• Economic and Environmental Geology
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• v.24 no.4
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• pp.409-419
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• 1991

A gravity survey was conducted in the western Marquette district, Michigan, to delineate the subsurface structure and the relationship of the Proterozoic Marquette Range Supergroup rocks (Precambrian X) and Archean basement (Precambrian W) where the Republic, Michigan River, and Marquette troughs join. In order to accomplish these purposes, three hundred and forty gravity stations were established in the area of $380km^2$. Positive anomalies are associated with the Precambria X, metasedimentary sequence which has a higer density with respect to the Precambrian W, basement rocks. The dominant positive gravity anomalies follow the axes of the three troughs which are filled with Precambrian X rocks. Subsurface structure was modelled by using the Talwani method. Gravity model studies indicate that the Marquette trough is asymetrically shaped and steeply dipping at the north edge except in the eastern part of the study area. The interpretive results obtained from two dimensional model studies suggest that the basement structure of the study area is relatively flat, and that the troughs were formed contemporaneously.

• Journal of Institute of Convergence Technology
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• v.4 no.2
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• pp.55-59
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• 2014

A cat is able to quickly recover balance from unstable posture. To observe the balance recovery procedure of the cat, an impulse is applied to the cat while walking on a narrow bridge. We find that it rotates its tail toward the falling direction. In our previous research, the balance recovery procedure is analyzed based on the law of the angular momentum conservation and then a key equation is derived to maintain the balance. However, it did not consider the gravity, so the performance is not good. In this paper, a new dynamic model is proposed using the Lagrangian mechanics. In the method, the gravity is included in the potential energy. Through the proposed dynamic model, controlling the balance of a walking robot is possible.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Publications of The Korean Astronomical Society
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• v.4 no.1
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• pp.1-15
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• 1989

A jet plasmoid model for 3C.449 has been constructed by introducing a plasma.ejecting black hole orbiting around the center of its parent cD galaxy. We examined the characteristics of the jet trajectory by varying the values of (1) orbiting radius and velocity of the black hole, (2) plasma ejection velocity, (3) size, mass and space velocity of the parent galaxy, (4) size of the galactic core and (5) the density of the intergalactic medium. In our model calculation the effect of the gravity by the parent galaxy and the ram pressure by the intergalactic medium have been taken in account. It is found that our dynamical model accounts reasonably well for the observed structure of 3C449. Our proposed model suggests that the buoyancy force near the galactic center plays an important role in the formation of the curved structure of the radio jet.

• Korean Journal of Remote Sensing
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• v.33 no.3
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• pp.267-274
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• 2017

The purpose of this research was to develop and present methods to detect sinkholes which can exist underneath the surface of the ground. First, we buried a water tank with dimensions $1.8{\times}0.8{\times}0.8m$ at a distance of 1.8 m from the surface. This played the role of the sinkhole. Secondly, we created a square zone with sides 12 meters away from the buried water tank. Within this zone, we measured the gravity at 1-meter intervals using a Scintrex CG5 relative gravimeter with a resolution of 0.001 mGal. Additionally, we performed three-dimensional (3-D) gravity modeling to calculate the theoretical values of the relative gravity around our model sinkhole. The resulting values for the relative gravity around the sinkhole depended on the method used. The measured effect of gravity was 0.036 mGal and the effect calculated using 3-D modeling was 0.024 mGal. Our results suggest that sinkholes that are similar in size to the water tank used in this study can be detected using relative gravity surveys. Smaller sinkholes can be detected by reducing the intervals between the relative gravity measurements.

• Journal of the Earthquake Engineering Society of Korea
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• v.21 no.6
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• pp.265-275
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• 2017

In order to improve the seismic performance of structures, friction pendulum system (FPS) is the most commonly used seismic isolation device in addition to lead rubber bearing (LRB) in high seismicity area. In a nuclear power plant (NPP) with a large self weight, it is necessary to install a large number of seismic isolation devices, and the position of the center of rigidity varies depending on the arrangement of the seismic isolation devices. Due to the increase in the eccentricity, which is the difference between the center of gravity of the nuclear structure and the center of stiffness of the seismic isolators, an excessive seismic response may occur which could not be considered at the design stage. Three different types of eccentricity models (CASE 1, CASE 2, and CASE 3) were used for seismic response evaluation of seismically isolated NPP due to the increase of eccentricity (0%, 5%, 10%, 15%). The analytical model of the seismic isolation system was compared using the equivalent linear model and the bilinear model. From the results of the seismic response of the seismically isolated NPP with increasing eccentricity, it can be observed that the effect of eccentricity on the seismic response for the equivalent linear model is larger than that for the bilinear model.

• Geomechanics and Engineering
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• v.28 no.3
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• pp.299-311
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• 2022

Water-resisting key stratum (WKS) between coal seams is an important barrier that prevents water inrush from goaf in roof under multi-seam mining. The occurrence of water inrush can be evaluated effectively by analyzing the fracture of WKS in multi-seam mining. A "long beam" water inrush mechanical model was established using the multi-seam mining of No. 2+3 and No. 8 coal seams in Xiqu Mine as the research basis. The model comprehensively considers the pressure from goaf, the gravity of overburden rock, the gravity of accumulated water, and the constraint conditions. The stress distribution expression of the WKS was obtained under different mining distances in No. 8 coal seam. The criterion of breakage at any point of the WKS was obtained by introducing linear Mohr strength theory. By using the mechanical model, the fracture of the WKS in Xiqu Mine was examined and its breaking position was calculated. And the risk of water inrush was also evaluated. Moreover, breaking process of the WKS was reproduced with Flac3D numerical software, and was analyzed with on-site microseismic monitoring data. The results showed that when the coal face of No. 8 coal seam in Xiqu Mine advances to about 80 m ~ 100 m, the WKS is stretched and broken at the position of 60 m ~ 70 m away from the open-off cut, increasing the risk of water inrush from goaf in roof. This finding matched the result of microseismic analysis, confirming the reliability of the water inrush mechanical model. This study therefore provides a theoretical basis for the prevention of water inrush from goaf in roof in Xiqu Mine. It also provides a method for evaluating and monitoring water inrush from goaf in roof.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.103-106
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• 2004

Extrapolation off the boundaries of scattered data is an intrinsic feature of interpolation. However, extrapolation causes serious problems in stereo-vision and mapping, which has not been investigated carefully. In this paper, we present novel schemes to eliminate the extrapolation effects for the generation of a digital elevation model (DEM). As a first step, we devise point distribution criteria, namely COG (Center of Gravity) and ECI (Empty Center Index), and apply rigorous and robust elimination based on the criteria. Compared with other methods, the proposed schemes are computationally fast and applicable to a wide range of interpolation techniques.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.575-582
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• 2019

Advanced driving assist system can support safety of driver and passengers which may require vehicle dynamics states as well as road geometry. It is essential to have in real-time estimation of related variables and parameters. Among the road geometry parameters, road slope angle which can not be measured is essential parameter in pose estimation, adaptive cruise control and others on sag road. In this paper, Kalman filter based method for the estimation of the vehicle dynamics and road slope angle using a nonlinear vehicle model is proposed. It uses a combination of Kalman filter as Cascade Extended Kalman Filter. CEKF uses measured vehicle states such as yaw rate, longitudinal/lateral acceleration and velocity. Unknown vehicle parameters such as center of gravity and inertia are obtained by 2 D.O.F lateral model and experimentally. Simulation and Experimental tests conducted with commercialized vehicle dynamics model and real-car.