• International Journal of Aeronautical and Space Sciences
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• v.15 no.4
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• pp.412-418
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• 2014

This paper describes the development of variable stability system (VSS) control laws for the KFA-i to simulate the dynamics of KFA-m aircraft. The KFA-i is a single engine, Class IV aircraft and was selected as an in-flight simulator (IFS) aircraft, whereas the KFA-m is a simulated aircraft that is based on the F-16 aircraft. A 6-DoF math model of KFA-i aircraft was developed, linearized, and separated into longitudinal and lateral motion for VSS control law synthesis. The KFA-i aircraft has five primary control surfaces: two flaperons, two all movable horizontal tails, and one rudder. Flaperons are used for load control, the horizontal tails are used for pitch and roll rate control, and the rudder is used for yaw rate control. The developed VSS control law can simulate four parameters of the KFA-m aircraft simultaneously, such as pitch, roll, yaw rates, and load. The simulation results show that KFA-i follows the responses of KFA-m with high accuracy.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.256-261
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• 2016

An insect-like flapping-wing flying-robot should be able to produce flight forces and control moments at the same time only by flapping wings, because there is no control surface at tail just like an insect. In this paper, design principles for the flapping mechanism and control moment generator are briefly explained, characteristics measured force and moment generations of the robot are presented, and finally controlled flight of the flying robot is demonstrated. The present insect-like robot comprises a lightweight flapping mechanism that can produce a flapping angle larger than $180^{\circ}$ and a control moment generator that produces pitch, roll, and yaw moments by adjusting location of the trailing edges at the wing roots. The measured force and moment data show that the control input angles less than $9^{\circ}$ would not significantly reduce the vertical force generation. It is also observed that the pitch, roll, and yaw control moments are produced only by the corresponding control input. The simple PID control theory is used for the controlled flight of the flying robot, controlling pitch, roll, and yaw motions. The flying robot successfully demonstrated controlled flight for about 40 seconds.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.1
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• pp.65-72
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• 2004

This paper deals with an experimental study on the dynamical characteristics of ship motion during trawling job on the real sea. The experiments were carried out on the small stern trawler, and roll and pitch motion of the ship according to the wave directions were simultaneously recorded by P/C in the same sea conditions. From these data, the statistical properties and power spectra were obtained, and then the analysis of ship motion in trwal job was made. As a result, it was found that the pitch motions in trwal job were displayed low amplitudes on the whole, but the rolling motions were displayed high amplitudes relatively, and very high value on the beam and quartering sea especially. Also, the trial ship has a high extinction coefficient in the roll motion, compared with the rule of stability, but when wave height takes 2.5m over, it can induce the safety of ship to scare occasionally. Therefore, a usefull countermeasure for the safety of ship has to be made adequately.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.1
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• pp.33-44
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• 2000

Ships in a seaway will encounter dangerous situation, such as slamming, stranding, and capsizing. The number of capsizing is small, but the loss due to them is very large from the viewpoint of human life, property, and the environmental pollution. The number of capsizing of fishing vessels is about 62% of total number of capsizing, and the half of them is originated from the operational mistake in a seaway. So the dynamics and the capsizing phenomena are to be studied, and the guide for the safe operation of a fishing vessel in a seaway are to be specified. The hydrodynamic forces consist of radiation forces (which are due to the motion of a ship), Froude-Krylov forces (which is due to the incoming waves), and diffraction forces (which is due to the wave and ship interaction). These forces are calculated by well-known strip method. Using the calculated forces, the motion of a ship in a regular sea is obtained. In the real seaway, the waves are very irregular, therefore the statistical analysis is very helpful. In this paper, using the results of the motion in a regular seaway and the wave spectrum, the motion in a irregular seaway are obtained and analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.688-693
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• 2013

This paper proposes a new method on attitude control of an underwater robot by using five ABTs (Attitude Ballast Tank). A pipe is connected to the bottom of the ABTs and transfers water by a pump, while another pipe is connected to the top of the ABT to transfer air. The buoyancy center of the underwater robot can be changed by means of the water transfer. This way, the attitude of the underwater robot can be maintained and/or controlled as desired. The changes of the center of gravity and the buoyancy central are estimated by a Lagrangian function which is similar to that for an inverted pendulum. The controller in this paper is designed by modeling of the underwater robot and selecting suitable gains of a PD controller which has fast response characteristics. This paper shows the possibility of the attitude control of an underwater robot by changing the center of gravity and the buoyancy center of the robot. Moreover, experimental results verify that the controller is effective in maintaining Roll/Pitch of the underwater robot with very low power consumption.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.856-859
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• 1996

In this paper, a coarse alignment algorithm for strapdown inertial navigation system is proposed and evaluated analytically. The algorithm computes roll and pitch angles of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. It is referred, as two-step coarse alignment in this work. With the geometric relation between sensor outputs and roll, pitch and yaw angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm introduced by Britting. The results show that the proposed two-step coarse alignment algorithm has better performance for pitch angle computation.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1111-1118
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• 2013

In this paper, the disturbance applied to launcher hatch by ship motions is introduced to identify the vertical ship motion disturbance. Basically, ship motions are comprised of 6 degrees of freedom: roll, pitch, yaw, heave, surge and sway. In the case of the shipboard launcher hatch the coupled pitch, heave and roll are significant motions to be transformed to a vertical direction motion. The maximum acceleration values are obtained from the vertical motion model and the ship motion data in accordance with ship type and hatch location on the ship. We verify that the maximum pitch motion mainly influences the launcher hatch and also present the quantity of the maximum load disturbance by the ship's motion acceleration.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.5
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• pp.395-404
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• 2012

This paper presents computations of the dynamic derivatives of three dimensional flight vehicle configurations using CFD. The pitch dynamic derivatives are computed from the pitch sinusoidal motion, while the roll damping is computed based on steady state calculation using a non-inertial frame method. The Basic Finner and the SDM(Standard Dynamic Model) are chosen for the benchmark tests against other numerical and experimental results. For the flow calculations, a 3-D Euler solver that can be run both on the non-inertial frame and on the inertial frame is developed. A dual-time stepping method is applied for the unsteady time accurate simulations. A good agreement of pitch-roll dynamic derivatives with previously published numerical results and the experimental results is observed.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.1026-1030
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• 2011

This paper presented here contains development of variable stability system(VSS) control laws for the KIFS (Korean In-Flight Simulator) aircraft to simulate the dynamics of F-16 aircraft. Development of VSS Control law for pitch rate, roll rate, yaw rate simulation for three specified flight conditions using Model Following Technique with rate feedback autopilot for stability provision. The direct lift force controller was also added to the developed VSS control law to simulate the pitch rate and normal g-load simultaneously. The simulation results show high accuracy of F-16 aircraft's pitch, roll, yaw rate and g-load simulation.

• Journal of the Korean Graphic Arts Communication Society
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• v.29 no.3
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• pp.17-30
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• 2011

The polarizer is an important optical element used in a variety of applications. Nano-wire grid polarizers in the form of sub-wavelength metallic gratings are an attractive alternative to conventional polarizers, because they provide high extinction ratio. This study has been carried out to fabrication of the 17inch area size nano-wire grid polarizer(NWGP) The master for NWGPs with a pitch of 200nm and the area size $730mm{\times}450mm$ were fabricated using laser interference lithography and aluminum sputtering and wet etching. And The NWGP fabrication process was using by the Roll to-Roll UV imprinting and was applied to flexible PET film. The results were a transmission of light (Tp) 46.7%, reflectance (Rs) 40.1% and Extinction ratio of above 16 for the visible light range.