• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1867-1870
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• 2005

The celestial navigation is one of alternatives to GPS system and can be used as a backup of GPS. In the celestial navigation system using more than two star trackers, the vehicle's ground position can be solved based on the star trackers' attitude information if the vehicle's local vertical or horizontal angle is given. In order to determine accurate ground position of flight vehicle, the high accurate local vertical angle measurement is one of the most important factors for navigation performance. In this paper, the Earth geophysical deflection was analyzed in the assumption of using the modern electrolyte tilt sensor as a local vertical sensor for celestial navigation system. According to the tilt sensor principle, the sensor measures the tilt angle from gravity direction which depends on the Earth geoid surface at a given position. In order to determine the local vertical angle from tilt sensor measurement, the relationship between the direction of gravity and the direction of the Earth center should be analyzed. Using a precision orbit determination software which includes the JGM-3 Earth geoid model, the direction of the Earth center and the direction of gravity are extracted and analyzed. Appling vector inner product and cross product to the both extracted vectors, the magnitude and phase of deflection angle between the direction of gravity and the direction of the Earth center are achieved successfully. And the result shows that the angle differences vary as a function of latitude and altitude. The maximum 0.094$^{circ}$angle difference occurs at 45$^{circ}$latitude in case of 1000 Km altitude condition.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.1003-1004
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• 2012

• 한국지능시스템학회논문지
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• 제23권5호
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• pp.466-472
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• 2013

본 논문에서는 4족 로봇의 허리 관절을 이용하여 보행시 발생하는 몸체의 흔들림을 최소화하는 걸음새 방법을 제안한다. 제안한 방법에서는 4족 로봇의 기하학적 모델을 이용하여 몸체의 기울기에 따른 몸체의 힙(hip) 좌표를 계산하고, 이를 2자유도(Digree of Freedom: DOF)를 갖는 허리 관절을 이용하여 4족 로봇의 무게중심(Center of Gravity: CoG)을 이동시킴으로써 몸체의 흔들림을 최소화한다. 이 때, 로봇의 걸음새는 물결 걸음새(wave gate)를 이용하여 보행한다. 마지막으로, 4족 보행 로봇의 모의 실험을 통해 기존 방법과 비교함으로써 본 논문에서 제안한 방법의 효용성을 검증한다.

• 한국정밀공학회지
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• 제33권10호
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• The Journal of Asian Finance, Economics and Business
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• 제7권12호
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• pp.657-664
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• 2020

We investigate the impact of roads and highways within the provinces on the regional trade of China using the augmented Gravity Model and theory of modeling trade. We take a panel data covering 31 provinces of China over 20 years period (1998-2017) for the estimations. We apply ARMA-OLS model, fixed and random effects, and robust findings by Hausman test. The results imply that road and highway lengths within the provinces have a significantly positive impact on the value of the province-wise exports. The positive impact is due to the fact the increased coverage of roads and highways increase accessibility to resources and mobility of goods and services within the regions. Moreover, employment in the transportation sector, per capita GDP and population of the provinces also illustrate positive and significant influence on regional exports and trade. The impact of China's WTO accession on regional exports has been positive, while the financial crisis has had a negative impact. The year dummies show that, in the years following the financial crisis, China was able to regress from the external shock as trade within the provinces increased. The increase in exports after financial crisis is mainly due to the government policies and support to every province.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• 대한조선학회논문집
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• 제57권5호
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• pp.287-296
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• 2020

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.311-318
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• 2017

A reduced order observer is developed for depth control of a hybrid underwater glider which combines the good aspects of a conventional autonomous underwater vehicle and a underwater glider. State variables include the center of gravity of the robot and the weight of the buoyancy bag, which can not be directly measured. By using the mathematical model and available information such as directional velocities, accelerations, and attitudes, we developed a Luenberger's reduced order observer to estimate the center of gravity and the buoyancy weight. By simulations using Matlab/Simulink, the efficiency of the proposed observer is shown, where a LQR controller using full state variables is adopted as a depth controller.

• 한국주조공학회지
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• 제9권1호
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• pp.39-48
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• 1989

A basic three dimensional thermal model has been developed to simulate the solidification sequence for gravity die casting process. The finite difference method was used to analyze the solidification process during all the casting cycles. The prediction of die temperature in the quasi-steady state was analyzed by the boundary element method. The influence of die cooling on the heat flow in the cast/mold system was also investigated. Predictions of the computer simulation on temperature profiles and location of shrinkage defects were in good agreement with those observed in experimental die castings. Models of computer simulation which is developed by this work can be useful for the design and process control of die casting.

• Journal of the Korean Wood Science and Technology
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• 제45권4호
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• pp.399-408
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• 2017

Research on the rapid and accurate prediction of physical properties of wood using near-infrared (NIR) spectroscopy has attracted recent attention. In this study, partial least squares analysis was performed between NIR spectra and air-dried specific gravity of five domestic conifer species including larch (Larix kaempferi), Korean pine (Pinus koraiensis), red pine (Pinus densiflora), cedar (Cryptomeria japonica), and cypress (Chamaecyparis obtusa). Fifty different lumbers per species were purchased from the five National Forestry Cooperative Federations of Korea. The air-dried specific gravity of 100 knot- and defect-free specimens of each species was determined by NIR spectroscopy in the range of 680-2500 nm. Spectral data preprocessing including standard normal variate, detrend and forward first derivative (gap size = 8, smoothing = 8) were applied to all the NIR spectra of the specimens. Partial least squares analysis including cross-validation (five groups) was performed with the air-dried specific gravity and NIR spectra. When the performance of the regression model was expressed as $R^2$ (coefficient of determination) and root mean square error of calibration (RMSEC), $R^2$ and RMSEC were 0.63 and 0.027 for larch, 0.68 and 0.033 for Korean pine, 0.62 and 0.033 for red pine, 0.76 and 0.022 for cedar, and 0.79 and 0.027 for cypress, respectively. For the calibration model, which contained all species in this study, the $R^2$ was 0.75 and the RMSEC was 0.37.