• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.2029-2033
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• 2007

오늘날 특정 유역에서의 수문현상 및 수문순환에 대한 분석을 위한 연구가 활발히 진행되고 있다. 이를 위해서는 수문자료의 관측은 반드시 수반되어야 하며, 관측자료의 품질관리 및 원시자료의 관리 등이 요구되고 있는 실정이다. 관측된 수문자료의 품질관리라 함은 자료의 신뢰도 분석과 자료의 보완의 두 과정을 포함한다. 여기서, 신뢰도 분석이라 함은 자료 속에 포함된 불확실성을 판별하는 작업을 의미하며, 자료의 불확실성은 위에서 언급된 자료의 불충분 및 불안정을 제외한 부정확, 불일관성에서 비롯된다. 자료의 보완이라 함은 자료의 신뢰도 분석을 통하여 자료 속에 포함된 불확실한 성분들을 찾아내고, 이를 제거한 후 완전한 자료로 대체하고, 자료가 결측된 경우 공백을 연결함으로써 자료의 완전성을 유지하거나 또는 불충분한 자료를 확장하는 일련의 보완작업이라고 정의한다. 자료의 품질을 결정하는 주요 인자는 크게 관측소 관리의 하드웨어적인 측면과 자료 분석의 소프트웨어적인 측면이 있다. 하드웨어적인 측면에서의 수문자료 품질관리를 위해서 본 과제에서는 현장에 설치된 수위계, 강우량계의 센서 등에 대한 장비를 점검하고, 현장실측을 통해 지속적으로 측정값을 보정해주는 역할을 수행하고 있으며, 소프트웨어적인 측면에서 수문자료의 품질관리를 위해서는 수문자료의 수집 단계부터 시작하여 데이터베이스 저장, 필터링, 통계분석, 웹 및 C/S(Client Server)를 통한 배포 등의 일련의 자료 처리 과정을 수행할 수 있는 수문자료관리 프로그램을 웹 시스템과 C/S로 분류하여 정의내릴 수 있다. 본 연구에서는 수문자료의 관리자 입장에서의 보다 효율적이고 체계적으로 자료를 관리하고 분석하기 위한 방안으로 수문자료관리시스템(Hydrologic Data Aquisition and Management System, HDAMS)을 개발하였다. 이 시스템은 안양천 유역에서 시범 적용하고 있으며, 범용성을 전제로 개발되었다. 또한 수문자료 관리 프로그램의 DB 구조 및 DB 자료를 활용한 다양한 분석기능은 갖도록 설계하였으며 계획된 데이터베이스 구조를 바탕으로 계측기 인터페이스와 사용자 인터페이스, 데이터베이스 간의 연동이 원활히 이루어지도록 개발하고자 한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.3
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• pp.88-94
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• 2004

The KSR-III rocket is a liquid propellant sounding rocket and thrust vector control actuators and cold gas thrusters are used to control pitch and yaw, roll attitude respectively during thrusting phase. In this paper, the structure of designed attitude controller and gain scheduling, results of stability analysis for KSR-III rocket are presented. The attitude controller is implemented with flight software in the domestically developed INS and successfully performed its function in the flight test. The flight data are coincident with simulation results.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.276-284
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• 2013

This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1521-1527
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• 2013

This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.6
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• pp.529-535
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• 2016

This study focuses on the comparison of measured data from 6-DOF motion sensor and strain gauge installed in the IBRV ARAON during 2015 summer voyage in the Arctic. Procedures to calculate the global ice load from MotionPak II inertial measurement system and the local load from stain gauge system are discussed. The ship's speed and peak load are determined in the concept of an ice collision "event". It is found that the peak values in the global ice calculated form whole ship motion analysis fall in the range of 1.5~3 times of the local ice load based in strain gauge measurement.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.3
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• pp.237-244
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• 2024

An Attitude and Heading Reference System (AHRS) provides the attitude of a vehicle with a constant velocity using an Inertial Measurement Unit (IMU) and a magnetometer. In this case, in order to avoid the disadvantage of a gyroscope, an AHRS using a Gyro-Free IMU (GF-IMU) that is composed of only accelerometers may be considered instead of the gyroscopes. In this paper, a design method of an AHRS using a GF-IMU is proposed. The proposed AHRS consists of roll and pitch calculation, yaw calculation, angular acceleration and angular velocity calculation, attitude calculation, and a Kalman filter. In particular, since the angular velocity cannot be measured from a gyroscope, the angular acceleration is obtained from the accelerometer output, and the angular velocity is calculated by integrating it. In order to show the usefulness of the proposed method, a performance evaluation was carried out. The performance evaluation results show that the attitude estimation performance of the proposed AHRS is similar to that of the conventional AHRS.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.531-532
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• 2016

Carpal tunnel syndrome, carpal tunnel becomes part of a narrower median nerve pain occurs pressed. How a stable wrist stretch for the prevention of carpal tunnel syndrome is required, it should life guides to fit the user is provided. In this research, users themselves recognize the risk of carpal tunnel syndrome, to be able to stretch, it implements the application. Application, based on the usage time set by the user, executes the alarm and lock. At this time, the user may utilize arduino and inertia sensor, it is possible to wrist stretch, to analyze usage patterns, it is possible to provide a medical information and life guides to suit the user. Data using Bluetooth 4.0 communication has been to meet the runaway. In order to evaluate the mounted system, targeting four subjects, the time and the touch frequency of usage of the 3-day smartphone measured, as a result of the questionnaire, it reduces the frequency of use of smartphones, a positive it was possible to prove the effect.

• Journal of the Korean Geotechnical Society
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• v.33 no.7
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• pp.17-28
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• 2017

This paper presents the investigation of dynamic behavior of a single pile in dry sand based on 1g shaking table tests. The natural frequency of soil-pile system was measured, and then a range of loading frequency was determined based on the natural frequency. Additionally, the studies were performed by controlling loading accelerations, pile head mass and connectivity conditions between pile and cap. Based on the results obtained, relatively larger pile head displacement and bending moment occur when the loading frequency is larger than the natural frequency of soil-pile system. However, the slope of the p-y curve is smaller in the similar loading frequency. Also, it was found that inertia force like input acceleration and pile head mass, and relation of the natural frequency of soil-pile system and input frequency have a great influence on the slope of dynamic p-y curve, while pile head conditions don't.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.380-388
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• 2016

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.