• Journal of Ocean Engineering and Technology
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• v.34 no.2
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• pp.77-88
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• 2020

In this study, heading characteristics and heading control performances were evaluated to achieve the wave shield effect. The wave shield effect originating from heading control reduces the relative motions of moored vessels in a floating liquefied natural gas bunkering terminal (FLBT). Therefore, loading and off-loading performances are improved through reduced relative motion. For the objective of this study and efficiency of the analysis, a simplified model was used that assuming no relative motion of the moored vessels in the FLBT. The simplified model involved modeling the environmental loads and inertia of several floating bodies, including FLBT, into the environmental loads and inertia of a single vessel. The simplified model was validated through comparisons with model tests. With the simplified model, heading characteristics and heading control simulations were performed using low-frequency planar motion equations. The heading characteristics and heading control performances of FLBT were analyzed through the results of simulations under the expected environmental conditions. The capacity of the tunnel thrust for the heading control performance was confirmed to be adequate for improvement of the loading and off-loading performances using the wave shielding effects under the operation conditions.

• Journal of Korean Library and Information Science Society
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• v.32 no.4
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• pp.257-282
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• 2001

The purpose of this study is to suggest a rational guidelines of authority record for personal name heading control. It analyzes the Statement of Principles of ICCP, the headings of Korean Cataloging Rules and personal name heading of KORMARC on Disc. It also investigates the problems and suggests the possible improvements for headings of personal name. The rules for heading control retains the frame from headings of cataloging rules. The guidelines for heading control of personal name will be integrated in the rules for headings. To efficient retrieval, It suggests distinction of different persons of the same name and subject List.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.1
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• pp.16-24
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• 2018

This paper addresses the heading control of an offshore floating storage and regasification unit (FSRU) using a resolved motion and acceleration control (RMAC) algorithm. A turret moored vessel tends to have the slewing motion. This slewing motion may cause a considerable decrease in working time in loading and unloading operation because the sloshing in the LNG containment tank might happen and/or the collision between FSRU and LNGC may take place. In order to deal with the downtime problem due to this slewing motion, a heading control system for the turret moored FSRU is developed, and a series of model tests with azimuth thrusters on the FSRU is conducted. A Kalman filter is applied to estimate the low-frequency motion of the vessel. The RMAC algorithm is employed as a primary heading control method and modified I-controller is introduced to reduce the steady-state errors of the heading of the FSRU.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.178-188
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• 2019

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1053-1059
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• 2013

Heading bias effects in PNS using IMUs attached to shoes are analyzed in this paper. The navigation algorithms of a single foot PNS where one IMU is attached to a foot and dual foot PNSs where two IMUs are attached to each foot are derived. Two navigation algorithms are proposed for the dual foot PNS: 1) the positions from the independent right and left foot PNSs are averaged to provide the final position, 2) the right and left foot PNSs are correlated and it provides positions of each foot. Furthermore, it is proven that two methods are equal. Using the derived navigation algorithms the effect of heading bias caused by a misalignment of the moving direction and IMU is analyzed. The analysis explains the position error of a single foot PNS is diverged while the heading bias is effectively compensated in dual foot PNSs because of the symmetry of heading biases. The experimental results confirm the analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.524-532
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• 2002

This paper presents a new in-flight alignment method for an SDINS under large initial heading error. To handle large heading error, a new attitude error model is introduced. The attitude errors are divided into heading error and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with Position measurement is designed to estimate navigation errors as the indirect feedback filter Simulation results show that the proposed in-flight alignment method reduces the heading error very quickly from more than 40deg to about 5deg so as to apply a refined navigation filter. The total alignment process including leveling mode and navigation mode in addition to the proposed one allows large initial values not only in heading error but also in leveling errors.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.3
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• pp.408-415
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• 2019

Basically the dynamics of the fixed-wing aircraft is based on the airspeed which is relative to the wind, but when it comes to the track guidance and control, ground speed is the factor to be considered. Especially in the case of low-speed fixed-wing unmanned aerial vehicles the difference between the airspeed and the ground speed is significant depending on wind conditions, so that the heading control and the course control have to be designed separately. This paper represents the course control method using the pre-designed heading control gains which meet the desired characteristics. Also, waypoint guidance and control algorithms are suggested applying this control method. Finally the robustness of the proposed method is confirmed by 6-DoF nonlinear simulation.

• Journal of the Korean Society for Library and Information Science
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• v.36 no.1
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• pp.145-163
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• 2002

The purpose of this study is to suggest a rational guidelines of authority record for heading controls. It analyzes the headings of AACR2R and KCR2. To efficient retrieval, It suggests distinction of different persons and different corporate bodies of the same name and subject list. It also investigates the problem sand suggests the possible improvements for control of headings. The rules for heading control retains the frame from headings of cataloging rules. The guideline for heading controls will be integrated in the rules for headings.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1259-1261
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• 2003

The vehicle's heading angle determination is formulated and the proposed method based on geometry engages the magnetometer and the GPS. The resulting maximum determination accuracy of 0.3deg over the entire earth as a standard deviation is obtained for a magnetometer with measurement error of 1nT.