• Journal of Korean Society of Coastal and Ocean Engineers
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• v.14 no.3
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• pp.232-239
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• 2002

This paper studies the behavior of mooring line of silt protector according to the change of sea level. It is found from the analysis of the behavior that if the taut cable length has been determined appropriately within the range of safety factor, the tensioned cable has almost constant tension regardless of the water depth. The whole structure, however, becomes unstable due to the loss (zero tension) of the released cable tension. It is also recognized from the investigation for the effect of intial straight line angle on the behavior of mooring line that the design through the conceptually combined consideration of the cable tension, total scope and buoy deflection has to be required in the mooring analysis. Finally, the material of cable is not damaged because the cable tension is reduced by attached shellfish, but the whole structure may be also unstable by the effect on the anchor angle, total scope and buoy deflection.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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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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• v.30 no.4
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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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• v.9 no.1
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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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• v.31 no.6 s.119
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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.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.5
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• pp.376-382
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• 2014

This paper presents a method to enable a UAV in autonomous flight along a desired path to follow it backwards when a strong headwind prevents the vehicle from proceeding forward. The main purpose of the reverse path following in this study is to return to a mission quickly when the wind becomes weaker. When the nonlinear path following guidance law is used, there are two reference points available in the path following. One of the two points is selected considering a flight direction for calculating a straight-line distance(L) from the vehicle to the point for the path following. An initial heading angle with respect to the wind direction determines whether the reverse path following is feasible or not at the time of the wind is generated. The result of the proposed method based on kinematic model in this study is verified through simulations implemented in Matlab.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.2
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• pp.164-172
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• 2008

This paper presents the efficient localization of a mobile robot traveling on the floor with tags installed, using the spatial and temporal information acquired from passive RFID environment. Compared to previous research, the proposed localization method can reduce the position estimation error and also cut down the initial cost tag installation cost. Basically, it is assumed that a mobile robot is traveling over a series of straight line segments, each at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, the velocity and position estimation of a mobile robot starting from a known position, which is valid for all segments except the first one. Second, for the first segment in which the starting position is unknown, the velocity and position estimation is made possible by enforcing a mobile robot to traverse at least two tags at a constant velocity with the steering angle unchanged. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.