordinate system. By imposing the compatibility condition, the relationship between the global coordinates and the local coordinates is derived. This equation is then used for the calculation of the mass and stiffness matrices resulting in eigenvalue problem. The numerical results show the efficacy of the proposed method.

• 전자공학회논문지B
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• 제32B권11호
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• pp.1393-1404
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• 1995

For the factory automation(FA) of production or assembly lines, computer vision techniques have been widely used for the recognition and position-control of objects. In this application, it is very important to analyze characteristic features of each object and to find an efficient matching algorithm using the selected features. If the object has regular or homogeneous patterns, the problem is relatively simple. However, If the object is shifted or rotated, and if the depth of the input visual system is not fixed, the problem becomes very complicated. Also, in order to understand and recognize objects with concentric noise patterns, it is more effective to use feature-information represented in polar coordinates than in cartesian coordinates. In this paper, an algorithm for the recognition of objects with concentric circular noise-patterns is proposed. And position-conrtol information is calculated with the matching result. First, a filtering algorithm for eliminating concentric noise patterns is proposed to obtain concentric-feature patterns. Then a shift, rotation and scale invariant alogrithm is proposed for the recognition and position-control of objects uusing invariant feature information. Experimental results indicate the effectiveness of the proposed alogrithm.

• 한국소음진동공학회논문집
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• 제16권6호
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• pp.643-650
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• 2006

This paper is concerned with the vibration analysis of a simply-supported rectangular plate with a circular cutout. Even though there have been many methods developed for the free vibration of the rectangular plate with a rectangular cutout, very few research has been carried out for the rectangular plate with a circular cutout. In this paper, a new methodology called independent coordinate coupling method, which was developed to save the computational effort for the free vibration analysis of rectangular plate with a rectangular cutout, is applied to the case of circular cutout. The independent coordinate coupling method employs the global coordinate system for the plate and the local coordinate system for the cutout. In the case of the rectangular plate with a circular cutout, the global coordinate system is the Cartesian coordinate system and the local coordinate system is the polar coordinate system. By imposing the compatibility condition, the relationship between the global coordinates and the local coordinates is derived. This equation is then used for the calculation of the mass and stiffness matrices resulting in eigenvalue problem. The numerical results show the efficacy of the proposed method.

• 전자공학회논문지B
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• 제31B권2호
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• pp.69-79
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• 1994

The conventional machine vision system which has uniform rectangular grid requires tremendous amount of computation for processing and analysing an image especially in 2-D image transfermations such as scaling, rotation and 3-D reconvery problem typical in robot application environment. In this study, the imaging system with nonuiformly distributed image sensors simulating human visual system, referred to as Ploar Exponential Grid(PEG), is compared with the existing conventional uniform rectangular grid system in terms of image resolution and computational complexity. By mimicking the geometric structure of the PEG sensor cell, we obtained PEG-like images using computer simulation. With the images obtained from the simulation, image resolution of the two systems are compared and some basic image processing tasks such as image scaling and rotation are implemented based on the PEG sensor system to examine its performance. Furthermore Fourier transform of PEG image is described and implemented in image analysis point of view. Also, the range and heading-angle measurement errors usually encountered in 3-D coordinates recovery with stereo camera system are claculated based on the PEG sensor system and compared with those obtained from the uniform rectangular grid system. In fact, the PEC imaging system not only reduces the computational requirements but also has scale and rotational invariance property in Fourier spectrum. Hence the PEG system has more suitable image coordinate system for image scaling, rotation, and image recognition problem. The range and heading-angle measurement errors with PEG system are less than those of uniform rectangular rectangular grid system in practical measurement range.

• 대한의용생체공학회:의공학회지
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• 제19권3호
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• pp.243-250
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• 1998

초고속 자기공명 영상 기법의 일종인 나선 주사 영상의 재구성을 위하여 k-공간에서 극좌표와 직각 좌표계를 기초로한 재구성방법들을 분석하였다. 나선 주사 영상의 재구성은 나선 궤적상에서 측정된 데이터를 극좌표나 직각 좌표계로 변환시키기 위하여 보간 기술들이 사용된다. 나선주사 영상의 다양한 재구성 알고리즘들을 시험하여 보았고, 재구성된 영상의 질을 비교하였다. 본 연구진이 제안한 투영 영역에서 dc-offset보정을 한 향상된 재구성 알고리즘이 시뮬레이션을 통하여 가장 우수한 것으로 나타났다. 또한, 기존의 재구성 방법들에서 나타났던 영상 artifact도 제안된 방법에서는 완전히 사라짐을 확인할 수 있었다.

• 항공우주기술
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• 제10권1호
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• pp.116-121
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• 2011

나로우주센터 추적레이더가 획득한 실시간 위치 정보는 발사통제시스템에서 위치, 속도, 비행궤도 표시, 예상궤도 진입여부 및 안전을 위한 비행종료시점 판단 등의 중요한 데이터로 사용된다. 추적레이더에서 발사통제시스템으로 전송하는 표적의 위치 정보는 추적레이더 중심의 좌표값 데이터이며, 발사통제시스템에서 추적레이더로 전송하는 Slaving 데이터는 발사대 중심의 좌표값 데이터이다. 이렇듯 추적레이더와 발사통제시스템 간의 송수신 데이터는 각 시스템에 맞게 적절하게 좌표 변환이 수행되어야 한다. 본 연구에서는 나로우주센터 추적레이더 간의 상호 데이터 송수신 및 발사통제시스템과의 데이터 통신에 사용되는 각각의 좌표계 및 좌표계 간의 좌표 변환에 대해 기술하였다.

• Journal of Astronomy and Space Sciences
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• 제30권4호
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• pp.269-277
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• 2013

In this study, we present results of precise orbital geodetic parameter estimation using satellite laser ranging (SLR) observations for the International Laser Ranging Service (ILRS) associate analysis center (AAC). Using normal point observations of LAGEOS-1, LAGEOS-2, ETALON-1, and ETALON-2 in SLR consolidated laser ranging data format, the NASA/GSFC GEODYN II and SOLVE software programs were utilized for precise orbit determination (POD) and finding solutions of a terrestrial reference frame (TRF) and Earth orientation parameters (EOPs). For POD, a weekly-based orbit determination strategy was employed to process SLR observations taken from 20 weeks in 2013. For solutions of TRF and EOPs, loosely constrained scheme was used to integrate POD results of four geodetic SLR satellites. The coordinates of 11 ILRS core sites were determined and daily polar motion and polar motion rates were estimated. The root mean square (RMS) value of post-fit residuals was used for orbit quality assessment, and both the stability of TRF and the precision of EOPs by external comparison were analyzed for verification of our solutions. Results of post-fit residuals show that the RMS of the orbits of LAGEOS-1 and LAGEOS-2 are 1.20 and 1.12 cm, and those of ETALON-1 and ETALON-2 are 1.02 and 1.11 cm, respectively. The stability analysis of TRF shows that the mean value of 3D stability of the coordinates of 11 ILRS core sites is 7.0 mm. An external comparison, with respect to International Earth rotation and Reference systems Service (IERS) 08 C04 results, shows that standard deviations of polar motion $X_P$ and $Y_P$ are 0.754 milliarcseconds (mas) and 0.576 mas, respectively. Our results of precise orbital and geodetic parameter estimation are reasonable and help advance research at ILRS AAC.

• Structural Engineering and Mechanics
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• 제52권2호
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• pp.323-349
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• 2014

In this paper, linear buckling analysis of a curved sandwich beam with a flexible core is investigated. Derivation of equations for face sheets is accomplished via the classical theory of curved beam, whereas for the flexible core, the elasticity equations in polar coordinates are implemented. Employing the von-Karman type geometrical non-linearity in strain-displacement relations, nonlinear governing equations are resulted. Linear pre-buckling analysis is performed neglecting the rotation effects in pre-buckling state. Stability equations are concluded based on the adjacent equilibrium criterion. Considering the movable simply supported type of boundary conditions, suitable trigonometric solutions are adopted which satisfy the assumed edge conditions. The critical uniform load of the beam is obtained as a closed-form expression. Numerical results cover the effects of various parameters on the critical buckling load of the curved beam. It is shown that, face thickness, core thickness, core module, fiber angle of faces, stacking sequence of faces and openin angle of the beam all affect greatly on the buckling pressure of the beam and its buckled shape.