• 자원환경지질
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• 제24권4호
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• pp.409-419
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• 1991

본 연구에서는 북부 미시간지역에 분포하는 세개의 troughes (Marquette, Republic, and Michigan River troughes)가 만나는 지역의 tectonic evolution을 해석하기 위한 stress의 방향 및 변성퇴적암류의 분포를 이해하는데 도움을 주기위하여, 중력탐사를 통하여 연구지역의 기반암구조 및 이를 피복하고 있는 변성퇴적암과의 관계를 해석하였다. 연구지역은 시생대 기반암(Precambrian W)을 원생대의 변성퇴적암이 부정합으로 덮고 있으며, 이들 암석군들은 현저한 밀도의 차이를 보여 본역의 지각구조를 설명하는데 있어서 중력탐사가 효과적이다. $380km^2$에 걸친 연구지역에 340개의 중력기점을 설정하여 측정된 중력은 표준중력 보정과정을 통하여 중력이상도를 작성하였다. Trough내에 퇴적되어 있는 변성퇴적암류를 따라 positive anomaly가 세 trough들의 축을 따라 나타난다. 각 trough들의 지하구조는 Talwani 방법에 의하여 modelling되었으며, 이들의 심도 또한 계산되었다. 그 결과로 Marquette trough는 비대청형으로 남쪽사면에 비하여 북쪽사면이 급경사를 이루고 있다. 세 trough가 합류하는 지점의 기반암구조는 대체로 평평하며, 이것으로 미루어 이 trough들이 거의 동시에 생성되었음을 시사해준다.

• 융복합기술연구소 논문집
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• 제4권2호
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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.

• 한국항공우주학회지
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• 제49권9호
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• pp.749-757
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• 2021

쿼드로터를 활용한 운송 임무에서 임의의 유상하중을 장착하게 되면 질량, 관성모멘트, 무게중심의 위치와 같은 모델 파라미터가 변화하게 된다. 더욱이 유상하중이 기체에 장착되는 위치가 기체의 무게중심과 일치하지 않는 경우 무게중심의 변화는 야기되며 이는 제어 성능에 악영향을 미치게 된다. 이에 본 논문에서는 유상하중에 따른 모델의 불확실성을 보상하기 위하여, 선형 제차 조정기(Linear Quadratic Regulator, LQR) 기반의 모델 참조 적응 제어기법(Model Reference Adaptive Control, MRAC)을 제안한다. 먼저 고정된 유상하중을 고려한 쿼드로터의 동역학 모델을 유도하고, 선형 제차 조정기를 이용하여 기준제어기를 선정한다. 참조 모델은 과도응답을 향상하기 위해 폐루프 참조 모델을 사용하였으며, 선형 제차 조정기를 통하여 선정하였다. 또한, 안정성 분석을 통하여 모델 파라미터를 추정하기 위한 적응 제어기법을 설계하였다. 제안하는 제어기의 성능을 확인하기 위하여 모델 파라미터의 불확실성이 존재하는 상황에서 선형 재차 조정기와 성능을 비교하였다. 그리고 외란이 있는 상황에서 기존의 모델 참조 적응 제어기법과도 제안한 제어기의 결과를 비교하여 과도응답과 강건성에 대해서도 분석하였다.

• 제어로봇시스템학회논문지
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• 제17권10호
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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.

• 천문학논총
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• 제4권1호
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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.

• 대한원격탐사학회지
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• 제33권3호
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• pp.267-274
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• 2017

본 연구는 지표면 아래 존재할 수 있는 싱크홀 탐지를 위해 포텐셜 필드법 중 중력학적 방법을 적용하고, 그 가능성을 제시하는데 목적을 둔다. 싱크홀을 대신하여 지표면 아래 1.8 m 깊이에 수조($1.8{\times}0.8{\times}0.8m$)를 매설하였다. 매설된 위치를 중심으로 $12{\times}12m$ 구역에서 1 m 간격으로 Scintrex사의 CG-5 상대중력계(정밀도 0.001 mGal)를 이용하여 중력을 측정하였다. 싱크홀 모형에 대한 이론상 중력효과를 계산하기 위해 3차원 중력모델링을 수행하였다. 그 결과, 중력 측정에 의해 직접 산정된 싱크홀 모형에 대한 중력효과 0.036 mGal은 3차원 중력모델링에 의한 결과 0.024 mGal와 근소한 차이를 보였다. 이것은 본 연구를 위해 사용된 수조 크기와 비슷한 규모의 싱크홀은 상대중력측량에 의해 탐지될 수 있으며, 보다 조밀한 간격으로 중력탐사를 수행한다면 보다 작은 규모의 싱크홀 탐지에도 중력탐사가 충분히 적용 가능할 것으로 판단된다.

• 한국지진공학회논문집
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• 제21권6호
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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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• 제28권3호
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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.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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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.

• 한국산업융합학회 논문집
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• 제22권5호
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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.