• Journal of Magnetics
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• v.21 no.4
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• pp.503-508
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• 2016

The roll- and pitch-induced eddy currents create a magnetic field that contributes to the total magnetic signature of naval vessels. The magnetic signature is of concern, as it exposes the ship to the threat of modern influence mines. It is estimated that the eddy current is the second most important source contributing to a ship's underwater magnetic field following the ferromagnetic effect. In the present paper, the finite element (FE) method is used to predict the eddy current signature of a real ship. The FE model is validated using the measurements of the Canadian research vessel CFAV QUEST at the Earth's Field Simulator (EFS) in Schirnau, Germany. Modeling and validation of the eddy current magnetic signature for a real ship represents a novelty in the field. It is shown that the characteristics of this signature depend on frequency. Based on these results, a ship's degaussing system could be improved to cancel both the ferromagnetic and the eddy current contribution to the magnetic signature simultaneously, reducing the susceptibility to sea mines.

• Tribology and Lubricants
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• v.16 no.4
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• pp.247-252
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• 2000

As the demand for higher areal recording densities requires a lower flying height of the slider, the variation of the flying height of the slider during drive operation becomes of great concern. The variation of the flying height is closely related with the slider design parameters such as air bearing shape, cavity depth, shallow step depth, crown, camber, pitch offset, roll offset, gram load, and so on. The objective of this work is to optimize the cavity depth and the shallow step depth, which are the control factors in air bearing design, using Robust Design method. It was found that the shallow step depth was statistically significant in affecting the variation of flying height, therefore the level of the shallow step depth should be chosen to minimize the variation of flying height.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• Progress in Medical Physics
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• v.24 no.1
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• pp.54-60
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• 2013

The aim of this study was to analysis of the pitch and yaw deviations with or without using an aid-pillow for the head and neck cancer on the TomoTherapy. A total of 14 head and neck patients were selected to without-group (n=7) and with-group (n=7). A total of 333 MVCT image sets used to evaluate the translational (lateral, longitudinal and vertical) and rotational adjustments (pitch, roll and yaw) with 153 and 180 MVCT image sets at without- and with-group, respectively. Deviations of without- and with-groups were $0.12^{\circ}$ and $0.09^{\circ}$, respectively at pitch. And, deviations without- and with-groups were $0.47^{\circ}$ and $0.17^{\circ}$, respectively at yaw. In generally, with-group had reduced than without-group for the pitch and yaw deviations. Therefore, using an aid-pillow, it will able to increase the reproducibility of treatment for the head and neck cancer patients on the TomoTherapy.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.240-248
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• 2009

Modem version of supersonic jet fighter aircraft must have been guaranteed appropriate controllability and stability in HAoA(High Angle of Attack). The HAoA flight control law have two parts, one is control law of departure prevention and the other is control law of departure recovery support. The control laws of departure prevention for advanced jet trainer consist of HAoA limiter, roll command limiter and rudder fader. The control laws of departure recovery support are consist of yaw-rate limiter and MPO(Manual Pitch Override) mode. The guideline of pitch rocking using MPO mode is simple, but operating skill of pitch rocking is very difficult by the pilot with inexperience of departure situation. Therefore, automatic deep stall recovery system is necessary. The system called the "Automatic Pitch Rocker System" or APRS, provided a pilot initiated automatic maneuver capable of an aircraft recoveries in situations of deep stall, speed and altitude. This paper addresses the design and validation for APRS to recovery of an deep stall without manual pitch rocking by the pilot. Also, this system is designed to recovery of speed, attitude and altitude after deep stall recovery using ATCS (Automatic Thrust Control System) and autopilot. Finally, this system is verified by real-time pilot evaluation using HQS (Handling Quality Simulator).

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2005.10a
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• pp.91-94
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• 2005

With increasing demands for large-scale micro-optical components in the field of digital display, the establishment of large-scale fabrication technology fur polymeric patterns has become a priority. The starting point of any polymer replication process is the mold, and the mold often has flat surface. However, It is very hard to replicate large-scale micro patterns using the flat mold, because the cost of large-scale flat mold was very high, and some uniformity and releasing problems were often occurred in large scale flat molding process. In this study, a UV roll imprinting system to overcome the financial and fabrication issues of large-scale pattern replication process was designed and constructed. As a practical example of the system, a lenticular lens with radius of curvature of $223{\mu}m$ and pitch of $280{\mu}m$, which was used to provide wide viewing angle in projection TV, was designed and fabricated. The roll stamper was fabricated using direct machining process of aluminum roll base. Finally, the shape accuracy and uniformity of roll imprinted lenticular lens sheet were measured and analyzed.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.3
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• pp.187-197
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• 2015

This study aims the development of a semi-analytic method for the parametric roll of large containerships advancing in longitudinal waves. A 1.5 Degree-of-Freedom(DOF) model is proposed to account the change of transverse stability induced by wave elevations and vertical motions (heave and pitch). By approximating the nonlinearity of restoring moment at large heel angles, the magnitude of roll amplitude is predicted as well as susceptibility check for parametric roll occurrence. In order to increase the accuracy of the prediction, the relationship between righting arm(GZ) and metacentric height(GM) is examined in the presence of incident waves, and then a new formula is proposed. Based on the linear approximation of the mean and first harmonic component of GM, the equation of parametric roll in irregular wave excitations is introduced, and the computational results of the proposed model are validated by comparing those of weakly nonlinear simulation based on an impulse-response-function method combined with strip theory. The present semi-analytic doesn’ t require heavy computational effort, so that it is very efficient particularly when numerous sea conditions for the analysis of parametric roll should be considered.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.249-252
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• 2014

본 논문에서는 IMU를 이용한 6자유도 모바일 로봇을 설계하고 성능을 평가해 보았다. IMU를 이용하여 로봇의 Roll과 Pitch 각을 측정하여 모바일 로봇의 이동경로 경사각을 측정하여 지면이 수평 일 때 모바일 로봇의 6바퀴 모두 항상 지면과 닿아 있는 상태를 유지한다. 또한 오르막과 내리막일 경우 로봇의 동역학에 의한 최소한의 에너지를 유지하여 이동이 가능하도록 하기위한 로봇의 제어기를 설계하고 그 성능을 평가해 보았다.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.7
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• pp.95-102
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• 2016

Geomagnetic sensors are widely utilized for sensing heading direction of quadrotors. However, measurement from a geomagnetic sensor is easily corrupted by environmental magnetic field interference and roll/pitch directional motion. In this paper, a measurement method of a quadrotor heading direction is proposed for application to yaw attitude control. In order to eliminate roll/pitch directional motion effect, the geomagnetic sensor data is compensated using the roll/pitch angles measured for stabilization control. In addition, yaw-directional angular velocity data from a gyroscope sensor is fused with the geomagnetic sensor data using a complementary filter which is a simple and intuitive sensor fusion method. The proposed method is applied to experiments, and the results are presented to prove validity and effectiveness of the proposed method.