• International Journal of Aeronautical and Space Sciences
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• 제12권1호
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.590-593
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• 2004

Extraction of ocean surface current velocity offers important physical oceanographic parameters especially on understanding ocean environment. Although Remote Sensing techniques were highly developed, the investigation of ocean surface current using Synthetic Aperture Radar (SAR) is not an easy task. This paper presents the results of ocean surface current observation using Doppler Centroid of ERS-1 SAR data obtained off the coast of Korea peninsula. We employed the concept, in which Doppler frequency shift and the ocean surface current are closely related, to evaluate ocean surface current. Moving targets cause Doppler frequency shift of the back scattered radar waves of SAR, thus the line-of-sight velocity component of the scatters can be evaluated. The Doppler frequency shift can be measured by estimating the difference between Doppler Centroid of raw SAR data and reference Doppler Centroid. Theoretically, the Doppler Centroid is zero; however, squinted antenna which is affected by several physical factors causes Doppler Centroid to be nonzero. The reference Doppler Centroid can be obtained from measurements of sensor trajectory, attitude and Earth model. The estimated Doppler Centroid was compensated by considering the accurate attitude estimation of ERS-1 SAR. We could verify the correspondence between the estimated ocean surface current and observed in-situ data in the error bound.

• 제어로봇시스템학회논문지
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• 제17권8호
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• pp.807-813
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• 2011

High precision of planning in the preoperative phase can contribute to increase operational safety during computer-aided spinal fusion surgery, which requires extreme caution on the part of the surgeon, due to the complexity and delicacy of the procedure. In this paper, an advanced preoperative planning framework for spinal fusion is presented. The framework is based on spinal pedicle data obtained from CT (Computed Tomography) images, and provides optimal insertion trajectories and pedicle screw sizes. The proposed approach begins with safety margin estimation for each potential insertion trajectory that passes through the pedicle volume, followed by procedures to collect a set of insertion trajectories that satisfy operation safety objectives. The radius of a pedicle screw was chosen as 70% of the pedicle radius. This framework has been tested on 68 spinal pedicles of 8 patients requiring spinal fusion. It was successfully applied, resulting in an average success rate of 100% and a final safety margin of $2.44{\pm}0.51mm$.

• 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.

• 대한기계학회논문집A
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• 제33권11호
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• pp.1332-1340
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• 2009

The front end wheel loader is widely used for the loading of materials in mining and construction fields. It has repetitive digging, loading and dumping procedures. The bucket is subjected to large resistance force from the soil during scooping. We considered the soil reaction force characteristics from scooping procedure, the protection by overload and automatic scooping mode algorithm. The main topic of this paper is the analysis of the soil reaction force characteristics. The analysis of soil mechanics is carried out and the developed soil model is verified by experimental results from the simplified experimental equipment. A simplified model of the soil shape and bucket trajectory is used to determine the scooping direction based on an estimation of the resistance force applied on the bucket during the scooping motion. In the future, this model will be used for the generation of an appropriate path for the wheel loader automation.

• 한국소음진동공학회논문집
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• 제26권5호
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• pp.501-510
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• 2016

Capabilities of several beamforming techniques are compared for estimating the position of a moving source. Beamforming has enabled to widen our perspective of aeroacoustics in wind tunnel experiments and has provided useful approach in array measurements. Meanwhile beamforming techniques have been developed in a way to improve estimation accuracy and to save ing effort at the same time. In order to achieve reasonable outcome from aeroacoustic measurement, it is important to identify the spectral characteristics of source and to select an appropriate beamformer. Though aeroacoustic sources normally generates broadband noises, many array signal processing have been focused on narrowband processing which makes calculation numerically efficient. However, calculation in frequency-domain requires selection of single frequency of interest which affects spatial resolution and sidelobe level as a consequence. To be able to localize broadband noise source, it is proposed to use broadband beamforming. The formulas implements the deletion of diagonal term from cross spectral matrix. In this study, trajectory of flying source emitting broadband noise was simulated and several beamformers are applied.

• 제어로봇시스템학회논문지
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• 제21권1호
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• pp.34-39
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• 2015

In this paper, a finite impulse response (FIR) filter is proposed for discrete-time nonlinear systems. The proposed filter is designed by combining the estimate of the perturbation state and nominal state. The perturbation state is estimated by adapting the optimal time-varying FIR filter for the linearized perturbation model and the nominal state is directly obtained from the nonlinear nominal trajectory model. Since the FIR structured estimators use the finite horizon information on the most recent time interval, the proposed extended FIR filter satisfies the bounded input/bounded output (BIBO) stability, which can't be obtained from infinite impulse response (IIR) estimators. Thus, it can be expected that the proposed extended FIR filter is more robust than IIR structured estimators such as an extended Kalman filter for the round-of errors and the uncertainties from unknown initial states and uncertain system model parameters. The simulation results show that the proposed filter has better performance than the extended Kalman filter (EKF) in both robustness and fast convergency.

• 한국대기환경학회지
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• 제10권4호
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• pp.233-244
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• 1994

The phenomenon of yellow sand (dust clouds) occurred in Korea during the spring of 1993 and 1994 is studied in detail. In total 6 cases including 15 days of yellow sand were observed in 1993 and the annual number of these events was found to increased. Examinations in this study include meteorological charts satellite imagery, pilot reports (PIREP) of Korea Air Force, and air concentrations of total suspended particulates(TSP). We present on estimation of total atmospheric loadings based on the observation and theory. According to the PIREP, in general the dust clouds travelled in the lower troposphere up to the level 5km. The visibility within the clouds was in the range of 3-8km The area covered by yellow sand in an event exceeded 0.4 M $\textrm{km}^2$ . According to trajectory analyses, dust clouds invaded Korea in April and May 1993 were landed in the sink area after 2~4 days travelling for 2,000~3,000km from a source region. Estimates of total atmospheric loadings of a dust cloud for April 23~24 in 1993 were 1.5 M ton. In addition, 7 dust storms were also reported in synoptic observations in NW China and Mongolia during the spring in 1994. The yellow sand was not reported with meteorological observations in Korea, however pilots reported significant dust clouds over the Yellow Sea on 8 and 13 April and 20 May 1994.

• 정보과학회 논문지
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• 제43권2호
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• pp.135-142
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• 2016

시공간 데이터는 위도와 경도를 비롯한 위치정보를 포함한 데이터를 일컫는 말로 지리학적 시각화의 연구로 시공간 데이터를 분석하고 표현하는 방법에 대한 다양한 연구가 진행되었다. 이 기술은 특정 공간에 시간을 두고 연속적 또는 이산적으로 발생하는 데이터로부터 패턴을 찾고 이를 분석하는 데 목표가 있다. 하지만, 이동 경로에 대한 정보가 없는 이산적인 시공간 데이터에서 데이터의 흐름을 시각화하는 것은 쉽지만은 않은 일이다. 본 논문에서는 커널밀도추정과 중력모델을 이용하여 이산적인 시공간 데이터로부터 벡터를 추출하고 이를 이용하여 사용자로 하여금 시공간 데이터에서 움직임과 경향을 분석할 수 있도록 시각화 하는 것에 목표를 두었다. 이를 뒷받침하기 위하여 트위터 데이터를 이용하여 이산적인 시공간 데이터를 시각화하고 분석하고자 한다.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2010년도 춘계학술논문발표회 논문집
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• pp.346-350
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• 2010

도시화재의 연소 확대성상을 모델화하기 위해 화재실의 개구를 통하여 분출하는 열기류의 온도 평가 실험을 실시하였다. 실험은 축소모형 형태로 개구 조건과 화원조건에 의해 진행이 되었다. 실험 결과 온도분포 Trajectory는 개구종횡비 n에 의해 횡정(橫井)의 연구결과와 비교하여 n=2일때를 제외하고는 다른 경향을 나타냈다. 동일 조건에서 분출화재보유열량 $Q_{ef}$은 개구 조건이 횡장창($B0.2m{\times}H0.1m$)이고, 단일개구일 때 가장 높은 값을 나타냈다. 또한, 분출화재의 발생 한계 발열속도 $Q_{verit}$에서도 굴웅아(堀雄児)의 연구와 유사한 결과를 보이며, 다른 개구조건보다 횡장창($B0.2m{\times}H0.1m$)일 때 높은 값을 나타냈다.