• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Journal of IKEEE
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• v.24 no.2
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• pp.638-648
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• 2020

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

• The Korean Journal of Malacology
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• v.32 no.3
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• pp.231-240
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• 2016

Techniques were developed for holding and conditioning of Pacific oysters, Crassostrea gigas, in a closed recirculating system. Experimental adults were used 500 oysters ( x two system, total 1,000 oysters) which were collected in $20^{th}$ March 2016 from long-line aquaculture farm at the south coast of Korea. During conditioning periods concentrated live microalgae as Isochrysis sp. $15{\times}10^7cells/mL$, Tetraselmis sp. $2{\times}10^7cells/mL$ and Pheaodactylum sp. $18{\times}10^7cells/mL$ were added 5 L every day, respectively which micro algae were functioned as diets and biological filter. Over all experimental periods total water exchange rate was 21.3% (daily 0.5%). Over 42 days conditioning, female and male oysters were maturated 90.9% and 94.4%, respectively. Survival rate was 98.7%. Mean shell hight (8.3 mm), total wet weight (19.2 g), meat wet weight (5.0 g) and shell wet weight (13.6 g) were significantly increased (P < 0.05). Water quality parameters including the water temperature ($22.1{\pm}0.4^{\circ}C$), salinity ($24.9{\pm}04$), dissolved oxygen (5.1-7.9 mg/L) and pH ($7.93{\pm}0.15$) were kept stable. Concentration of dissolved inorganic nutrient as ammonia (1.96-0.35 mg/L), nitrite (0.03-0.16 mg/L), nitrate (1.34-0.47 mg/L), DIP (0.42-0.03 mg/L) and silicate (3.83-0.00 mg/L) were significantly decreased throughout experiment except nitrite which was increased (P < 0.05), but nitrogenous components stayed below toxic levels (ammonia 0.0-5.5 mg/L, nitrite 0.0-460.0 mg/L) which indicated that closed recirculation system with microalgae based bio-filter could supply sufficiently environment condition to holding and conditioning of oyster.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.2
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• pp.30-39
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• 2009

Extraction of glomeruli region plays a very important role for diagnosing nephritis automatically. However, it is not easy to extract glomeruli region correctly because the difference between glomeruli region and other region is not obvious, simultaneously unevennesses that is brought in the sampling process and in the imaging process. In this study, a new method for extracting renal glomeruli region using genetic algorithm is proposed. The first, low and high resolution images are obtained by using Laplacian-Gaussian filter with ${\sigma}=2.1$ and ${\sigma}=1.8$, then, binary images by setting the threshold value to zero are obtained. And then border edge is detected from low resolution images, the border of glomeruli is expressed by a closed B-splines' curve line. The parameters that decide the closed curve line with this low resolution image prevent the noises and the border lines from breaking off in the middle by searching using genetic algorithm. Next, in order to obtain more precise border edges of glomeruli, the number of node points is increased and corrected in order from eight to sixteen and thirty two from high resolution images. Finally, the validity of this proposed method is shown to be effective by applying to the real images.

• Korean Journal of Environmental Agriculture
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• v.27 no.3
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• pp.231-238
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• 2008

This study proposed the method of phosphate recovery from municipal wastewater by using ferrous iron waste, generated from the mechanical process in the steel industry. In the analysis of XRD, ferrous iron waste was composed of $Fe_3O_4$ (magnetite), practically with $Fe^{2+}$ and $Fe^{3+}$. It had inverse spinel structure. In order to identify the adsorption characteristic of phosphate on ferrous iron waste, isotherm adsorption test was designed. Experimental results were well analyzed by Freundlich and Langmuir isotherm theories. Empirical constants of all isotherms applied increased with alkalinity in the samples, ranging from 1.2 to 235 $CaCO_3/L$. In the regeneration test, empirical constants of Langmuir isotherm, i.e., $q_{max}$ (maximum adsorption capacity) and b (energy of adsorption) decreased as the frequency of regeneration was increased. Experiment was further performed to evaluate the performance of the treatment scheme of chemical precipitation by ferrous iron waste followed by biological aerated filter (BAF). The overall removal efficiency in the system increased up to 80% and 90% for total phosphate (TP) and soluble phosphate (SP), respectively, and the corresponding effluent concentrations were detected below 2 mg/L and 1 mg/L for TP and SP, respectively. However, short-circuit problem was still unsolved operational consideration in this system. The practical concept applied in this study will give potential benefits in achieving environmentally sound wastewater treatment as well as environmentally compatible waste disposal in terms of closed substance cycle waste management.

• Journal of Korean Society for Atmospheric Environment
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• v.29 no.1
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• pp.74-85
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• 2013

Since the underground transportation system is a closed environment, indoor air quality problems may seriously affect many passengers' health. The purpose of this study was to understand $PM_{10}$ characteristics in the underground air environment and further to quantitatively estimate $PM_{10}$ source contributions in a Seoul Metropolitan subway station. The $PM_{10}$ was intensively collected on various filters with $PM_{10}$ aerosol samplers to obtain sufficient samples for its chemical analysis. Sampling was carried out in the M station on the Line-4 from April 21 to 28, July 13 to 21, and October 11 to 19 in the year of 2010 and January 11 to 17 in the year of 2011. The aerosol filter samples were then analyzed for metals, water soluble ions, and carbon components. The 29 chemical species (OC1, OC2, OC3, OC4, CC, PC, EC, Ag, Al, Ba, Cd, Cr, Cu, Fe, Mn, Ni, Pb, Si, Ti, V, Zn, $Cl^-$, $NO_3{^-}$, $SO_4{^{2-}}$, $Na^+$, $NH_4{^+}$, $K^+$, $Mg^{2+}$, $Ca^{2+}$) were analyzed by using ICP-AES, IC, and TOR after proper pretreatments of each sample filter. Based on the chemical information, positive matrix factorization (PMF) model was applied to identify the $PM_{10}$ sources and then six sources such as biomass burning, outdoor, vehicle, soil and road dust, secondary aerosol, ferrous, and brakewear related source were classified. The contributions rate of their sources in tunnel are 4.0%, 5.8%, 1.6%, 17.9%, 13.8% and 56.9% in order.

• Journal of Korea Water Resources Association
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• v.48 no.10
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• pp.831-843
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• 2015

This study estimates MODIS-derived evapotranspiration data quality by revised RS-PM algorithm in Seolmacheon test basin. We used latent flux with eddy covariance method to evaluate MODIS-derived spatial evapotranspiration and gap-filled these data by three methods (FAO-PM, MDV and Kalman Filter) and to quantify daily evapotranspiration. Gap-filled daily evapotranspiration data was used to evaluate evapotranspiration computed by revised RS-PM algorithm derived MODIS satellite images. For the water budget analysis, we used soil moisture content that is quantified to average individual soil moisture rate observed by TDR (Time Domain Reflectometry) sensor at soil depth. The soil moisture variation is calculated in consideration from initial to final soil moisture content. According to the result of this study, evapotranspiration computed by revised RS-PM algorithm is very larger than eddy covariance data gap-filled by three methods. Also, water budget characteristics is not closed. We could analysis that MODIS-derived spatial evapotranspiration does not represent actual evapotranspiration in Seolmacheon.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.6
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• pp.53-62
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• 2010

An airbag is composed of housing assembly, door assembly, cushion assembly, and an inflator. The inflator is the essential part that generates gas for airbag. When an airbag is activated, it effectively absorbs the crash energy of the passenger by inflating a cushion. In this study, tank tests were performed with newly synthesized propellants with various compositions, and the results are compared with the numerical results. In the simulation of inflator, a zonal model has been adopted which consisted of four zones of flow regions: combustion chamber, filter, gas plenum, and discharge tank. Each zone was described by the conservation equations with specified constitutive relations for gas. The pressure and temperature of each zone of the inflator were calculated and analyzed and the results were compared with the tank test data. In the zone of discharge tank the pressure quickly rose, the pattern of pressure curve was very similar to the pressure curve of real test. And in zone 1 & 2 & 3 the mass of products was increased and decreased with time. In zone 4, the mass of products was increased with time like real inflator. From the similarity of pressure curve in zone 4 and closed bomb calculation the modeled results are well correlated with the experimental values.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.26.3-26.3
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• 2008

This research develops a GPS-based formation-flying testbed (FFTB) for formation navigation and control. The FFTB is a simulator in which spacecraft simulation and modeling software and loop test capabilities are integrated for test and evaluation of spacecraft navigation and formation control technologies. The FFTB is composed of a GPS measurement simulation computer, flight computer, environmental computer for providing true environment data and 3D visualization computer. The testbed can be simulated with one to two spacecraft, thus enabling a variety of navigation and control algorithms to be evaluated. In a formation flying simulation, GPS measurement are generated by a GPS measurement simulator to produce pseudorange, carrier phase measurements, which are collected and exchanged by the flight processors and subsequently processed in a navigation filter to generate relative and/or absolute state estimates. These state estimates are the fed into control algorithm, which are used to generate maneuvers required to maintain the formation. In this manner, the flight processor also serves as a test platform for candidate formation control algorithm. Such maneuvers are fed back through the controller and applied to the modeled truth trajectories to close simulation loop. Currently, The FFTB has a closed-loop capability of simulating a satellite navigation solution using software based GPS measurement, we move forward to improve using SPIRENT GPS RF signal simulator and space-based GPS receiver