• 한국해안해양공학회지
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• 제14권3호
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• pp.232-239
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• 2002

본 논문에서는 조위변화에 따른 오탁방지막 계류라인의 거동을 조사하였다. 거동분석으로부터 안전율을 고려하여 팽팽하게 적정케이블의 길이를 정하면 수심이 하강하더라도 긴장측 케이블은 거의 일정한 장력을 유지하는 것을 알 수 있었다 그러나, 이완케이블의 기능은 상실되어 구조체 전체의 불안정성을 초래할 수도 있는 것을 알 수 있었다. 또한, 초기 직선긴장각이 계류거동에 미치는 영향을 조사해봄으로써 케이블 장력, 수중부상길이 케이블길이(재료량과 관계 있음)및 부체변위 등을 복합 고려하면서 계류 해석하여야만 적정한 설계를 할 필요가 있을 것으로 보였으며, 막체의 부착물로 인한 케이블의 장력은 줄어들어 재료손상은 일으키지 않으나 저면 앵글, Total scope 및 부체변위에 영향을 미쳐 구조물 전체의 불안정성을 초래할 수 있다는 것도 알 수 있었다.

• 전자공학회논문지B
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• 제31B권1호
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• pp.99-106
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• 1994

In this paper, we develop an algorithm which recognizes Ilpa-style shorthand characters by on-line. It discriminates the structure of characters using coordinates which are measured by tablet board, then it outputs the recognized characters using the fuzzy inference rules. Shorthand characters have several forms, in which an initial or a middle sound depends on angle and length while a last sound is treated as a hook. We apply fuzzy inference rules to the discrimination of the length, the angle, the curve, and the straight line. We also built up a set of standard character codes in order to reduce the processing time.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1284-1289
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• 2014

In this Paper, outdoor position estimation system was implemented using GPS (Global Positioning System) and INS (Inertial Navigation System). GPS position information has lots of errors by interference from obstacles and weather, the surrounding environment. To reduce these errors, multiple GPS system is used. Also, the Discrete Wavelet Transforms was applied to INS data for compensation of its error. In this paper, position estimation of the mobile robot in the straight line is conducted by EKF (Extended Kalman Filter). However, curve running position estimation is less accurate than straight line due to phase change in rotation. The curve is recognized through the rate of change in heading angle and the position estimation precision of the initial curve was improved by UPF (Unscented Particle Filter). In the case of UPF, if the number of particle is so many that big memory gets size is needed and processing speed becomes late. So, it only used the position estimation in the initial curve. Thereafter, the position of mobile robot in curve is estimated through switching from UPF to EKF again. Through the experiments, we verify the superiority of the system and make a conclusion.

• Tribology and Lubricants
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• 제30권4호
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• pp.212-217
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• 2014

A counter gear transmits the rotation angle, so the angular velocity ratio of the gear does not necessarily need to be constant in the meshing process. As a pinion has a small number of teeth when combined with an internal gear for counters, tooth interference can occur with the use of an involute curve. This paper introduces circular arcs that represent a tooth profile and fillet for the profile design of a pinion through the combination of arcs with lines. The straight line of a rack tooth represents the profile of a mating internal gear. Thus, the circular arc and line maintain contact during the rotation of the counter gear. This paper presents an analysis of the meshing of the circular arc tooth and rack tooth along with the properties of the counter gear, such as the change in rotational velocity and amount of backlash. The contact ratio of the counter gear is 1 because the tooth contact occurs between circular arcs and line. The initial position of tooth contact, which denotes the simultaneous contact of two teeth, is found. As the rotation of the pinion, only one tooth keeps the contact situation. This meshing property is analyzed by the geometrical constraints of the tooth profile in contact and the results are presented as graphical diagrams in which tooth-arc movements are superimposed.

• International Journal of Aeronautical and Space Sciences
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• 제9권1호
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• pp.1-30
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• 2008

When the stagnation temperature of a perfect gas increases, the specific heats and their ratio do not remain constant any more and start to vary with this temperature. The gas remains perfect; its state equation remains always valid, except, it is named in more by calorically imperfect gas. The aim of this work is to trace the profiles of the supersonic axisymmetric Minimum Length Nozzle to have a uniform and parallel flow at the exit section, when the stagnation temperature is taken into account, lower than the dissociation threshold of the molecules, and to have for each exit Mach number and stagnation temperature shape of nozzle. The method of characteristics is used with the algorithm of the second order finite differences method. The form of the nozzle has a point of deflection and an initial angle of expansion. The comparison is made with the calorically perfect gas. The application is for air.

• Journal of Biosystems Engineering
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• 제31권6호
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• pp.489-499
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• 2006

Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

• 한국항공우주학회지
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• 제42권5호
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• pp.376-382
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• 2014

본 논문에서는 원하는 경로를 따라 자동비행 중인 무인 항공기가 전진비행이 어려울 만큼 강한 맞바람을 받게 되었을 때 지나온 경로를 다시 추종하며 후진 비행하는 방법을 제시한다. 본 연구에서 후진경로추종의 목적은 바람이 다시 약해졌을 경우 단시간에 정상임무에 복귀하기 위함이다. 비선형경로추종 유도법칙에 의해 경로 상에 두 개의 Reference points가 생성된다. 후진방향을 고려하여 적절한 것을 선택하고 그 점과 항공기까지의 변위벡터 $\vec{L}$을 이용하여 경로추종에 이용한다. 또한 바람이 발생한 시점에서 바람방향에 대한 초기 기수방향이 후진경로추종 가능여부를 결정한다. Matlab으로 수행된 시뮬레이션을 통하여 운동학 모델에 근거해 본 연구에서 제시된 방법의 결과를 확인했다.

• 융합신호처리학회논문지
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• 제9권2호
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• pp.164-172
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• 2008

본 논문에서는 수동 RFID 환경에서 획득되는 위치 및 시간 정보를 이용하여, 태그가 배치된 노면을 주행하는 이동로봇의 위치를 효과적으로 추정하는 기법을 제안한다. 본 논문에서 제안된 위치 추정 기법은 기존 연구에 비해 위치 추정 오차를 감소시키고 또한 초기 태그 배치 비용을 감소시키는 효과가 있다. 기본적으로 이동로봇이 일련의 직선 구간을 구간별로 일정한 속도로 주행하며, 또한 매 순간 이동로봇에 의해 감지되는 태그의 수는 한 개 이하라고 가정한다. 첫째, 이미 알려진 지점을 출발하여 정속 직선 주행하는 이동로봇의 속도 및 위치를 추정하는 알고리즘을 개발하는데, 이는 최초를 제외한 여타 구간의 경우에 유효하다. 다음, 최초 구간의 경우 출발 위치를 모르는 상태이므로, 이동로봇이 두 개 이상의 태그를 정속 직선 주행하도록 하여 이동로봇의 속도 및 위치를 추정한다. 마지막으로, 제작된 수동 RFID 위치 추정 시스템을 이용한 실험을 통해 본 논문에서 제안된 이동로봇 위치 추정 기법의 유효성 및 성능을 입증한다.