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반자율무인잠수정의 수중 복합항법 시스템 성능평가를 위한 회전팔 시험
이종무(CHONG-MOO LEE*),이판묵(PAN-MOOK LEE),김시문(SEA-MOON KIM),홍석원(SEOK-WON HONG),서재원(JAE-WON SEO),성우제(WOO-JAE SEONG) 한국해양공학회 2003 韓國海洋工學會誌 Vol.17 No.4
This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance. The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.
이종무(Chong-Moo Lee),최현택(Hyun-Taek Choi),문일성(Il-Sung Moon),이판묵(Pan-Mook Lee) 한국해양공학회 2009 韓國海洋工學會誌 Vol.23 No.4
Thrust is one of the important performance characteristics of an AUV. At the design stage, the resistance of an AUV at its maximum. speed is estimated and then the thrust system is designed, including the propeller diameter, propeller rpm, driving system, and required power. However, it is not possible to be certain that the thrust system has been correctly designed until the AUV is launched and its speed is measured. If data from a propeller open-water test is available, the thrust and torque of the propeller at a certain speed can be estimated. In addition, if the motor's torque characteristics are available, the maximum. speed saturated by the induced propeller torque can be estimated. In this paper, an easy technique for estimating the maximum speed of an AUV will be shown, even in a case where additional resistance is gained from appendages not considered at the design stage. Furthermore, the thrust performance changes by adjusting the diameter of the propeller can be easily investigated.
이종무 ( Chong Moo Lee ),박세근 ( Se Geun Park ),유재영 ( Jai Young Yoo ),김춘추 ( Choon Choo Kim ),강성구 ( Sung Koo Kang ),김예회 ( Re Hwe Kim ),김주현 ( Joo Hwen Kim ) 대한내과학회 1973 대한내과학회지 Vol.16 No.12
1n 1942 Klinefelter, Reifenstein and Albright described a syndrome which was consisted of gynecomastia, eunuchoidism, small atrophic testes and increased excretion of gonadotropine. The atrophic testes was characterized dy hyalization and as ermatogenesis.
증례 : 위에 발생한 Glomus Tumor 의 1 예
이종무 ( Chong Moo Lee ),김교식 ( Kyo Sik Kim ),안영설 ( Young Sul Ahn ),정환국 ( Whan Kook Chung ),정구명 ( Ku Myung Chung ),박용휘 ( Yong Hee Park ),김홍수 ( Hong Soo Kim ) 대한내과학회 1970 대한내과학회지 Vol.13 No.9
A case of gastric glomus tumor in Korean female was described about the clinico-laboratory, gastroscopic, radiologic and operative findings as well as histologic features. Literature was reviewed and discussed in reference to this tumor.
이종무(Chong-Moo Lee),김기훈(Kihun Kim),변성훈(Sung-Hoon Byun) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.4
Most underwater acoustic arrays for low frequency operation are deployed vertically, but a mid-range frequency horizontal array system is being developed by the Korea Research Institute of Ships and Ocean Engineering (KRISO). The horizontal array platform is deployed underwater and kept in place by weather vaning mooring. This is essential because it is nearly impossible to keep a submerged body at a given position in the water without any external force. Hence, the horizontal array platform can maintain the desired position in the presence of a weak tidal current. The objective of this study is to design an underwater platform that can maintain its horizontal position in a weak current. First, the authors investigated various virtual models, selected one of the models, and performed a small model test of the selected model at a basin. We calculated the external forces associated with the 2D motion, and then we conducted a large basin test followed by a circulation water channel test for the manufactured array platform. The results of the simplified 2D motion calculation essentially matched the results of the underwater test.