• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.156.4-156
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• 2001

The uncertainties of an atmospheric re-entry flight with respect to stability and controllability are aerodynamic error, measurement error of the angle of attack, variation of dynamic pressure, wind, and trim position of the control surfaces, etc. During hypersonic flight, a future angle of attack is biased from a nominal schedule. In order words, because the angle of attack is estimated from the navigation data, estimation error occurs due to wind, atmospheric density variation, etc. Error models used in this study, include a standard deviation of +-3 sigma, and are the normal distribution of statistics. This paper shows the appraisement of tracking performance onto the reference trajectory, satisfaction of the initial condition of TAEM about the re-entry system.

• Nuclear Engineering and Technology
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• 제52권9호
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• pp.2017-2024
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• 2020

In this study, a fractional order proportional integral derivative (FOPID) controller is designed to create the reference power trajectory and to conquer the uncertainties and external disturbances. A fractional nonlinear model was utilized to describe the nuclear reactor dynamic behaviour considering thermal-hydraulic effects. The controller parameters were tuned using optimization method in Matlab/Simulink. The FOPID controller was simulated using Matlab/Simulink and the controller performance was evaluated for Hard variation of the reference power and compared with that of integer order a proportional integral derivative (IOPID) controller by two models of fractional neutron point kinetic (FNPK) and classical neutron point kinetic (CNPK). Also, the FOPID controller robustness was appraised against the external disturbance and uncertainties. Simulation results showed that the FOPID controller has the faster response of the control attempt signal and the smaller tracking error with respect to the IOPID in tracking the reference power trajectory. In addition, the results demonstrated the ability of FOPID controller in disturbance rejection and exhibited the good robustness of controller against uncertainty.

• 한국해양공학회지
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• 제34권3호
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• 한국자동차공학회논문집
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• 제10권2호
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• pp.87-95
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• 2002

The aim of this article is to perform the numerical simulation far drop drag and breakup processes in air-assisted sprays using the Taylor analogy breakup (TAB) model with a modified drop drag model, in which a random method is newly used to consider the variation of the drop's frontal area. The predicted results for drop trajectory and Salter mean diameter (SMD) were compared with experimental data and the simulation results using the earlier published models such as TAH model, surface wave instability (Wave) model, and Wave model with original drop drag model. In addition, the effects of the breakup model constant, Ck, on prediction of spray behaviors were discussed. The results shows that the TAB model with the modified drop drag model is in better agreement with experimental data than the other models, indicating the present model is acceptable for predicting the drop breakup process in air-assisted sprays. At higher Weber numbers, the smaller Ck shows the best fitting to experimental data. It should be noted that more elaborated studies is required in order to determine the breakup model constant in the suggested model in the study.

• 로봇학회논문지
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• 제15권3호
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Bulletin of the Korean Chemical Society
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• 제27권12호
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• pp.1976-1980
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• 2006

We have calculated the reaction probability and the reaction cross-section of the $N(^4S)+O_2(X^3\sum_{g}^{-})\;\rightarrow\;NO(X^2\Pi)+O(^3P)$ reaction by the quasiclassical trajectory method with the 6th-order explicit symplectic algorithm, based on a new ground potential energy surface. The advantage of the 6th-order explicit symplectic algorithm, conserving both the total energy and the total angular momentum of the reaction system during the numerical integration of canonical equations, has firstly analyzed in this work, which make the calculation of the reaction probability more reliable. The variation of the reaction probability with the impact parameter and the influence of the relative translational energy on the reaction cross-section of the reaction have been discussed in detail. And the fact is found by the comparison that the reaction probability and the reaction cross-section of the reaction estimated in this work are more reasonable than the theoretical ones determined by Gilibert et al.

• Archives of Plastic Surgery
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• 제46권4호
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• pp.386-389
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• 2019

The development of breast implant technology continues to evolve over time, but changes in breast shape after implantation have not been fully elucidated. Thus, we performed computerized finite element analysis in order to better understand the trajectory of changes and stress variation after breast implantation. The finite element analysis of changes in breast shape involved two components: a static analysis of the position where the implant is inserted, and a dynamic analysis of the downward pressure applied in the direction of gravity during physical activity. Through this finite element analysis, in terms of extrinsic changes, it was found that the dimensions of the breast implant and the position of the top-point did not directly correspond to the trajectory of changes in the breast after implantation. In addition, in terms of internal changes, static and dynamic analysis showed that implants with a lower top-point led to an increased amount of stress applied to the lower thorax. The maximum stress values were 1.6 to 2 times larger in the dynamic analysis than in the static analysis. This finding has important implications for plastic surgeons who are concerned with long-term changes or side effects, such as bottoming-out, after anatomic implant placement.

• 한국대기환경학회지
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• 제34권2호
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• pp.321-330
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• 2018

Concentrations of the atmospheric radon and gaseous pollutants were measured at the Gosan site on Jeju Island from 2010 to 2015, in order to observe their time-series variation characteristics and examine the concentration change related to the airflow transport pathways. Based on the realtime monitoring of the atmospheric radon and gaseous pollutants, the daily mean concentrations of radon ($^{222}Rn$) and gaseous pollutants($SO_2$, CO, $O_3$, $NO_x$) were $2,400mBq\;m^{-3}$ and 1.3, 377.6, 41.1, 3.9 ppb, respectively. On monthly variations of radon, the mean concentration in October was the highest as $3,033mBq\;m^{-3}$, almost twice as that in July ($1,452mBq\;m^{-3}$). The diurnal variation of radon concentration shows bimodal curves at early morning (around 7 a.m.) and near midnight, whereas its lowest concentration was recorded at around 3 p.m. Several gaseous pollutants($SO_2$, CO, $NO_x$) showed a similar seasonal variation with radon concentration as high in winter and low in summer, whereas the $O_3$ concentrations had a bit different seasonal trend. According to the cluster back trajectory analysis, the frequencies of airflow pathways moving from continental North China, East China, Japan and the East Sea, the Korean Peninsula, and North Pacific Ocean routes were 36, 37, 10, 13, and 4%, respectively. When the airflow were moved to Jeju Island from continental China, the concentrations of radon and gaseous pollutants were relatively high. On the other hand, when the airflows were moved from North Pacific Ocean and East Sea, their concentrations were much lower than those from continental China.

• 한국지구과학회지
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• 제41권1호
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• pp.48-60
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• 2020

이 연구의 목적은 집단중심 추세모형을 적용하여 과학고 학생들이 탐구를 수행하는 과정에서 나타난 통합 탐구 기능 변화의 양상과 특징을 분석하는 것이다. 이를 위해 3개의 가설-연역적 탐구 과제를 이용하였으며, 이를 59명의 과학고 학생들에게 순차적으로 수행하게 하고 그 과정을 보고서로 작성하게 하였다. 작성된 보고서는 Lee and Park(2017)에 의해 개발된 평가 준거틀에 따라 통합 탐구 기능 4개 요소별로 평가하였으며, 이를 집단중심 추세모형에 적용하여 탐구 과제를 수행한 3개 시점에 따른 탐구 기능 수준의 변화 양상을 요소별로 분석하였다. 또한, 탐구 기능 변화에서 나타난 특징을 몇 가지 관점에서 분석하였다. 연구 결과는 다음과 같다: 첫째, 집단중심 추세모형을 적용하여 학생들의 통합 탐구 기능 변화 양상을 분석한 결과, 4개 요소 모두에서 2개 집단으로 분류되었으나 그 변화 양상은 요소별로 많은 차이가 있었다. 둘째, 학생들의 통합 탐구 기능 변화에서 나타난 특징을 분석한 결과, 탐구 기능의 맥락의존성, 탐구 기능 발달 경로의 변이성, 탐구 기능 요소별 수준의 들쭉날쭉성을 발견할 수 있었다. 연구 결과를 토대로 과학고 학생들의 통합 탐구 기능 발달을 위한 제언을 하였다.

• 대한교통학회지
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• 제33권4호
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• pp.323-336
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• 2015

Surrogate safety measure(SSM)를 이용하여 도로상의 위험을 측정하는 방식은 사고의 직접적인 원인과 연관된 차량의 거동을 분석 대상으로 한다는 장점을 가지고 있으나, 한 지점에 국한된 정보를 이용하기 때문에 위험을 연속적으로 분석하는 데에 제약이 있다. 이러한 한계를 극복하기 위해 본 연구에서는 RTK-DGPS를 이용하여 차량들의 궤적을 얻는 방안을 제시하고, 이를 통해 time-to-collision(TTC), deceleration rate to avoid collision(DRAC), acceleration noise(AN) 등의 SSM을 산출하는 데에 필요한 문제들을 고려한 방법론을 설정하였다. 또한 본 연구에서는 검토된 방법론을 이용하여 운전 중 발생하는 다양한 차량거동 변화를 관찰하기 위하여 영동고속도로 북수원IC-군포IC 구간을 대상으로 실험을 수행한 결과를 제시하였다. 그 결과 궤적 기반 SSM 지표값이 다양한 주행 상황에서의 위험성을 합리적으로 설명할 수 있음을 확인하였다. 본 연구는 향후 다양한 구간특성 및 운전자 특성에 따른 위험상황을 설명하는 연구를 수행하고, 위험구간 감지 및 위험한 운전행태의 감지를 통한 사고예방에 활용될 수 있을 것으로 판단되며, 이를 통하여 위험도로 개선 및 교통사고 줄이기 사업을 효율적으로 추진하는 데에 기여할 수 있을 것이다.