• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.72-78
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• 2007

Determination of the local vertical is not trivial for a moving vehicle and in general will require corrections for the Earth geophysical deflection. The vehicle's local vertical can be estimated by INS integration with initial alignment in SDINS(Strap Down INS) system. In general, the INS has drift error and it cause the performance degradation. In order to compensate the drift error, GPS/INS augmented system is widely used. And in the event that GPS is denied or unavailable, celestial navigation using star tracker can be a backup navigation system especially for the military purpose. In this celestial navigation system, the vehicle's position determination can be achieved using more than two star trackers, and the accuracy of position highly depends on accuracy of local vertical direction. Modern tilt sensors or accelerometers are sensitive to the direction of gravity to arc second(or better) precision. The local gravity provides the direction orthogonal to the geoid and, appropriately corrected, toward the center of the Earth. In this paper the relationship between direction of center of the Earth and actual gravity direction caused by geophysical deflection was analyzed by using precision orbit simulation program embedded the JGM-3 geoid model. And the result was verified and evaluated with mathematical gravity vector model derived from gravitational potential of the Earth. And also for application purpose, the performance variation of pure INS navigation system was analyzed by applying precise gravity model.

• Geophysics and Geophysical Exploration
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• v.25 no.1
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• pp.38-43
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• 2022

In case axial symmetrical bodies with varying cross sections such as volcanic conduits and unexploded ordnance (UXO), it is efficient to approximate them by adding the response of thin disks perpendicular to the axis of symmetry. To compute the vector magnetic and magnetic gradient tensor respones by such bodies, it is necessary to derive an analytical expression of the circular disk. Therefore, in this study, we drive closed-form expressions of the vector magnetic and magnetic gradient tensor due to a circular disk. First, the vector magnetic field is obtained from the existing gravity gradient tensor using Poisson's relation where the gravity gradient tensor due to the same disk with a constant density can be transformed into a magnetic field. Then, the magnetic gradient tensor is derived by differentiating the vector magnetic field with respect to the cylindrical coordinates converted from the Cartesian coordinate system. Finally, both the vector magnetic and magnetic gradient tensors are derived using Lipschitz-Hankel type integrals based on the axial symmetry of the circular disk.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.127-134
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• 2010

In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.739-744
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• 2013

In this paper, we propose a method of generating pitch commands for consistent initial trajectories irrelevant to flight conditions in the initial boosting phase of a thrust-vector-controlled vehicle. After shape assumption of the pitch command profile, parameters of the profile are determined in real time in order for the summit height of the trajectory to be a desired value by deriving the summit height considering thrust performance, gravity, and other flight conditions. Computer simulation results demonstrate good performance of the proposed method.

• Journal of the Korean Mathematical Society
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• v.58 no.1
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• pp.109-122
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• 2021

In this paper, we consider the problem of finding the hypersurface Mn in the Euclidean (n + 1)-space ℝn+1 that satisfies an equation of mean curvature type, called singular minimal hypersurface equation. Such an equation physically characterizes the surfaces in the upper half-space ℝ+3 (u) with lowest gravity center, for a fixed unit vector u ∈ ℝ3. We first state that a singular minimal cylinder Mn in ℝn+1 is either a hyperplane or a α-catenary cylinder. It is also shown that this result remains true when Mn is a translation hypersurface and u is a horizantal vector. As a further application, we prove that a singular minimal translation graph in ℝ3 of the form z = f(x) + g(y + cx), c ∈ ℝ - {0}, with respect to a certain horizantal vector u is either a plane or a α-catenary cylinder.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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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.

• Journal of KIISE
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• v.43 no.2
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• pp.135-142
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• 2016

Visual analysis of spatiotemporal data has focused on a variety of techniques for analyzing and exploring the data. The goal of these techniques is to explore the spatiotemporal data using time information, discover patterns in the data, and analyze spatiotemporal data. The overall trend flow patterns help users analyze geo-referenced temporal events. However, it is difficult to extract and visualize overall trend flow patterns using data that has no trajectory information for movements. In order to visualize overall trend flow patterns, in this paper, we estimate continuous distributions of discrete events over time using KDE, and we extract vector fields from the continuous distributions using the gravity model. We then apply our technique on twitter data to validate techniques.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.291-294
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• 2004

There are many position fixing systems in the world from ancient times. But the principles are to compare the position to want to know with the known position already. The position finding system which is not restricted by weather condition and/or electronic apparatus has been sought. The best system is the GPS as far. But the system has the fatal faults as follows; 1. to depend on satellite's accuracy, 2. not to use underwater. This paper is to investigate theoretically position fixing and north finding by using free gyroscope. This paper introduce a position fixing and north finding method by measuring inclination of 2 free gyroscopes. And this system does not depend on the weather condition and underwater condition. What is more, it could use on the planets, if the gravity exits.

• 한국전산유체공학회:학술대회논문집
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• 1995.10a
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• pp.132-137
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• 1995

Numerical analysis is conducted on the deformation of free surface of magnetic fluid. Steady magnetic fields are induced by a circular current loop. Governing equations of magnetic fields are solved by using the concept of vector potential. The free surface of magnetic fluid is formed by the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. The deformations of free surface of magnetic fluid are qualitatively clarified. And, the patterns of steady non-uniform magnetic fields induced by a circular current loop are quantitatively presented.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.97-106
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• 1998

In this Paper, a fuel minimizing closed loop explicit inertial guidance algorithm for orbit injection of a rocket is developed. In the formulation, the fuel burning rate and magnitude of thrust are assumed constant. The motion of rocket is assumed to be subject to the average inverse-square gravity, but negligible effects from atmosphere. The optimum thrust angle to obtain a given velocity vector in the shortest time with minimizing fuel consumption is first determined, and then the additive thrust angle for targeting the final position vector is determined by using Pontryagin's maximum principle. To establish real time processing, many algorithms of onboard guidance software are simplified. The explicit guidance algorithm is simulated on the 2nd-stage flight of the N-1 rocket developed in Japan. The results show that the explicit guidance algorithm works well in the presence of the maximum $\pm$10% initial velocity and altitude errors, and exhibits better performance than the open-loop program guidance. The effects of the guidance cycle time are also examined.