• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.720-723
• /
• 2005

Ship motion is a complex controlled process with several hydrodynamic parameters that vary in wide ranges with respect to ship load condition, speed and surrounding conditions (such as wind, current, tide, etc.). Therefore, to effectively control ships in a designed track is always an important task for ship masters. This paper presents an effective adaptive autopilot ships that ensure the optimal accuracy, economy and stability characteristics. The PID control methodology is modified and parameters of a PID controller is designed to satisfy conditions for an optimal objective function that comprised by heading error, resistance and drift during changing course, and loss of surge velocity or fuel consumption. Designing of the controller for course changing process is based on the Model Reference Adaptive System (MRAS) control theory, while as designing of the automatic course keeping process is based on the Self Tuning Regulator (STR) control theory. Simulation (using MATLAB software) in various disturbance conditions shows that in comparison with conventional PID autopilots, the designed autopilot has several notable advantages: higher course turning speed, lower swing of ship bow even in strong waves and winds, high accuracy of course keeping, shorter time of rudder actions smaller times of changing rudder direction.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.13 no.2
• /
• pp.330-340
• /
• 2009

A naval shipboard inevitably movies in a pitch and roll direction under the influence of wave and wind in the sea. As a result, the shipboard gets in a continuous turning motion back/front and right/left. And the shipboard is also constantly exposed to many different kinds of disturbance signals including the vibrations of various frequencies from the internal equipments and their vibrations, strong waves, and impact from explosion. This paper formulates multi-body dynamic models similar to an actual system and simulates the pitch/roll positions of a 2-axes gimbals with PI controller for consecutive behavior of a naval shipboard including disturbance.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.8 no.5
• /
• pp.450-461
• /
• 1984

A new indirect tool wear sensing technique is proposed using time series analysis. The acceleration measured on the tool post in the vertical direction during turning is sampled with uniform interval, and fitted following the ARMA modeling procedures. Various signal characteristics are observed in respect with the progress of flank wear. From those observations it is believed that; *The variance of the signal is approximately proportional to the increase of flank wear. *The absolute power of a dynamic mode decreases in the beginning of cutting until the maximum flank wear increases up to 0.4-0.5mm, and then increases. *The other characteristics are not so much related to the tool wear as the signal variance and the absolute power of a dynamic mode. Hence, the absolute power of a dynamic mode seems to be a good factor for the indication of tool-change time regardless of tool material or cutting conditions.

• Applied Microscopy
• /
• v.45 no.2
• /
• pp.74-79
• /
• 2015

This study investigated the tongue movement during prey capture by Rana nigromaculata and the location of the frenulum linguae, which effects tongue movement. The tongue of R. nigromaculata are elliptical at the anterior and concave U-shaped at the posterior. The location of the frenulum linguae of R. nigromaculata is located at the front of the submentalis. This is due to the location of the frenulum linguae, which has significantly effects the movement and the expandability of the tongue. In terms of mobility, the tongue of R. nigromaculata and the expandability of the frenulum linguae allow the tongue to increase in length two or more times compared to immobile tongue in the other species. The time required until the swallowing movement after looking at and capturing the prey was 0.692000 seconds. Filming prey capture with a high speed camera showed that the rear part of the U-shaped tongue captures the prey with an appearance of stretching out longer to the front of tongue and turning in a reverse direction to bring the prey to the mouth.

• Proceeding of Spring/Autumn Annual Conference of KHA
• /
• 2003.11a
• /
• pp.295-299
• /
• 2003

The development of rapid science technology and data communication technology in 1990 was infiltrated into our real lives deeply and drew forth various changes in various sides. According to that with the new definition of the character of space the users' patterns in the space were changed. We come to have a turning point of change with the introduction of personal computer and digital revolution late in the 20th century. Accordingly, this study is to analyze the connected structure of the space on a basis of the apartment model house since 2000 in order to investigate the aspect of changing the space according to the era of informationization. This analysis of space structure makes the characteristics in the era of informationization objectified. And it will understand the distinct change of space by grasping the relations with the connection of space, and predict the direction that the dwelling space heads for the future.

• Journal of Navigation and Port Research
• /
• v.36 no.9
• /
• pp.707-714
• /
• 2012

Recently, tug boats are widely used for towing a barge which transports building materials, a large block of a ship, offshore crane, and so on. In order to simulate the dynamics of the coupled towing system correctly, the dynamics of the towline should be well modeled. In this paper, the towline was modeled as the multiple finite elements, and each element was assumed as a rigid cylinder which moves in five degrees of freedom except roll. The external tension and its moment acting on each element of the towline were modeled depending on the position vector's direction. Tugboat's motion was simulated in six degrees of freedom where wave and current effects were included, and towed barge was assumed to move in the horizontal plane only. In order to confirm the mathematical models of the coupled towing systems, standard maneuvering trials such as course changing maneuver, turning circle test and zig-zag test were simulated. In addition, the same trials were simulated when the external disturbances like wave and current exist. As the result, it is supposed that the results might be qualitatively reasonable.

• The Journal of the Korea Contents Association
• /
• v.5 no.2
• /
• pp.267-274
• /
• 2005

In this paper, we proposed an algorithm which cognize hand pose in real time using only image. Hand recognizes using edge orientation histogram which comes under a constant quantity of 2D appearance because hand pose is intricate. This method suit hand pose recognition in real time because it extracts hand space accurately, has little computation quantify, and is less sensitive to lighting change using color information in complicated background. Method which reduces recognition error using principal component analysis method to can recognize through hand shape presentation direction change is explained. A case that hand shape changes by turning 3D also by using this method is possible to recognize. Besides, principal component space creation time is reduced remarkably because edge directional data is used.

• The Journal of Korea Robotics Society
• /
• v.9 no.2
• /
• pp.124-131
• /
• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.11 no.1
• /
• pp.41-55
• /
• 2003

A calibration jet system using separate blower is developed to calibrate a flow sensor effectively. Designed open circuit type mini calibration jet system, which has the dimension of $0.5m(W){\times}1.17m(H)$ is small compared with conventional calibration jet systems. The exit of nozzle has exchangeable contractions with a cross section area of $38.5cm^2$ , and a cross section area of $113.1cm^2$, respectively. The ranges of wind speed at exit of exchangeable nozzles are $7.5{\sim}42\;m/s$ and $1.8{\sim}16.5\;m/s$, respectively. The input power for the high pressure blower is 1.18kW. The turning vanes for corner was rolled flat plate parallel to the flow direction. The flow conditioning screen was located immediately downstream of the wide-angle diffuser. The honeycomb and two flow conditioning screens were located in the stagnation chamber. From the economical point of view and the simplicity of the calibration jet system set up and handling, it can be said that the developed calibration jet system is an effective calibration jet system. This system can also be used to calibrate the flow sensor with high resolution.

• Journal of Korean Society of Water and Wastewater
• /
• v.27 no.3
• /
• pp.331-337
• /
• 2013

Post-chlorination for disinfection in portable water process is final process. The design factors of post-chlorination are inflow pipe line from tank of filtrated water to cleanwell, injection point of chlorine, appropriate shape of baffle in cleanwell for disinfection efficient improvement. Until now, we did not have the design standard for post-chlorination. we evaluated most suitable design method of post-chlorination process in portable water process by using computational fluid dynamics in this research. We found the result that the pipe to connect the cleanwell should be one. If pipe line split into two or more, uniform distribution of the flow is difficult. Second, optimal injection point of chlorine is the middle of pipe line to connect the cleanwell. Therefore, it is not economical to install chlorine contact basin in cleanwell. Third, the shape of baffle should be designed in order to water flows in one direction. And we found that it is better to design the low number of flow turning.