• Journal of Fisheries and Marine Sciences Education
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• v.9 no.2
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• pp.167-178
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• 1997

It has been expected not only for crew but also for passengers to realize a ship whose rolling and other motions are small as much as possible. Restricting our consideration to the roll reduction, the conventional roll stabilization system, fins or anti-rolling tanks hve been utiized as the actuator. Excessive motions would interfere with the recreational activities of passengers on a cruise ship. Often more than half of the load of a containership is stowed above deck where it is subjected to large acclerations due to rolling. In some situations this may cause some internal damage to the contents of the containers; in more severe situations failure of the lashing can occur and containers may be lost over-board. Underdeck cargo in ordinary cargo ships and bulk commodities in colliers, ore ships and grain ships can shift if the motions become too severe. The purpose of this study is to concentrate on the additions. either internal or external to the hull, that reduce or otherwise improve the motion responses of the hull. It is assumed that the additions are such that their benefit to the motions of the ship outweights any impact on the ability of the ship to perform its assigned task. It is particularly challenging to obtain large improvements in the motion characteristics of existing ships that are being rebuilt or modified for some task not anticipated in their original design. Further the authors will statistically analyze the influence of ruder-roll-yaw coupling motion in the case of application of this advanced control method to various kinds of ship.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.3
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• pp.231-238
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• 2002

In this paper, we present a new approach to autopilot design for skid-to-turn missiles which may have severe aerodynamic cross-couplings and nonlinearities with angle of attack. The model of missile motion is derived in the maneuver plane and, based on that model, pitch, yaw, and roll autopilot are designed. They are composed of a nonlinear term which compensates for the aerodynamic couplings and nonlinearities and a linear controller driven by the measured outputs of missile accelerations and angular rates. Besides the outputs, further information such as Mach number, dynamic pressure, total angle of attack, and bank angle is required. With the proposed autopilot and simple estimators of bank angle and total angle of attack, it is shown by computer simulations that the induced moments and some aerodynamic nonlinearities are properly compensated and that the performance is superior to that of the conventional ones.

• Advances in aircraft and spacecraft science
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• v.6 no.5
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.1
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• pp.29-37
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• 1993

The purpose of this paper is to estimate the attitude and the position of SPOT satellite which are needed in producing DEM(Digital Elevation Model) using SPOT satellite image pairs. DEM extraction is consists of three parts. First part is the modeling of satellite position and atitude, second part is the matching of two images to find corresponding point of them and third part is to calculate the elevation of each point by using the result of the first and second part. For modeling inaccessible area, extended modeling algorithm which removes the GCP(Ground Control Point) most errorneous from the GCPs extracted from map iteratively is proposed According to the experiments using a collinearity equation, the second order polynomials are shown to the optimal for .omega.(pitch), and Zs parameters while the first order ones for .kappa.(yaw) .PHI.(roll), Xs, and Ys parameters. The input images used in this paper are 6000*6000 level 1A panchromatic digital SPOT images of Chungchong-do, Korea. With 30 GCPs, experiments on SPOT images show that the planimetric and altimetric RMS errors are 7.11m and 7.10m, respectively, for test points.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.300-306
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• 2006

In this paper an error analysis of 3-dimensional GNSS attitude determination system is given. The attitude error covariance matrix is derived and analyzed. It implies that attitude errors are affected by the baseline length and configuration, the satellites numbers and geometry, receiver measurement noises and the nominal attitude of the vehicle. By defining Euler Angle Dilution Of Precision (EADOP) which is analogous to GDOP, roll, pitch and yaw errors can be efficiently analyzed. However the expression of the attitude error is too complex to get some intuitions. Therefore with a commonly adopted assumption, new expressions for attitude error are derived. The formulas are easy to compute and represent the attitude error as a function of the nominal attitude of a vehicle, the baseline configuration and the receiver noise. Using the formula, the accuracy of the attitude can be analytically predicted without the computer simulations. Applications to some widely used configurations reveal the effectiveness of the proposed method.

• International Journal of Aeronautical and Space Sciences
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• v.1 no.1
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• pp.70-80
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• 2000

The attitude knowledge error model is formulated for specifically KOMPSAT attitude determination system using the Lefferts/Markley/Shuster method, and the attitude determination(AD) error analysis is performed so as to investgate the on-board attitude determination capability of KOrea Multi-Purpose SATellite(KOMPSAT) using the covariance analysis method. Analysis results show there is almost no initial value effect on Attitude Determination (AD) error and the sensor noise effects on AD error are drastically decreased as is predicted because of the inherent characteristic of Kalman filter structure. However, it shows that the earth radiance effect of IR-sensor(earth sensor) and the bias effects of both IR-sensor and fine sun sensor are the dominant factors degrading AD error and gyro rate bias estimate error in AD system. Analysis results show that the attitude determination errors of roll, pitch and yaw axes are 0.056, 0.092 and 0.093 degrees, respectively. These numbers are smaller than the required values for the normal mission of KOMPSAT. Also, the selected on-orbit data of KOMPSAT is presented to demonstrate the designed AD system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.871-878
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• 2003

With the development of micro -technology, the demand for micro actual ing device is increasing. But, it is difficult to achieve high resolution and wide bandwidth with the conventional contact systems. So, the contact-free systems which are suspended or levitated by magnetic force or air bearing were proposed. These systems can be applied to high precision stages and alignment apparatuses. This paper describes a magnetically suspended system with four degrees of freedom which are composed of three rotations (roll, pitch, yaw), and one translation ( z). The operating principle and the structure of the system are similar to variable reluctance type electric machines. In this study, the force analysis is executed using magnetic circuit and virtual work principle, and the equations that describe the dynamics of the system are presented. The multivariable PID controller is adapted to the system and the experiment is executed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.10a
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• pp.71-76
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• 2010

This paper presents the feasibility for improving the ride quality of railway vehicle equipped with semi-active suspension system using magnetorheological(MR) fluid damper. In order to achieve this goal, a fifteen degree of freedom of railway vehicle model, which includes a car body, bogie frame and wheel-set is proposed to represent lateral, yaw and roll motions. The MR damper system is incorporated with the governing equation of motion of the railway vehicle which includes secondary suspension. To illustrate the effectiveness of the controlled MR dampers on railway vehicle secondary suspension system, the sky-hook control law using the velocity feedback is adopted. Computer simulation for performance evaluation is performed using Matlab. Various control performances are demonstrated under external excitation which is the creep force between wheel and rail.

• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.