• Journal of Advanced Navigation Technology
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• v.22 no.3
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• pp.220-227
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• 2018

The most widely used method for constructing an inertial navigation system (INS)/global navigation satellite system (GNSS) coupling system is to construct an integrated navigation system using a Kalman filter. However, depending on the trajectory, non-observable state variables may be generated. In this case, the state variables are not estimated. To solve this problem, a integrated navigation system is constructed and then an observability analysis is performed. In this paper, a 24th order position-matched Kalman filter is defined to design an INS/GNSS integrated navigation system for vehicles moving with a large pitch angle change. To verify the appropriateness of the error state variables applied to the Kalman filter, an observability analysis was performed. The trajectory was divided into five segments, and the piece-wise constant system (PWCS) was assumed for each segment, and the results were analytically analyzed. The analytical results and the simulation results confirm that the error state parameters of the Kalman filter are well-designed to the estimation side.

• Journal of the Korea Society for Simulation
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• v.27 no.2
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• pp.35-48
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• 2018

The study of air defense against North Korean tactical ballistic missiles (TBM) should consider the rapidly changing battlefield environment. The study for target re-designation for intercept missiles enables effective operation of friendly defensive assets as well as responses to dynamic battlefield. The researches that have been conducted so far do not represent real-time dynamic battlefield situation because the hit probability for the TBM, which plays an important role in the decision making process, is fixed. Therefore, this study proposes a target re-designation algorithm that makes decision based on hit probability which considers real-time field environment. The proposed method contains a trajectory prediction model that predicts the expected trajectory of the TBM from the current position and velocity information by using random forest and moving window. The predicted hit probability can be calculated through the trajectory prediction model and the simulator of the intercept missile, and the calculated hit probability becomes the decision criterion of the target re-designation algorithm for the missile. In the experiment, the validity of the methodology used in the TBM trajectory prediction model was verified and the superiority of using the hit probability through the proposed model in the target re-designation decision making process was validated.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.317-318
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• 2007

휴머노이드 로봇이 인간에게 필요한 다양한 서비스를 제공하기 위해서는 정해진 동작이 아닌 상황에 따른 다양한 동작이 요구된다. 특히 보행에 있어서는 회전각도 보폭 등이 상황에 따라 변경이 가능해야 한다. 이에 따라 로봇에게 필요한 다양한 보행 궤적을 생성하기 위해서는 보행궤적의 생성과 안정성 판별을 위한 ZMP(Zero Moment Point), COG(Center Of Gravity)등의 생성을 위한 시뮬레이터가 필요하게 된다. 본 논문에서는 성행 연구를 통해 개발된 시뮬레이터 프로그램의 단점을 분석하고 보완하여, 보폭 및 회전 각도가 자유로운 회전 보행의 생성이 가능한 시뮬레이터 프로그램을 구현하였다. 그리고 구현된 시뮬레이터 프로그램을 사용하여 생성된 궤적 파일을 동역학 해석 프로그램인 NASTRAN을 이용 시뮬레이터를 검증한다.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.1
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• pp.18-23
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• 2001

In this paper, the several indexes represented by swimming characteristics of aquarcultured red seabream, Dchrysophrys majors in a farming water raft(10L×10W×5H) were measured by ultrasonic telemetry. The fishes tagged by pingers were tracked by the LBL method(Shin etc., 1994). The location of fishes were calculated by the hyperbolic method and the indexes were estimated by the least square method. The similarity was confirmed by the comparision between experiment and simulation on the swimming trajectory of fishes, the mean distance of individual from wall, the mean swimming speed and the mean distance between the nearest individuals. The obtained results are summerized as follows ; 1. The swimming trajectory of fishes tagged by the pingers and the swimming trajectory by the simulation for 120 minutes showed a simularity. 2. The mean swimming speed by the experiment and the simulation showed 39.2 ㎝/sec (1.4BL ㎝/sec) and 44.4 ㎝/sec (1.6BL ㎝/sec), respectively. 3. The mean swimming depth by the experiment and the simulation showed 238㎝ and 248 ㎝, respectively. 4. The mean distance of individuals from wall of the farming water raft by the experiment and the simulation showed 132 cm and 129 cm, respectively. 5. The mean distance between the nearest individuals by the experiment and the simulation showed 83 ㎝ and 61 ㎝, respectively.

• Journal of KIISE:Computer Systems and Theory
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• v.33 no.3
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• pp.147-156
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• 2006

Physically-based simulation modeling is to simulate the real world by using physical laws such as Newton's second law of motion, while other modelings use only geometric Properties. In this paper, we present a real time simulation of stone skipping by using the physically-based modeling. We also describe interaction of a stone on the surface of water, and focus on calculating the path of the stone and the natural phenomena of water The path is decided by velocity of the stone and drag force from the water The motion is recalculated until the stone is immersing into the water surface. Our simulation provides a natural motion of stone skippings in real time. And the motion of stone skippings are generated by give interactive displays on the PC platforms. The techniques presented can easily be extended to simulate other interactive dynamics systems.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.1
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• pp.69-77
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• 2012

After lunar explorations were restarted in 1990s, the world space advanced countries have been competing actively to preoccupy the Moon from the 2000s. Korea has been also conducting precedent study on lunar exploration to carry out that by ourselves in 2020. This study analyzed delta-V of various Earth-Moon transfer trajectories for minimization of fuel consumption. Through the simulation, the best Earth-Moon transfer trajectory for Korean lunar mission is suggested and it will be used as useful materials of Korean lunar mission.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.222-229
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• 2016

Active synthetic aperture sonar on the small UUV is generated several trajectory disturbances under the influences of underwater environments, and causing a large error in the synthetic aperture processing. In this paper, we analyzed the effects of azimuth resolution for the phase mismatch of the synthetic aperture focus processing when the periodic or random trajectory disturbances was generated on the side direction. The simulation results show that ghost targets are generated and azimuth resolution is very deteriorated when disturbance amplitude is greater than $0.3{\lambda}$ and disturbance period is greater than $2L_{sa}$ in the periodic trajectory disturbances environments. And detection performance on the seabed small objects by the synthetic aperture processing is shown that there is a significant effects on the azimuth resolution depending on the types and conditions of the platform trajectory disturbance variations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.1
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• pp.238-244
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• 2017

A spindle with a built-in motor can be used to simplify the structure of a machine tool system, but the rotor inevitably has unbalanced mass. This paper presents an analysis of the dynamic behavior. The spindle was used in a CNC lathe and investigated using the finite element method and transfer matrices. The high-speed spindle can be very sensitive to the rotation of an unbalanced mass, which has a harmful effect on many machine tools. Thus, a balancing procedure was performed with a spindle-bearing system for the CNC lathe by numerical analysis. The balancing was performed through the influence coefficient method, and the whirl orbit radii before and after balancing were compared to evaluate the effects. The results show that the rotational speed of the spindle seriously affects the whirl responses of the spindle. The whirl responses were also affected by other factors, such as the unbalanced mass and bearing stiffness. The balancing of the assembled spindle model significantly reduced the whirl orbit magnitude.

• KIPE Magazine
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• v.13 no.4
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• pp.28-32
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• 2008

Power Supply Designer는 부품설계, large-sign -al 시뮬레이션, feedback control design 그리고 소신호 해석 등 완전한 스위칭 전원공급장치(SMPS)의 설계를 위한 시뮬레이션 프로그램입니다. 또한 최종 정확도 모델링 기술을 사용한 전류-모드 시뮬레이션, CCM & DCM 컨버터 시뮬레이션, loop gain이 포함된 컨트롤 시스템의 해석, 필터 디자인 및 해석, 모든 주요 부품에 대한 파워손실 측정 및 스트레스 해석을 하기 위한 빠르고 순환적인 시뮬레이션과 시뮬레이션시 자주 발생하는 Convergence 에러를 최소화할 수 있는 Convergence 마법사 기능을 수행할 수 있습니다. Power Supply Designer는 ICAP/4 Power Delu -xe라는 시뮬레이터와 인덕터 및 트랜스포머를 설계할 수 있는 Magenetics Designer가 패키지로 구성이 되어 있는 제품입니다. Solar Pro는 일사량, 온도, 각 지역의 위치정보에 대한 데이터와 태양광모듈에 대한 데이터를 고려하여 그림자 분석, I-V계산, 발전량계산, 경제성분석을 제공하는 솔루션입니다. 또한 그림자의 궤적과 발전량을 계산하여 애니메이션으로 볼 수가 있고 경제성을 포함한 시스템 성능을 표시할 수 있기 때문에 태양광 설치 고객에게 태양광 발전 시스템 자체에 대한 이해와 설득력 있는 프리젠테이션을 할 수가 있습니다.