• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.26-33
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• 2014

This study addresses the control problem of an unmanned aerial vehicle (UAV) during the transition period when the flying mode changes from hovering to translational motion in the horizontal plane. First, we introduce a compensation algorithm that improves height stabilization and reduces altitude drop. The main principle is to incorporate pitch and roll measurements into the feedforward term of the altitude controller to provide a larger thrust force. To further improve altitude control, we propose the fuzzy logic controller that improves system behavior. Simulation results presented in the paper highlight the effectiveness of the proposed controllers.

• Ocean Systems Engineering
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• v.2 no.2
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• pp.115-135
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• 2012

The very low natural frequencies of tension leg platforms (TLP's) have raised the concern about the significance of the action of hydrodynamic wave forces on the response of such platforms. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that coupling between various degrees of freedom has insignificant effect on the displacement responses. Moreover, for short wave periods (i.e., less than 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on the wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about its original position. Also, for short wave periods, a higher mode contribution to the pitch response accompanied by period doubling appeared to take place. For long wave periods, (12.5 and 15 sec.), this higher mode contribution vanished after very few cycles.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.5
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• pp.1887-1895
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• 2013

In this study, physical experiments were performed in a two-dimensional wave flume to investigate the hydraulic and structural performance of a SFT model. The experiments were made by generating regular waves of different heights and periods under various conditions of buoyancy to weight ratio (BWR) and water depth as well. Through the analysis of the experimental data, it was clarified that the sway and heave motions of the tunnel body linearly increased with wave height and period. In contrast, the roll motion was rather insignificant unless wave height and period were comparatively large as the design wave. Similarly proportional relationship with respect to wave height and period was obtained in case of the maximum tensile force acting on the tension legs and the wave loads on the tunnel body. Regarding the change of water depth or BWR conditions, generally decreasing trend was obtained according to increase of water depth but decrease of BWR for both of the magnitudes of structural behaviors or wave loadings on the SFT structure.

• Journal of Navigation and Port Research
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• v.32 no.5
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• pp.333-339
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• 2008

When a vessel is underway in a heavy weather, passengers and crew suffer from seasickness caused by ship motions such as pitch, heave or roll, or all combined Sickness induces drowsiness, dizziness, headache, stomachache etc, in extreme conditions, they are met with a serious trouble which is physiologically unrecoverable. It results in weakening of spiritual activities or making errors from decrease of motivation, dropping off skills, poor recognition and poor judgement. In this paper, it was examined the international standards concerning the occurrence of sickness and the execution of works, also evaluated the boarding comfort by conducting several times of questionnaire on cadets boarding on the training ship HANBADA As a result, it was confirmed that the main factor of occurring the sickness was the vertical acceleration and the level was more than 0.2g. Also, it was presented the way how to reduce the sickness by changing the speed and/or course in relation to the encounter period.

• Journal of Korea Water Resources Association
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• v.39 no.11 s.172
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• pp.961-968
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• 2006

Since a small harbor is often located near surf zone areas which have great influences of sediment transport, there is a great possibility that the sediment will be deposited inside of the harbor. The sediment transport occurring around the harbor entrance can't be explained by the wind wave and wave induced current. In this study, it was investigated the mechanism of the entrainment of sediment into a small harbor with permeable breakwater using hydraulic experiments in 3D wave basin. It is found out that the significant sediment entrainment produced when the mode of oscillation in the harbor became the 1st mode. In the case where the incident wave period was shorter than the period that caused higher mode oscillation in harbor, only a little amount of sediment entrainment took place. The vortex shedding from the top of secondary breakwater played very important roll in the entrainment of sediment into the harbor. It is also found that the small jetty attached at the top of secondary breakwater could effectively prevent the entrainment of sediment into the harbor.

• Journal of the Korean Institute of Landscape Architecture International Edition
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• no.1
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• pp.167-175
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• 2001

After World War II, Japan experienced a great political and social shift, which brought a concern of emerging public landscape in urban development. This paper analyses the management of the aesthetic intentions in urban design effort. We reviewed the development of various public installation of artworks concerning urban landscape aesthetics through its administrative process in chronological order. The monuments during the first decade marked a shift in emphasis from the militarism of the pre-war and wartime period to one of peace. However, some of the monuments and sculptures are not immune to controversy. This became an issue that could no be ignored by public officials whose responsibility was to place the sculptures while maintaining sensitivity to public opinion. As public administrators began to consider the possibility that sculptures may contribute to improving public amenities, the contextual concepts were basically ignored. Some of the programs in 1970s began to show more respect to the context, while other programs in this period expressed more interest in educational aspects of sculptures in the public spaces. Urban development projects also seek to introduce artworks integrated to their urban design concepts in 1990s. Generally, the administrators responsible for these programs were rarely trained in any relative field study other than public administration. Installing sculptures tended to be considered as part of public works projects on the level of urban planning and construction. The general public is basically removed from participating in the critical decisions that actually impact their lives in relation to the artworks. In conclusion, public art in japan has unique social and historic background both in its advantages and disadvantages. Issues pertaining to art in public spaces have evolved over the decades as the term "sculpture pollution" began to appear by the mid 1990s. most of the problems originated in either the lack of monumentality, contextual consideration, quality, or public participation. From another point of view, these programs played great roll in the development of modern Japanese sculpture and patronizing process, and the creation of new urban landscape with aesthetic value. In this sense, they must be considered as successful and noteworthy examples of cultural administration and urban design policy.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1130-1136
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• 2009

A new control algorithm for the yaw motion control of a unicycle robot has been proposed in this paper. With the increase of life quality, there are various transportation systems such as segway and unicycle robot which provide not only transportation but also amusement. In most of the unicycle robots share the same technology in that the directions of roll and pitch are controlled by the balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However, one disadvantage of this technology is that it cannot provide the capability to the robots to avoid obstacles in their path way. This research focuses to provide the yawing function to the unicycle robot and to control the yaw motion to avoid the obstacles as desired. For the control of yawing motion, the yaw angle is adjusted to the inertia generated by the velocity and torque of a yawing motor which is installed in the center axes of the unicycle robot to keep the lateral control simple. Through the real experiments, the effective and robustness of the yawing control algorithm has been demonstrated.

• Journal of Power System Engineering
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• v.11 no.2
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• pp.58-63
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• 2007

Vehicular safety and occupant injury have been of considerable interest to the public. The dynamic response of an articulated vehicle is different from that of single body vehicle due to its geometric and inertia properties. Articulated vehicles have the tendency to jackknife if they lose driving safety. Influence of factors for driving safety of an articulated vehicle(Tractor-Semitrailers) has been analysed by the EDVTS, a kinetic analysis program for an articulated vehicle. EDVTS permits an analyst to investigate the effect of many variables in a short period of time, and enables to obtain an accurate explanation of driving safety. The factors used in the analysis include the load, friction coefficient, tire flat, increase of braking force, and trailer geometry. Based on the results, the articulation angle and driving safety were influenced remarkably by the load, coefficient of friction, increase of braking force. However, trailer geometry, such as length and width, did not affect articulation angle and driving safety

• The Journal of Korean Medicine Ophthalmology and Otolaryngology and Dermatology
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• v.19 no.2
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• pp.40-49
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• 2006

Background and Objectives : In oriental Medicine, there is a concept that herb works only in it's own specific site called 'Guikyung(歸經)'. If two herbs have same effect and different Guikyung, two herbs would work at different site respectively. so we want to prove that whether Guikyung has significance or not in experimentally. Methods : In order to investigate the effects of Victicis Fructus & Bupleuri Radix on the Allergic rhinitis, BALB/c mouse was used. Control and experimental group 1, 2 were induced allergic rhinitis. Experimental group 1 was administered Victicis Fructus for 28 days and group 2 was administerd Bupleuri Radix for same period. WBC, neutrophil, lymphocyte, monocyte, IL-4 and $IFN-{\gamma}$ were measured and histological examination was performed. The statistical significance was examined by Independent Samples T test. Results : 1. WBC, neuoophil, lymphocyte, monocyte, IL-4 and $IFN-{\gamma}$ showed no statistically significant differences in three groups. 2. Histological examination had no differences in three groups. Conclusion: Victicis Fructus & Bupleuri Radix have no effect on allergic rhinitis and the reason is estimated that Guikymg plays a important roll to determine the effect of herb from the viewpoint of oriental medicine.