• 대한전자공학회논문지SD
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• 제49권8호
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• pp.16-21
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• 2012

MEMS 기반의 자이로 센서는 회전 각도를 추출하는 과정에서 잡음성분에 의한 누적오차(drift) 및 영점(zero angle) 이탈현상이 발생한다. 본 연구에서는 이러한 누적오차를 제거하기 위한 DCF(Drift Compensatio Filter) 알고리즘과 각도 추출 시영점 이탈 방지를 위한 BACF(Boot Angle Compensation Filter) 알고리즘을 제안한다. DCF 알고리즘은 자이로 센서의 출력값에서 오프셋 및 잡음성분을 제거하여 순수 이동량을 얻을 수 있도록 설계한다. BACF 알고리즘은 자이로 센서로부터 출력되는 오프셋(Offset)에 포함된 잡음 성분을 재귀 평균법으로 계산하여 평균 오프셋을 구한다. 실험환경은 2축 자이로 센서 및 모바일 OIS 카메라가 탑재된 컨트롤 보드를 이용하여 5Hz의 ${\pm}0.5^{\circ}$의 진동에 대하여 BACF 및 DCF 알고리즘을 적용한 결과 누적 오차가 발생하지 않았으며, 영점 각도 추종이 정확히 이루어지는 결과를 확인하였다.

• Geomechanics and Engineering
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• 제37권4호
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• pp.383-393
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• 2024

Monopile foundations of offshore wind turbines embedded in soft clay are subjected to the long-term cyclic lateral loads induced by winds, currents, and waves, the vibration of monopile leads to the accumulation of pore pressure and cyclic strains in the soil in its vicinity, which poses a threat to the safety operation of monopile. The researchers mainly focused on the hysteretic stress-strain relationship of soft clay and kinds of stiffness degradation models have been adopted, which may consume considerable computing resources and is not applicable for the long-term bearing performance analysis of monopile. In this study, a modified cyclic stiffness degradation model considering the effect of plastic strain and pore pressure change has been proposed and validated by comparing with the triaxial test results. Subsequently, the effects of cyclic load ratio, pile aspect ratio, number of load cycles, and length to embedded depth ratio on the accumulated rotation angle and pore pressure are presented. The results indicate the number of load cycles can significantly affect the accumulated rotation angle of monopile, whereas the accumulated pore pressure distribution along the pile merely changes with pile diameter, embedded length, and the number of load cycles, the stiffness of monopile can be significantly weakened by decreasing the embedded depth ratio L/H of monopile. The stiffness degradation of soil is more significant in the passive earth pressure zone, in which soil liquefaction is likely to occur. Furthermore, the suitability of the "accumulated rotation angle" and "accumulated pore pressure" design criteria for determining the required cyclic load ratio are discussed.

• 대한임베디드공학회논문지
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• 제11권3호
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• pp.183-191
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• 2016

Recently, in rehabilitation treatment, the situation that requires a measure of the accuracy of the pose and movement of joints is being increased due to the habits and lifestyle of modern people and the environment. In particular, there is a need for active automated system that can determine itself for the matching rate of pose Basically, a method for measuring the matching rate of pose is used by extracting an image using the Kinect or extracting a silhouette using the imaging device. However, in the case of extracting a silhouette, it is difficult to set the comparison, and in the case of using the Kinect sensor, there is a disadvantages that high accumulated error rate according to movement. Therefore, In this paper, we propose a method to reduce the accumulated error of matching rate of pose getting the rotation angle of joint by measuring the real-time amount of change of 9-axis sensor. In particular, it can be measured same conditions that unrelated of the physical condition and unaffected by the data for the back and forth movement, because of it compares the current rotation angle of the joint. Finally, we show a comparative advantage results by compared with traditional method of extracting a silhouette and a method using a Kinect sensor.

• 항공우주기술
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• 제11권2호
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• pp.39-48
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• 2012

인공위성에 사용되는 자이로 센서는 출력 형태에 따라 누적형, 증분형, 각속도 제공형 등으로 나눌 수 있다. 이들 중 누적각을 제공하는 자이로는 보통 이진 카운터를 사용하며 누적각이 카운터의 최대값을 넘어서는 경우는 롤오버(Roll-over) 하도록 설계되어 있다. 이로 인해 각속도를 계산하는 과정에 제한 사항이 발생하며 계산할 수 있는 각속도는 센서 자체가 측정할 수 있는 영역보다 작은 영역으로 제한된다. 본 연구에서는 누적각을 제공하는 자이로 센서의 일반적인 각속도 계산 방법을 소개하고 일반적인 방법이 가지는 최대측 정영역의 한계를 넘어서는 각속도를 계산할 수 있는 방법을 제안한다. 제안된 방법은 입력 각속도의 변화에 제한이 있는 경우에만 적용이 가능하며 입력 각속도의 변화와 확장 가능한 영역의 범위를 정량적으로 유도하였다. 마지막으로 모의실험을 통하여 제안된 방법의 타당성을 검증하였다.

• Geomechanics and Engineering
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• 제20권5호
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• pp.421-432
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• 2020

Cutting of rocks is very common encountered in tunneling and mining during underground excavations. A deep understanding of rock-tool interaction can promote industrial applications significantly. In this paper, a distinct element method based approach, PFC^3D, is adopted to simulate the rock cutting under different operation conditions (cutting velocity, depth of cut and rake angle) and with various tool geometries (tip angle, tip wear and tip shape). Simulation results showed that the cutting force and accumulated number of cracks increase with increasing cutting velocity, cut depth, tip angle and pick abrasion. The number of cracks and cutting force decrease with increasing negative rake angle and increase with increasing positive rake angle. The numerical approach can offer a better insight into the rock-tool interaction during the rock cutting process. The proposed numerical method can be used to assess the rock cuttability, to estimate the cutting performance, and to design the cutter head.

• 한국태양에너지학회 논문집
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• 제35권4호
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• pp.25-34
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• 2015

This research is carried out to provide fundamental data for the design of solar photovoltaic systems. Methodologically, the solar radiation installations from 10 different pyreheliometers are measured, which are set up at 6 and 4 different levels of tilts and azimuth, respectively. Maximum of a yearly accumulated solar radiation is $1,569.8kWh/m^2{\cdot}year$ with a tilt angle of $30^{\circ}$ and an azimuth angle of $0^{\circ}$(south), $1,558.5kWh/m^2{\cdot}year$ with an azimuth angle of $0^{\circ}$(south) in combination of a tilt angle of $35^{\circ}$. This paper estimates that in designing fixed solar photovoltaic systems with a tilt angle of $12.5^{\circ}{\sim}50^{\circ}$(south) and a tilt angle of $35^{\circ}$ in combination of an azimuth angle of $S45^{\circ}W{\sim}S45^{\circ}E$, a tilt angle and an azimuth angle will cause a maximum 6.8% and 9.9% of efficiency variation respectively, depending on a installed solar module's angle and direction.

• 한국태양에너지학회 논문집
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• 제32권2호
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• pp.64-73
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• 2012

The angle of solar panels is calculated using solar radiation model for the efficient solar power generation. In ideal state, the time of maximum solar radiation is represented from 12:08 to 12:40 during a year at Gangneung and it save rage time is12:23. The maximum solar radiation is 1012$W/m^2$ and 708$W/m^2$ inc lear sky and cloudy sky, respectively. Solar radiation is more sensitive to North-South (N-S) slope angle than East-West (E-W) azimuth angle. Daily solar radiation on optimum angle of solar panel is higher than that on horizontal surface except for 90 days during summer. In order to apply to the real atmosphere, the TMY (typical meteorological Year) data which obtained from the 22 solar sites operated by KMA(Korea Meteorological Administration) during 11 years(2000 to 2010) is used as the input data of solar radiation model. The distribution of calculated solar radiation is similar to the observation, except in Andong, where it is overestimated, and in Mokpo and Heuksando, where it is underestimated. Statistical analysis is performed on calculated and observed monthly solar radiation on horizontal surface, and the calculation is overestimated from the observation. Correlationis 0.95 and RMSE (Root Mean Square Error) is10.81 MJ. The result shows that optimum N-S slope angles of solar panel are about $2^{\circ}$ lower than station latitude, but E-W slope angles are lower than ${\pm}1^{\circ}$. There are three types of solar panels: horizontal, fixed with optimum slope angle, and panels with tracker system. The energy efficiencies are on average 20% higher on fixed solar panel and 60% higher on tracker solar panel than compared to the horizontal solar panel, respectively.

• 로봇학회논문지
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• 제5권4호
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• pp.279-285
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• 2010

This paper presents the use of 3 axis accelerometer for getting the gait information including the number of gaits, stride and walking distance. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We proposed a way of minimizing the error due to the change of the orientation. Pedestrian localization is implemented with the heading angle and the travel distance. Heading angle is estimated from the rate gyro and the magnetic compass measurements. The performance of the localization is presented with experimental data.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제44회 동계 정기학술대회 초록집
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• pp.367-367
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• 2013

Commercial applications of indium tin oxide (ITO) can be separated into two useful areas. As it is perceived to bear electrical properties and optical transparency at once, its chance to apply to promising fields, usually for an optical device, gets greater in the passing time. ITO is one of the transparent conducting oxides (TCO), and required to carry the relative resistance less than $10^{-3}{\Omega}$/cm and transmittances over 80 % in the visible wavelength of light. Because ITO has considerable refractive index, there exist applications for anti-reflection coatings. Anti-reflection properties require gradual change in refractive index from films to air. Such changes are obtained from film density or nano-clustered fractional void. Glancing angle deposition (GLAD) method is a well known process for adjusting nanostructure of the films. From its shadowing effects, GLAD helps to deposit well-controlled porous films effectively. In this study, we are comparing the reference sample to samples coated with controlled ITO multilayer accumulated by an e-beam evaporation system. At first, the single ITO layer samples are prepared to decide refractive index with ellipsometry. Afterwards, ITO multilayer samples are fabricated and fitted by multilayer ellipsometric model based on single layer data. The structural properties were measured by using atomic force microscopy (AFM), and by scanning X-ray diffraction (XRD) measurements. The ellipsometry was used to determine refractive indices and extinction coefficient. The optical transmittance of the film was investigated by using an ultraviolet-visible (UV-Vis) spectrophotometer.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2010년도 춘계 학술발표회
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• pp.883-890
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• 2010

This study is a research results about flow characteristics of debris flow mobilized from landslides such as initiation, transportation and deposition. As results of slope stability analyses at sites studied, the safety factors in rainy period are decreased drastically in comparisons with those in dry period so that the effect of rainfall on initiation of debris flow is known to be significant. From results of analyzing rainfall data, debris flow occurred as previous rainfall accumulated during 2 weeks was more than 526mm, the maximum rainfall intensity being more than 34mm/hr and the day rainfall being more than 171mm/day. As results of analyzing topology of channel debris flow running, the angle of slope where debris flow initiated was in the range of $36{\sim}39^{\circ}$. For area of channel debris flow being transporting the angle of channel was in the range of $11{\sim}36^{\circ}$. The angle of channel where debris flow started to be deposited was found to be in the range of $5{\sim}10^{\circ}$.