효율적인 3차원 구조보정법으로서의 공통방위각 구조보정법의 적용

최윤경,지준,이흥연,고승원,전재호 한국자원공학회 2010 한국자원공학회지 Vol.47 No.6

The purpose of this study is to implement a common-azimuth (COMAZ) migration algorithm as an efficient 3D seismic imaging technique, and investigate the feasibility of the algorithm for synthetic data and real field data. The COMAZ migration is a 3-D prestack depth migration (PSDM) based on the full wave equation, derived by a stationary-phase approximation expressed in the frequency-wavenumber domain. To make an input to COMAZ migration, which is common-azimuth data, azimuth-moveout (AMO) processing is used. To check feasibility, we performed an impulse response test successfully with one zero-offset impulse. From the SEG/EAGE 3D synthetic data example, we could see clear delineation of the shape of a salt dome and nearby reflectors on the migrated image. Comparison of the imaging results obtained by COMAZ migration for the field data to those of wave-equation migration showed very similar quality in general, but the image of the COMAZ migration showed better resolutions in some regions. 본 연구의 목적은 효율적인 3차원 탄성파 영상화 기술 확보를 위하여 공통방위각 구조보정 이론에 기초하여 알고리듬을 구현하고 합성자료와 현장자료에 대해 알고리듬의 적용성을 확인하는 것이다. 공통방위각 구조보정법은 주파수-파수 영역에서 완전 파동 방정식에 정적 위상근사를 적용한 3차원 중합전 심도 구조보정 기법으로 입력 자료는 방위각보정으로 보정된 공통 방위각 자료이다. 구현된 구조보정 모듈의 적용성을 확인하기 위하여, 3차원 합성 자료에 대한 임펄스 반응 결과로부터 구조보정이 성공적으로 이루어졌음을 알 수 있었고, SEG/EAGE 3차원 암염 모델자료에 적용한 결과 암염구조와 주변 지층 경계면들이 정확히 영상화된 것을 확인할 수 있었다. 현장 자료에 적용하여 파동방정식 구조보정 영상과 비교해 본 결과 두 영상이 매우 유사하였으며, 일부 지역에서는 선명한 영상이 얻어진 것으로 관찰되었다.

Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator

김상대(Kim, Sang-Dae),김승우(Kim, Seung-Woo) 한국산학기술학회 2010 한국산학기술학회논문지 Vol.11 No.10

서비스 로봇은 사람이 생활하는 환경에서 동작한다. 이런 환경에서는 일반적인 휠베이스 모빌러티(Mobility) 방식의 이동로봇은 동적인 장애물과 정적인 장애물에 둘러싸여 있으므로 로봇의 움직임에 있어 자유로운 주행에 제 약을 받게 된다. 이것은 소위 비홀로노믹(Non-Holonomic) 시스템 특성으로 주행 중인 이동로봇은 장애물을 만나면 별 도의 조향장치를 사용하거나 차동 휠 구조 로봇의 회전 과정을 수행한 후 이동하고자 하는 방향으로 진행할 수 있다. 이런 장애물을 신속하게 회피하려면 홀로노믹(Holonomic) 시스템 특성이 필요하다. 홀로노믹 시스템은 별다른 회전과 정 없이 단순히 좌우로 이동만 하면 된다. 이러한 특성으로 민첩하게 주행할 수 있고 좁은 공간에서 비홀로노믹 로봇 보다 효율적이고 자유로운 주행이 가능하다. 그러므로 본 논문에서는 세 개의 옴니휠(Omni-wheels)을 사용한 홀로노 믹 이동로봇 시스템을 개발한다. 세 개의 옴니휠을 사용한 이동로봇의 동역학과 모터 비선형 운동방정식을 고려한 정 밀한 비선형 동역학 모델을 유도하여 제시한다. 유도된 식을 통해 각각의 모터 속도를 계산하고. 기본 속도제어기로 는 PID방식을 사용한다. 그런데, 옴니휠을 이용한 홀로노믹 이동로봇의 추적제어는 정확한 방위각 센싱 데이터와 기 준값(Reference Value)을 필요로 한다. 방위각 센싱은 부정확성과 불확실성(Uncertainty)을 갖는다. 부정확성은 센서 시 스템의 노이즈와 얼라이어싱(Aliasing)으로 인하여 발생하고, 불확실성은 모바일 로봇의 왜란(Disturbance)과 미끄러짐 (Slip)으로 발생한다. 본 논문에서는 퍼지 논리 추론에 의한 퍼지 방위각 추정기(Estimator)를 개발하여 방위각 제어의 새로운 개념을 제시한다. 끝으로, 퍼지 방위각 추정을 이용한 세 개의 전 방향 바퀴 구조의 이동로봇이 실시간으로 제어되는 실험을 통하여 이동로봇 시스템의 성능을 분석한다. Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

태양광어레이 방위각 및 경사각 변화에 따른 일사량 영향분석에 관한 연구

최영관(Young-Kwan Choi),이남형(Nam-Hyung Lee),김건중(Kern-Joong Kim),조용(Yong Cho) 대한전기학회 2013 전기학회논문지 Vol.62 No.5

In solar generation, the PV array’s azimuth is headed due south and the tilt is generally 33° in order to acquire maximum generation. However, when installed in a site where there are buildings or other facilities, the azimuth and tilt are adjusted. Yet, when the azimuth and tilt are deviated from due south and 33°, the generation quantity is decreased substantially and currently a method to estimate the decreasing proportion is unavailable. Therefore, in this thesis, an equation on the “change ratio of solar radiation due to the changes in tilt and azimuth” was deduced by utilizing empirical data on the amount of solar radiation received according to the changes of tilt and azimuth and Interpolation. By using this equation, the decreasing proportion of generating quantity due to the installation methods of PV system can be estimated, therefore, it can be usefully utilized when designing and going through feasibility studies for development of solar generation systems.

Investigation on the Powering Performance Prediction for Azimuth Thrusters

Van, Suak-Ho,Yoon, Hyun-Se The Society of Naval Architects of Korea 2002 Journal of ship and ocean technology Vol.6 No.1

Recently, the application of the electric propulsion system becomes popular because of its advantage over conventional propulsion. However, the complicated flow mechanism and interaction around the azimuth thruster are not fully understood yet, and the studies on the powering performance characteristics with azimuth/pod thrusters are now in progress. The experimental method developed in KRISO(Korea Research Institute of Ships & Ocean Engineering) is introduced and the results of the powering performance tests, consisting of resistance, self-propulsion and propeller open water tests for a cable layer with two azimuth thrusters are presented. For the analysis of powering performance with azimuth thrusters, it is necessary to evaluate the thrust/drag for components of a thruster unit, Extrapolation results could differ according to the various definitions of the propulsion unit; that is the pod, thruster leg and/or nozzle can be treated as hull appendages or as part of propulsion unit, The powering performances based on several definitions are investigated for this vessel. The results of the measurements for the 3-dimensional velocity distribution on the propeller plane are presented to understand the basis of the difference in propulsion characteristics due to the propeller rotational directions.

비표준형 돈사의 지붕을 활용한 태양에너지 설비에 관한 연구

김진현,정성진,김태욱,김현태,최준학,하유신 경상대학교 농업생명과학연구원 2015 농업생명과학연구 Vol.49 No.2

군위지역의 돈사를 중심으로 농업시설의 비활용 공간인 지붕을 활용하기 위한 기초자료로써 지붕의 방위각, 경사각 및 농지의 분류에 따른 문제점을 분석하였다. 또한 비표준형 돈사의 구조해석과 보강방안에 대한 대책을 강구하였고, 태양에너지 생산을 위한 지붕의 방위각과 위도에 따른 일사량을 측정한 결과는 다음과 같다. 돈사의 농지의 분류에 따른 결과는 군위지역 돈사의 경우 농림지역을 제외한 곳은 47.8%이었으며 적정 방위각으로 분류하면 21.7%가 활용 가능하였다. 그러나 농지와 방위각을 모두 고려한 조사에서는 10.9%만이 가능하여 돈사의 약 90%는 지붕의 활용이 부적합 한 것으로 판단되었다. 돈사의 지붕 경사각에서는 총 46호 중 10°∼15°가 17호로 가장 많았으며, 20°미만인 경우가 전체의 63%에 해당되었다. 20°이상인 곳은 16호로 전체의 약 35%로 나타나 전반적으로 지붕각은 완만하게 건축되었다. 따라서 돈사의 경우 일사량을 고려하여 태양에너지 설비를 할 경우 최소한 약 4∼5° 정도 지붕경사각이 낮음을 알 수 있었다. 비표준형 돈사에 대한 구조해석을 통하여 보강방안에 대한 대책을 강구하였다. 지붕의 방위각과 위도에 따른 일사량의 측정에서는 정남방향을 기준으로 위도가 27.5°∼50°까지 비교적 높게 나타났으며, 위도를 0°로 고정하였을 경우, 방위각은 S22.5W와 S22.5E에서 높은 것을 알 수 있었다. 따라서 적정 지붕의 경사각은 25°이상으로 건축하는 것이 유리한 것으로 판단되었다. In order to use un-utilized space of agricultural facilities, pigsty roof, as a solar energy facility, this study surveyed roofs of pigsties in Gunwi County, Gyeongsangbuk-do. It measured the azimuth and inclination of roofs of pigsties, facilitate problems according to the classification of arable lands, and insolation according to the azimuth and latitude of roofs of pigsties for solar energy production. The results are as follows. Except the agricultural and forestry areas, 47.8% of the solar energy facilities according to the classification of arable lands of pigsties were available, and 21.7% of them were available by classifying according to the proper azimuth. However, only 10.9% of them were available in the survey considering all the arable land and azimuth, and it was considered that approximately 90% of the roofs of pigsties were used inappropriately. In the roof inclination of the pigsties, from 10 to 15° was the most common, 17 pigsties. The pigsties with the roof inclination less than 20° accounted for 63% of the total. 16 pigsties with the roof inclination more than 20° accounted for approximately 35% and were constructed with gentle roof angle in general. Therefore, it was necessary to increase the roof inclination at least about 4 to 5° when establishing solar energy facilities in consideration of insolation.

고정식과 방위추적식 태양열 급탕시스템의 집열성능 비교

이종석(Jong Suk Lee) 대한기계학회 2014 大韓機械學會論文集B Vol.38 No.2

강릉원주대학교는 캠퍼스 내에 저탄소 녹색기술 아이템들을 설치하였다. 그 중에 태양열 급탕시스템은 태양열 집열판을 고정식과 방위추적식의 두 가지 방식으로 설치하였으며, 기존의 고정식 집열판과 새로운 방위추적식 집열판을 사용하는 급탕시스템의 집열량을 비교하기 위해 모니터링을 실시하였다. 본 논문에서는 태양열 급탕시스템의 구성 및 모니터링 시스템을 소개하고 모니터링 결과를 통해 고 정식과 방위추적식 태양열 집열판을 사용한 두 가지 급탕시스템의 집열성능을 비교하였다. 방위추적식의 집열량이 고정식보다 맑은 날에는 19%, 비온 날에는 23%, 평균 21% 만큼 더 크다는 것을 보여준다. The solar water heating system is one of the seven green campus items installed at the Gangneung campus of Gangneung-Wonju National University. The solar water heating system has two types of solar collectors, four storage tanks and monitoring equipment. Fixed and azimuth-tracking solar collectors were installed to collect heat from the sun. The amount of heat collected by the two different types of solar collectors was calculated from the temperature of the monitored storage tanks. Our results showed that the amount of solar heat collected by the azimuth-tracking solar collector was 19% greater on a sunny day and 23% greater on a rainy day than that collected by the fixed solar collector; therefore, the azimuth-tracking solar collectors are, on an average, 21% more efficient than the fixed solar collectors.

표준육계사의 지붕을 활용한 태양에너지 설비 타당성 분석에 관한 기초 연구

김진현(Kim Jin-Hyun),정성진(Jung Sung-Jin),김태욱(Kim Tae-Wook),최준학(Choi Jun-Hak),하유신(Ha Yu-Shin) 한국태양에너지학회 2014 한국태양에너지학회 논문집 Vol.34 No.4

In order to reduce greenhouse gas emissions in recent agricultural energy and increase the energy self-sufficiency rate of each farmer, it is extremely important to expand the supply of solar energy using unused space of agricultural facilities, roof. This study surveyed and analyzed the environmental and administrative factors such as problems according to the structure, azimuth and latitude of broiler houses and stability of standard broiler houses required to use broiler house roof based on the poultry houses in Sangju-si. The results can be summarized as follows: 55.6% of the solar energy facilities of according to the classification of arable lands of broiler houses were available, and 31.7% of them were available by classifying according to the azimuth. However, 20.6% of them were available in the survey considering all the arable land and azimuth. In the roof inclination of the broiler houses, from 20 to 25° was the most common, 30 broiler houses. The broiler houses with the roof inclination more than 20° accounted for 63% of the total. It was considered that the inclination was generally proper. In the structural safety, only 3 broiler houses that were constructed as a standard broiler house were available. In practice, all but one broiler house was inappropriate to expand the solar energy project using roof. The solar thermal facility weighed 63.6 kg/㎡ in total: the frame and solar thermal collector weighed 27.8 kg/㎡ and 35.8 kg/㎡, respectively. The standard broiler house required to be internally reinforced. This study suggested a plan for internal reinforcement and a feasible plan because there were problems with structural safety when installing solar thermal and photovoltaic systems.

건물일체형 투광성 PV모듈의 설치각도별 발전특성에 관한 연구

송종화(Song Jong-Hwa),윤종호(Yoon Jong-Ho),안영섭(An Young-Sub),김석기(Kim Seok-Ge),이성진(Lee Sung-Jin),정연규(Choung Youn-Kyoo) 한국태양에너지학회 2008 한국태양에너지학회 논문집 Vol.28 No.2

This study has analysed power output characteristics of transparent thin-film PV module depending on incidence angle and azimuth. The experiment results showed power outputs of transparent thin-film PV module applied to full-scale mock up model on slope of 90° 30°, 0° to the south. The simulation results was evaluated power outputs of transparent thin-film PV module depending on incidence angle and azimuth after calibrating the experimental and computed data. As a result. the best power output performance of transparent thin-film PV module was obtained at slope of 30° to the south. producing the annual power output of 977kWh/kWp. The annual power output data demonstrated that the PV module with a shoe of 30° could produce a 68% higher power output than that with a slope of 90°, with respect to the inclined slope of the module. Furthermore, the PV module facing south showed a 22% higher cower output than that facing to the east in terms of the angle of the azimuth. Specipically. the varying power output with incidence angle of PV module can be resulted from the influence of incidence angle modifier of glass on PV module. That is, the solar energy transmission can be reduced as an increase of incidence angle of PV module. Therefore, when the inclined slope of the PV module was over 70° there was a significant reduction of power output, and this was caused by the decrease of solar energy transmission in the transparent thin-film PV module,

건물일체형 태양광발전시스템(BIPV)의 설치조건에 따른 발전특성 연구

안영섭(An, Young-Sub),송종화(Song, Jong-Hwa),김석기(Kim, Seok-Ge),이성진(Lee, Sung-Jin),윤종호(Yoon, Jong-Ho) 한국신재생에너지학회 2008 한국신재생에너지학회 학술대회논문집 Vol.2008 No.05

This study has analysed power output characteristics of transparent thin-film PV module depending on incidence angle and azimuth. The simulation results was evaluated power outputs of transparent thin-film PV module depending on incidence angle and azimuth after calibrating the experimental and computed data. As a result, the best power output performance of transparent thin-film PV module was obtained at slope of 30? to the south, producing the annual power output of 977kWh/kWp. The annual power output data demonstrated that the PV module with a slope of 30? could produce a 68 % higher power output than that with a slope of 90?, with respect to the inclined slope of the module. Furthermore, the PV module facing south showed a 22 % higher power output than that facing to the east in terms of the angle of the azimuth.

Comparison between Ellipsoid-Fitting Calibration Techniques for Azimuth-Estimating Three-Axis Magnetometer

전태형(Tae Hyeong Jeon),이정근(Jung Keun Lee) Korean Society for Precision Engineering 2018 한국정밀공학회지 Vol.35 No.1