• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1438-1440
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• 2005

A power control and distribution unit(PCDU) plays roles of protection of battery against overcharge by active control of solar array generated power, distribution of unregulated electrical power via controlled outlets to bus and instrument units, distribution of regulated electrical power to selected bus and instrument units, and provision of status monitoring and telecommand interface allowing the system and ground operate the power system, evaluate its performance and initiate appropriate countermeasures in case of abnormal conditions. In this work, we perform the preliminary design of a PCDU scheme for the small LEO Satellite applications. The main constitutes of the PCDU are the battery interface module, the auxiliary supply modules, solar array regulators with maximum power point tracking(MPPT) technology, heater power distribution modules, internal converter modules for regulated bus voltage generation. and instrument power distribution modules.

• Journal of Astronomy and Space Sciences
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• v.40 no.3
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• pp.113-122
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• 2023

Although the Relative Global Navigation Satellite System (GNSS) positioning technique provides high accuracy, it has several drawbacks. The scarcity of control points, the long baselines, and using of ultra-rabid and rabid products increased position errors. This study has designed a New MATLAB Program that helps users automatically select suitable IGS stations related to the baseline lengths and the azimuth between GNSS points and IGS stations. This study presented criteria for the length of the baselines used in Egypt and an advanced estimated accuracy before starting the project. The experimental test studies the performance of the position accuracy related to the relation between three factors: observation session, final, rabid, and ultrarabid products, and the baseline lengths. Ground control point mediates Egypt was selected as a test point. Nine surrounding IGS stations were selected as reference stations, and the coordinates of the tested point were calculated based on them. Baselines between the tested point and the IGS stations were classified regarding proposal criteria. The coordinates of the tested point were obtained in different observation sessions (0.5, 1, 2, 4, 5, 6, 7, 7.5 h). The results indicated that the lengths of the baseline in Egypt were classified short (less than 600 km), medium (600-1,200 km), and long (greater than 1,200 km) and required a minimum observation time of 4, 5, and 7 h to obtain accuracy 10, 19, 48 mm sequentially. The position accuracy was superior for the rapid and the final than the ultra-rapid products by 16%. A short baseline was at the best case; there was a performance in position accuracy with a 57% deduction in observation time compared with the long baseline.

• Journal of Ocean Engineering and Technology
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• v.10 no.4
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• pp.149-159
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• 1996

Multipurpose development of the coast and ocean can be considered as multifunction construction combining the functions of coastal protection, waterfront amenity and creation or rehabilitation of habitats. Multfunction development of coastal and ocean spaces can be accomplished by applying the ecosystem control structure of artificial habitats which will cultivate fishing ground with ecological harmony to the coastal protection system. To evaluate the applicability of ecosystem control structures as as fundamental coastal protection structure, wave control function of the structure is studied by numerical and physical analyses. Dimensional analysis and hydraulic experiment point out the importance of width and crest depth of ecosystem control structure, construction water depth and wave steepness. Wave control efficiency is estimated by the attenuation coefficient $(K_H)$ according to wave steepness $(H_0/L_0)$, relative constructed water depth $(h_i/H_0)$, relative berm width $(B/L_0)$ and relative crest depth $(h_B/H_0)$ of eosystem control structure. Empirical fomulas are suggested based on the results of model test by applying the multiple model based on this experimental results and numerical wave shoaling-dissipation-breaking model appears to be valid for the analysis of wave transformation around ecosystem control structure in the coastal waters.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.292-296
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• 2002

This study has been accomplished as a experimental study for field application of 3D Perspective Image Map creation using Digital Topographical Map and based on the Ortho-Projection Image which is generated from Satellite Overlay Images and the precise Relative Coordinates of longitude, latitude and altitude which is corrected by GCP(Ground Control Point). AS to Contour Lines Map which is created by Coordinate conversion of 1:5,000 Topographical Map, we firstly made Satellite Image Map to substitute for Digital Topographical Map through overlapping the original images on top of each Ortho-Projection Image created and checking the accuracy. In addition to 3D Image Map creation for 3D Terrain analysis of a target district, Slope Gradient Analysis, Aspect Analysis and Terrain Elevation Model generation, multidirectional 3D Image generation by DEM can be carried out through this study. This study is to develop a mapping technology with which we can generate 3D Satellite Images of a target district through the composition of Digital Maps and Facility Blueprint and arbitrarily create 3D Perspective Images of the target district from any view point.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.920-923
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using perspective invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of the simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two parallel walls are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points(V.P). Point features for computing cross ratios are extracted robustly using a vanishing point and the intersection points between floor and the vertical lines of door frames. The robustness and feasibility of our algorithms have been demonstrated through experiments in indoor environments using an indoor mobile robot, KASIRI-II(KAist SImple Roving Intelligence).

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.84-89
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• 2003

Water leak is one of topics with great concern in Korea and many other countries, because of decreasing water supplies and the deterioration of old pipeworks. Correlation techniques have been widely used in leak detection of water pipes, which allow to locate a leak point based on the correlation of leak noise at two sites along water pipes. In this study, both the cross-correlation method and the conventional arrival time difference method are applied in order to analyze and to locate a leak point of a water pipe. In experiment, a 150 m of whole length waterwork pipeline system was constructed in a ground, and several types of leak noise were installed on the pipeline in order to control leak condition. Both the cross-correlation technique and the arrival time difference method showed favorable results at leak detection with the experimental pipeline system.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• Journal of the Korean Physical Society
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• v.73 no.10
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• pp.1410-1419
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• 2018

A skier's motion was analyzed by a simple model consist of point mass m and a single rod connected to a single ski plate. We studied the conditions for the stable ski turn as functions of the linear velocity and the radius of the turn. The solutions for the stable ski turn in our model do not require any extra skier's movement to complete a stable circular turn. The solution may then give the skier the most comfortable skiing method without any active movement to control the ski. The generalized force supporting the point mass from the ski plate was calculated. We obtained the force from the ground (rebound force) without any geometrical structure of the ski plate. Adding an active movement to the direction of the ski plate, the conditions for the stable ski turn were also analyzed. Our result gives some insight for the skier who wants to develop technique.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Geotechnical Engineering
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• v.12 no.4
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• pp.5-20
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• 1996

In this study it was analyzed by 2-D FEM and 3-D FEM to evaluate the ground reinforceing effect of steel pipe reinforced multi -step grouting (SPRG) technique and the behavior of ground in the vicinity using the nonlinear FEM program for the ground condition of alluvium located on the top of tunnel applied by SPRG technique. It was found that the nonlinear 3-D analysis performed better than 2-D analysis in evaluating the usefulness of the SPRG technique, and it was also found that the safety was relatively secured by the stiffness of steel pipe to distribute the concentrated stress in the tunnel faceing. It was reported that the change of settlement on the top of tunnel becomes about 40% of the total expected settlement before tunnel faceing reaches tunnel gauging point, and 60% of the total expected settlement while tunnel facing passes tunnel gauging point and takes a distance about tunnel diameter. With the aid of the SPRG technique the control range of displacement and stress of the ground in the vicinity could be reached up to tunnel top, namely depth ratio from 0.38 to 0.83 or 2D(D : tunnel diameter) before the tunnel facing, and about 20% of settlement control in this particular case was possible.