• Title/Summary/Keyword: position control system

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The Development Trend of a VTOL MAV with a Ducted Propellant (덕티드 추진체를 사용한 수직 이·착륙 초소형 무인 항공기 개발 동향)

  • Kim, JinWan
    • Journal of Aerospace System Engineering
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    • v.14 no.1
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    • pp.68-73
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    • 2020
  • This purpose of this paper was to review the development trend of the VTOL MAVs with a ducted propellant that can fly like the VTOL at intermediate and high speeds, hovering, landing, and lifting off vertically over urban areas, warships, bridges, and mountainous terrains. The MAV differs in flight characteristics from helicopters and fixed wings in many respects. In addition to enhancing thrust, the duct protects personnel from accidental contact with the spinning rotor. The purpose of the U.S. Army FCS and DARPA's OAV program is spurring development of a the VTOL ducted MAV. Today's MAVs are equipped with video/infrared cameras to hover-and-stare at enemies hidden behind forests and hills for approximately one hour surveillance and reconnaissance. Class-I is a VTOL ducted MAV developed in size and weight that individual soldiers can store in their backpacks. Class-II is the development of an organic VTOL ducted fan MAV with twice the operating time and a wider range of flight than Class-I. MAVs will need to develop to perch-and-stare technology for lengthy operation on the current hover-and-stare. The near future OAV's concept is to expand its mission capability and efficiency with a joint operation that automatically lifts-off, lands, refuels, and recharges on the vehicle's landing pad while the manned-unmanned ground vehicle is in operation. A ducted MAV needs the development of highly accurate relative position technology using low cost and small GPS for automatic lift-off and landing on the landing pad. There is also a need to develop a common command and control architecture that enables the cooperative operation of organisms between a VTOL ducted MAV and a manned-unmanned ground vehicle.

Rainfall Distribution Characteristics of Artificial Rainfall System for Steep-Slope Collapse Model Experiment (급경사지 붕괴 모의실험을 위한 인공강우장치의 강우분포특성)

  • Jeong, Hyang-Seon;Kang, Hyo-Sub;Suk, Jae-Wook;Kim, Ho-Jong
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.12
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    • pp.828-835
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    • 2019
  • An artificial rainfall system is used widely as a research tool for generating model experiment data. Artificial rainfall devices have been used in many studies, but studies of the rainfall distribution are not considered as important issues. To simulate various rainfall characteristics, it should be possible to simulate from low to high intensity, and the homogeneity of the rainfall distribution should be ensured. In this study, the maximum rainfall intensity was set to 130mm/hr and controlled by 10mm/hr. In addition, the aim was to secure a uniform coefficient value of 80% or more. To this end, rainfall tests were performed according to the nozzle type, diameter, position, and pump pressure. The rainfall test showed that the circular nozzle was suitable, and the nozzle size was 1.9mm and 1.4mm. The optimal pump pressure was found to be 3~6kg/㎠. The rainfall intensity tended to increase linearly with increasing pump pressure. Based on the rainfall test results, a rainfall control manual was produced with variables, such as pump pressure, nozzle type, and number of nozzles. As a result of rainfall verification, rainfall intensity showed a 3.1% error with a uniformity coefficient of 86%.

The Korean Geodetic Network Adjustments for EDM Area (국가기준점 망조정에 관한 연구 - EDM 관측지역)

  • Yang, Hyo-Jin;Choi, Yun-Soo;Kwon, Jay-Hyoun;Kim, Dong-Young
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.25 no.5
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    • pp.393-398
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    • 2007
  • According to the Korean datum change to a world geodetic system, the EDM area should be readjusted to provide consistent product over the country. The data set for EDM area is extracted from the previous KTN1987 DB and checked for the moved markers in XY network adjustment which provides quality verification. Then, EDM data set for the seven areas are rebuilt for the adjustment. Since the data is still based on the old datum, the coordinates of the data are transformed by applying the coordinate transformation parameters. Here, the transformation parameters, which were determined for the conversion of 1:50,000 topographic maps by NGII, were used. For each EDM point, the geoidal height from EGM96 model is applied to obtain the ellipsoidal height based on the GRS80. The measured distance projected onto GRS80 is adjusted using BL network adjustment by fixing 2nd order or 3rd order GPS control points. The results from the readjustment show the minimum standard error of 1.37" and the maximum standard error of 2.13". Considering the measurement accuracy of EDM (1.6" corresponding to about 2cm) and GPS position for fixed points (2cm), this result is considered to be reasonable and it is good for the practical use.

A Experiment Study on Performance Evaluation of Solar Heat Gain Coefficient in Glazing with Shading Devices (실내 차양장치 결합형 창호의 태양열 취득률 평가에 대한 실험적 연구)

  • Kim, Tae-Jung;Kang, Jae-Sik;Park, Jun-Seok
    • Journal of the Korean Solar Energy Society
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    • v.34 no.5
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    • pp.89-99
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    • 2014
  • The determination of the solar and thermal performance of fenestration is required for the evaluation of fenestration energy performance, estimating building load. Presently, there exist several methods for determining the thermal transmission(U-value) and solar heat gain coefficient (SHGC) of fenestration system. These method are commonly grouped under calculation or experimental methods. While U-value testing and calculation methods have been long established, SHGC has been evaluated only by the method of calculation under the lack of any established testing method. However, it is difficult to assess the exact SHGC for various types of fenestration with sun-shading or other solar control systems. The purpose of this study was to evaluate the effect of interior venetian blind and roll screen on the SHGC of glazing system. SHGC has been evaluated by the KS L 9107 test method and exiting calculation method for precise comparison of the energy performances of various shading devices. In this research, the test sample consists of three different types of double glazing unit with venetian blind and roll screen. Slat angles of venetian blind were changed to $-45^{\circ}$, $0^{\circ}$, and$-45^{\circ}$. For the roll screen, measurements were taken with the roll screen in the closed position. In result, the venetian blind reduced SHGC by 21.2~28.4% at $45^{\circ}$, when compared to the double glazing unit. The roll screen reduced SHGC by 34.4~41.7% at closed. The differences between the measured and calculated SHGC were found to range between 0.001(0.2%) and 0.047(11.1%) for all test cases. For the cases of venetian blind $-45^{\circ}$, $0^{\circ}$ and $45^{\circ}$, the deviation ratio were 3.6~9.8%, 1.1~2.6%, 4.2~11.1%, respectively. For the case of roll screen, the deviation ratio were 4.1~5.7%.

Quality Characteristics of the Chungkookjang Fermented by the Mixed Culture of Bacillus natto and B. licheniformis (Bacillus natto와 B. licheniformis 혼합 Starter로 제초된 청국장의 품질특성)

  • 연규춘;김동호;김정옥;육홍선;조재민;변명우
    • Journal of the Korean Society of Food Science and Nutrition
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    • v.31 no.2
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    • pp.204-210
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    • 2002
  • The quality characteristics and sensory evaluation of chungkookjang were investigated. The samples were prepared and fermented by the inoculation of Bacillus strains; B. subtilis, B. natto and B. licheniformis as a single starter, and mixed culture of B. natto and B. licheniformis on the industrialized model system. It was shown that microbial growth, protease activity, contents of amino-and ammonia-nitrogen and contents of organic acid were higher in B. subtilis inoculated sample, and were lower in B. licheniformis inoculated one. General quality characteristics of sample inoculated by mixed culture of B. natto and B. licheniformis took a middle position between each B. natto and B. licheniformis inoculated one. Fifty eight species of odor components were identified. Ethanol, 3-methyl-1-butanol, acetic acid, benzaldehyde and alkyl pyrazines were identified in all samples and most of other flavor components were strain specific. The contents of unpleasant smell components, alkyl pyrazines and benzaldehyde, were lower in B. licheniformis inoculated sample. The sensory evaluations showed that chungkookjang manufactured from mixed culture of B. natto and B.licheniformis was most acceptable. Therefore, results indicated that chungkookjang manufactured from mixed culture of B. natto and B. licheniformis induced better sensory quality than that of the control.

The Development of a Multi-Purpose Irradiator and the Characteristic of Dose Distribution (다목적 방사선 조사장치 개발 및 선량분포특성)

  • Lee, Dong-Hoon;Ji, Young-Hoon;Lee, Dong-Han;Kim, Yoon-Jong;Hong, Seung-Hong
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.39 no.6
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    • pp.42-48
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    • 2002
  • The design, construction and performance test of a convenient multi-purpose irradiator is described. A multi-purpose irradiator using Cesium-137 has been developed for studies of low dose radiation effects in biology and for calibration of Thermo Luminescent dosimeter(TLD). During the operation, three rods of radioactive material which are 10cm in length revolve 180 degrees and irradiate biological samples, or TLD, and return to their shielded position, after the programmed time. A programmable Logic Controller(PLC) controls the sequence of operation, interlock, motor rotation and safety system. The rotation speed of biological samples can vary up to 20 RPM. A real time monitoring system was also incorporated to check and control the operation status of the irradiator. The capacity of the irradiation chamber was 4.5 liters. The isodose distribution at arbitrary vertical planes was measured by using film dosimetry. The dose-rate was 0.13 cGy/min in air and 0.11 cGy/min in water equivalent material in the case of Cesium-137. Range of activity was 2 Ci. The homogeneity of dose distribution in the chamber was ${\pm}$7%. The actual radiation level on the surface was within permissible levels. The irradiator had a maximum 0.35 mR/min radiation leakage on its surface.

A Study on the Marketing System Construction and Merchandising of Tongyoung Marine Ranching (통영바다목장의 유통체제 구축과 상품화계획에 관한 연구)

  • 강종호;류정곤
    • The Journal of Fisheries Business Administration
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    • v.34 no.2
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    • pp.91-107
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    • 2003
  • Distribution of fish products from Tongyoung Marine ranching can be classified by three routes such as street-stall, live fish transportation vehicles, and wholesale markets neighboring unloading ports. These methods of distribution, however, have been restricted by limited distribution right, difficulties to differentiate fish prices from other surfaces, simple marketing channels. The ratio of cultured live fish circulated in market is increasing while naturally caught live fish is decreasing and the fresh fish shows a little of increasing rate. Consumers purchasing routes mainly depend on the live fish transportation merchants. For fresh fish traditional market plays an important role in trade. Convenience for consumers and quality of products are main factors in making decision of purchases. Bargaining power, however, belongs to the live fish transportation merchants. The demand of special markets for live fish was very strong, and the convenience and quality are relatively important required factors. Catch from Tongyoung Marine ranching has very good reputation as the possibility of being a good brand. Expecting possibility of quality differentiation was higher than price differentiation specially. The possible conclusion of a contract of a supply was suspicious however. Preliminary quality evaluation revealed that the catch is better than the cultured but worse than naturally grown fish. A merchandising is to be in a better position in the formation of prices by giving $\ulcorner$brand image$\lrcorner$ to potential consumers. The target markets are retail stores such as restaurants for raw fish and final consumers. The staple markets are retail stores. Possible items of products are live fish, fresh fish for cook, and fresh fish for raw fish. It is necessary for the catch to be informed as new functional products that have been improved in safety and quality, since the product positioning is similar but not well known to consumers. To secure a brand it is required to register a trademark, eco-label product design or packing, use real name in tranction, introduce recall system, and put label. Price higher than naturally grown live fish should be targeted. Establishing broad distribution channel, wholesale market, franchise are required. To secure enough catch and control shipment of products facilities of containing live fish are necessary. Instead of dealing with live fish only, it would be better to. sell fresh fish and live fish simultaneous. Strategically promotion focuses on advertisement of Marin ranching at first and then focuses on the catch from the marine ranching.

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Development of Fiber-end-cap Fabrication Equipment (대구경 광섬유 엔드캡 제작장비 개발)

  • Lee, Sung Hun;Hwang, Soon Hwi;Kim, Tae Kyun;Yang, Whan Seok;Yoon, Yeong Gap;Kim, Seon Ju
    • Korean Journal of Optics and Photonics
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    • v.32 no.2
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    • pp.49-54
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    • 2021
  • In this paper, we design and construct the equipment to manufacture large-diameter optical fiber end caps, which are the core parts of high-power fiber lasers, and we fabricate large-diameter optical fiber end caps using the home-made equipment. This equipment consists of a CO2 laser as a fusion-splice heat source, a precision stage assembly for transferring the position of a large-diameter optical fiber and an end cap, and a vision system used for alignment when the fusion splice is interlocked with the stage assembly. The output of the laser source is interlocked with the stage assembly to control the output, and the equipment is manufactured to align the polarization axis of the large-diameter polarization-maintaining optical fiber with the vision system. Optical fiber end caps were manufactured by laser fusion splicing of a large-diameter polarization-maintaining optical fiber with a clad diameter of 400 ㎛ and an end cap of 10×5×2 ㎣ (W×D×H) using home-made equipment. Signal-light insertion loss, polarization extinction ratio, and beam quality M2 of the fabricated large-diameter optical fiber end caps were measured to be 0.6%, 16.7 dB, and 1.21, respectively.

Improving Precision of the Exterior Orientation and the Pixel Position of a Multispectral Camera onboard a Drone through the Simultaneous Utilization of a High Resolution Camera (고해상도 카메라와의 동시 운영을 통한 드론 다분광카메라의 외부표정 및 영상 위치 정밀도 개선 연구)

  • Baek, Seungil;Byun, Minsu;Kim, Wonkook
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.39 no.6
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    • pp.541-548
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    • 2021
  • Recently, multispectral cameras are being actively utilized in various application fields such as agriculture, forest management, coastal environment monitoring, and so on, particularly onboard UAV's. Resultant multispectral images are typically georeferenced primarily based on the onboard GPS (Global Positioning System) and IMU (Inertial Measurement Unit)or accurate positional information of the pixels, or could be integrated with ground control points that are directly measured on the ground. However, due to the high cost of establishing GCP's prior to the georeferencing or for inaccessible areas, it is often required to derive the positions without such reference information. This study aims to provide a means to improve the georeferencing performance of a multispectral camera images without involving such ground reference points, but instead with the simultaneously onboard high resolution RGB camera. The exterior orientation parameters of the drone camera are first estimated through the bundle adjustment, and compared with the reference values derived with the GCP's. The results showed that the incorporation of the images from a high resolution RGB camera greatly improved both the exterior orientation estimation and the georeferencing of the multispectral camera. Additionally, an evaluation performed on the direction estimation from a ground point to the sensor showed that inclusion of RGB images can reduce the angle errors more by one order.

Review on Usefulness of EPID (Electronic Portal Imaging Device) (EPID (Electronic Portal Imaging Device)의 유용성에 관한 고찰)

  • Lee, Choong Won;Park, Do Keun;Choi, A Hyun;Ahn, Jong Ho;Song, Ki Weon
    • The Journal of Korean Society for Radiation Therapy
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    • v.25 no.1
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    • pp.57-67
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    • 2013
  • Purpose: Replacing the film which used to be used for checking the set-up of the patient and dosimetry during radiation therapy, more and more EPID equipped devices are in use at present. Accordingly, this article tried to evaluated the accuracy of the position check-up and the usefulness of dosimetry during the use of an electronic portal imaging device. Materials and Methods: On 50 materials acquired with the search of Korea Society Radiotherapeutic Technology, The Korean Society for Radiation Oncology, and Pubmed using "EPID", "Portal dosimetry", "Portal image", "Dose verification", "Quality control", "Cine mode", "Quality - assurance", and "In vivo dosimetry" as indexes, the usefulness of EPID was analyzed by classifying them as history of EPID and dosimetry, set-up verification and characteristics of EPID. Results: EPID is developed from the first generation of Liquid-filled ionization chamber, through the second generation of Camera-based fluoroscopy, and to the third generation of Amorphous-silicon EPID imaging modes can be divided into EPID mode, Cine mode and Integrated mode. When evaluating absolute dose accuracy of films and EPID, it was found that EPID showed within 1% and EDR2 film showed within 3% errors. It was confirmed that EPID is better in error measurement accuracy than film. When gamma analyzing the dose distribution of the base exposure plane which was calculated from therapy planning system, and planes calculated by EDR2 film and EPID, both film and EPID showed less than 2% of pixels which exceeded 1 at gamma values (r%>1) with in the thresholds such as 3%/3 mm and 2%/2 mm respectively. For the time needed for full course QA in IMRT to compare loads, EDR2 film recorded approximately 110 minutes, and EPID recorded approximately 55 minutes. Conclusion: EPID could easily replace conventional complicated and troublesome film and ionization chamber which used to be used for dosimetry and set-up verification, and it was proved to be very efficient and accurate dosimetry device in quality assurance of IMRT (intensity modulated radiation therapy). As cine mode imaging using EPID allows locating tumors in real-time without additional dose in lung and liver which are mobile according to movements of diaphragm and in rectal cancer patients who have unstable position, it may help to implement the most optimal radiotherapy for patients.

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