• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.916-924
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• 2008

In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.

• Aerospace Engineering and Technology
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• v.12 no.2
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• pp.180-185
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• 2013

In this study, preliminary design of human powered aircraft was performed by considering the aerodynamic performance. For this, overall weight including the aircraft and pilot was determined. Then, the main wing and horizontal/vertical tail were designed with appropriate selection of the airfoils and planform shapes. Based on these, three dimensional flow was calculated to obtain lift and drag coefficients and the position of center of gravity (CG). Consequently, it was shown that the lift and power of the aircraft satisfied the constraints of the minimum required lift and the pilot's available power. Also, the CG of the aircraft was located at aerodynamic center (AC) of the main wing, which guaranteed 26% of the static margin.

• 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 Crystal Growth and Crystal Technology
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• v.3 no.2
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• pp.125-130
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• 1993

We has made 2-zone vertical electric furnace and has been grown CdS single crystal by sublimation method in crystal growth tube with tail tube without seed crystal for growth. While it has been growing, temperature difference ${\Delta}T$ of source and growth part has nearly agreed with theoritical value $14.7^{\circ}C$and experimental value $15^{\circ}C$ Then, crystal of best quality has been grown, when temperature of tail tube has been $110^{\circ}C$, in spite of quickly pulling up crystal growth tube a degree O.38mm per hour. The grown crystal have had hexagonal structure and single crystal with c-axis to length of crystal growth tube from X- ray diffraction pattern of powder method and Laue pattern of back reflection Laue method. Also, the mobility and carrier density from Hall effect measurement have been $316cm^2/V{\cdot}sec$ and $2.90{\times}10^{16}cm^{-3}$ at the room temperature, respectively.

• Korean Journal of Environment and Ecology
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• v.19 no.4
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• pp.342-347
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• 2005

This study was carried out to examine the distribution and habitat of Bibarl snake (Sibynophis Collaris) from March 1998 to June 2005 in Jeju island, Korea. 5 individuals of Bibari snake were observed on northern part of JeJu, 1 individual on southern area and 2 individuals on western area during research period. As a result, it was revealed that Bibari snake was found on the whole of Jeju island. Its observation was made from May to October, especially frequent from May to July. The body length of adult Bibari snakes were $406{\~}452mm$ and its tail length $29+{\~}202mm. Considering of number and shape of supralabials and number of temporals, the characters of Bibari snake were similar to those of S. chinensis. Therefore it seems need to reconstruct taxonomic position of Bibari snake. From a vertical viewpoint of Mt. Halla, Biabri snake prefers to stay on the grassland 600m below the sea. Consequently, it Is suggested that grassland be well-reserved for the protection of Bibari snakes.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.2
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• pp.141-149
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• 2018

This paper presents a neural network controller design for complex damage to a blended wing Unmanned Aerial Vehicle(UAV): partial loss of main wing and vertical tail. Longitudinal/lateral axis instability and the change of flight dynamics is investigated via numerical simulation. Based on this, neural network based adaptive controller combined with two types of feedback linearization are designed in order to compensate for the complex damage. Performance of two kinds of dynamic inversion controllers is analyzed against complex damage. According to the structure of the dynamic inversion controller, the performance difference is confirmed in normal situation and under damaged situation. Numerical simulation verifies that the instability from the complex damage of the UAV can be stabilized via the proposed adaptive controller.

• Journal of Sericultural and Entomological Science
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• v.51 no.2
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• pp.123-129
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• 2013

The purpose of this study is to investigate the effects of supplementation of mulberry powder, mulberry extract and silkworm powder during the 8 weeks of resistance exercise on muscle increase of rats. Fifty males, Sprague-Dawley rat, were randomly divided into 5 groups: CON(control group, n = 10), REG(resistance exercise group, n = 10), MP REG(mulberry powder intake and resistance exercise group, n = 10), ME REG(mulberry extract intake and resistance exercise group, n = 10) and SP REG(silkworm powder intake and resistance exercise group, n = 10). After climbing the ladder without weights during the 1 week of adaptation period, the rats in the resistance exercise group were trained to climb a 0.98-m vertical(80 degree incline) ladder with weights in their tail during 7 weeks(10 times each day, 2 days per week). After exercise, the skeletal muscle was extracted from the flexor hallucis longus. The absolute weight of skeletal muscle was measured by the electronic balance and the relative weight of skeletal muscle about the weight was calculated. The strength and density of legs muscle were analyzed by the computed tomography scan. After 8 weeks of resistance exercise, the absolute weight of skeletal muscle wasn't significant, but it increased in MP REG 8%, ME REG 8% and SP REG 10% compared to REG. The relative weight of skeletal muscle increased significantly in SP REG compared to REG (p < 0.05). Additionally, there was a significant increase of density and strength of the forelegs in SP REG compared to CON (p < 0.05). However, there was no significant increase of density and strength of the hind legs. In conclusion, regular resistance exercise made rats muscle increase and there was more muscle increase effected by providing silkworm.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.9 no.3
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• pp.359-368
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• 1998

One of the topics concerning the electromagnetic compatibility of modern electronic circuits is to take protection from transient overvoltages caused by not only cloud-to-ground lightnings but also induced lightning discharges. In this paper, the vertical electric and horizontal magnetic fields from cloud-to-ground lightnings were measured and analyzed. The electric and magnetic fields waveforms associated with cloud-to-ground lightnings have several subsidiary peaks which decrease with time. There were not much differences between the electric and magnetic field due to long distance cloud-to-ground discharges. Average values of 10~90% rise times of electric fields are $4.65mutextrm{s}$ for the positive cloud-to-ground lightning and $3.29mutextrm{s}$ for the negative cloud-to-ground lightning, respectively. Also, in the positive and negative cloud-to-ground lightning discharges, the zero-to-zero crossing times in the wave tail of magnetic fields are significantly longer than those of the electric fields.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.4 no.1
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• pp.83-91
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• 1994

We have constructed a vertical gradient freeze (VGF) grower for GaAs single crystals 2 inch in diameter and have grown semi-insulating GaAs co-doped with Cr and In. For the co-doped crystal, the segregation coefficients of the dopants remain unchanged when compared to those doped with only Cr or In. The concentration of Cr and in atoms range from about $2{\Times}10_{16} to 3{imes}10^{17} cm^{-3}$ and $2{\Times}10^{19} to 3{\Times}10^{20} cm^{-3}$ at the seed to the tail part of the grown crystal, respectively. The averaged dislocation etch pit density is found to be less than $8000 cm^{-2}$ throughout the ingot. It is also found that there is some evidence of lattice hardening for the crystal in which the dislocation density is decreased to less than $1000 cm^{-2}$ as In concentration increases. The resistivity increases abruptly from $10^{-2}$ up to $10^8$ Ohm-cm, while the carrier concentration decreases from $10^{16}$ to $10^8 cm^{-3}$ along the growth direction of the GaAs crystal. Semi-insulating properties can be obtained above a critical concentration of Cr of about $6{\Times}10{^16} cm^{-3}$ in the crystal. The main deep levels existing in the GaAs: Cr,In sample are two electron traps at $E_C-0.81eV, E_C-0.35eV$, and two hole traps at $E_V+0.89eV, E_V+0.65eV$.

• Journal of Korea Water Resources Association
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• v.43 no.5
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• pp.433-443
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• 2010

Drop structures that span the entire width of channels are installed to alleviate channel grades and have been constructed widely in Korean rivers. Aprons are normally installed and integrated with drop structures and bed protections are added on the downstream part of aprons to protect both drop structures and aprons. Scour occurring on aprons is reported to provide various habitats such as ripples and pools in natural rivers. This study focuses on the scour characteristics on an apron integrated with a drop structure and the subsidence of a riprap protection. The scour depth on the downstream part of the drop structure is found to increase with the increase of unit discharge; however, to decrease as the tail water depth gets deeper. Based on the experimental measurements, the subsidence of the riprap scour protection is calculated with respect to the thickness of riprap. Finally, the dimensionless empirical equation to quantify the subsidence of the riprap scour protection without filters at downstream of the vertical drop is suggested.