• 한국지구물리탐사학회:학술대회논문집
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• 2005.05a
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• pp.261-266
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• 2005

According to development of satellite geodesy, gravity potential models which have high accuracy and resolution were released. Using the EIGEN-CG01C model based on low orbit satellite data such as CHAMP and GRACE and the EGM96 model, geoid and gravity anomaly were calculated and compared. The study area is located at $123^{\circ}{\sim}132^{\circ}$ E, $33^{\circ}{\sim}43^{\circ}$ including Korea. Comparing two models, very high correlation more than 0.90 in geoid and gravity anomaly was observed, but in amplitude analysis the EIGEN-CG01C model have higher amplitude in high frequency area. Gravity anomaly calculated with both models shows a little difference in North Korea and some coast area of the Yellow sea. Through power spectrum analysis, residual anomaly that can be used in large scale structure or underground resources survey was calculated.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Journal of the Korea Society of Computer and Information
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• v.14 no.2
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• pp.181-190
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• 2009

This paper presents a multimodal emergency recognition system based on visual information, audio information and gravity sensor information. It consists of video processing module, audio processing module, gravity sensor processing module and multimodal integration module. The video processing module and gravity sensor processing module respectively detects actions such as moving, stopping and fainting and transfer them to the multimodal integration module. The multimodal integration module detects emergency by fusing the transferred information and verifies it by asking a question and recognizing the answer via audio channel. The experiment results show that the recognition rate of video processing module only is 91.5% and that of gravity sensor processing module only is 94%, but when both information are combined the recognition result becomes 100%.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1994.10a
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• pp.79-86
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• 1994

These days much efforts have made all over the world in order to develop the integrated optimum structural design system that performs automated design process composed of the analysis, optimum design, drafting, and reporting. However, these types of design systems oriented extensively to port structures are rarely found. In this paper, the integrated optimun design system applied to gravity type port structures such as quay walls and breakwaters will be briefly presented. Highly sophiscated facilities necessary in optimum structural design including analysis and optimization are integrated into one system. Several types of gravity type port structures can be designed using this system. The application to the real ports and the efficiency of this system will be finally shown.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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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.

• Coupled systems mechanics
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• v.2 no.4
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• pp.303-327
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• 2013

The coupled free vibration of flexible structures and on-board liquid in zero gravity space was analyzed, considering the spacecraft main body as a rigid mass, the flexible appendages as two elastic beams, and the on-board liquid as a "spring-mass" system. Using the Lagrangians of a rigid mass (spacecraft main body), "spring-mass" (liquid), and two beams (flexible appendages), as well as assuming symmetric motion of the system, we obtained the frequency equations of the coupled system by applying Rayleigh-Ritz method. Solving these frequency equations, which are governed by three system parameters, as an eigenvalue problem, we obtained the coupled natural frequencies and vibration modes. We define the parameter for evaluating the magnitudes of coupled motions of the added mass (liquid) and beam (appendages). It was found that when varying one system parameter, the frequency curves veer, vibration modes exchange, and the significant coupling occurs not in the region closest to the two frequency curves but in the two regions separate from that region.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2008.05a
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• pp.103-107
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• 2008

This study was to execute the experiment for analyzing the quality characteristics of mortar by type of recycled sand by using the recycled sand produced by the manufacturing system by wet gravity separation in order to develop the removal device of impurities for the production of high-quality recycled sand. As a result, this study has sown that the mortar using the high-quality recycled sand through the manufacturing system by wet gravity separation in the fluidity property, strength property, and shrinkage property largely, compared with the mortar using low-quality recycled sand that not passed the device of sand flux. There was a tendency similar to the plane mortar. In conclusion, it was considered as various quality performances of the recycled sand were improved through the production stage of prototype.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.3
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• pp.271-279
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• 2014

As an alternative way to overcome the weakness of the global navigation satellite system (GNSS) in hostile situation, a gravity gradient referenced navigation (GGRN) has been developed. This paper analyzed the performance of GGRN with respect to the initial errors, DB resolution as well as update rates. On the basis of simulations, it was found that the performance of GGRN is getting worse when initial errors exist but the navigation results are rapidly converged. Also, GGRN generates better results when DB resolution is higher and update rates are shorter than 20 seconds. However, it is difficult to deduce the optimal parameters for the navigation because some trajectories show better performance in case low-resolution DB is applied or long update rate is supposed. Therefore, further analysis to derive specific update conditions to improve the performance has been performed. Those update conditions would not be generalized for all cases although maximum improvement rate is over 200% in certain case. In the future, some more developments and tests on the combination of various geophysical data and/or algorithms are necessary to construct more stable and reliable navigation system.

• Journal of Korea Foundry Society
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• v.31 no.5
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• pp.288-292
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• 2011

In order to complement the drawbacks of quartz crucible such as fragile-like break and melt-leakage through open slit nozzle, a new PFC system has been developed using a common graphite crucible and plugging system. The u melt is fed on to the rotating a roll through slit nozzle by self-gravity. The new equipment was designed and manufactured successfully. An effort for optimizing all related parameter has been made. Then using the optimized parameters about 10 meters u foil having very thin thickness, which meets the target thickness of 130 ${\mu}m$ and enough width more than 60 mm could be made. The thickness homogeneity set improved, due to the lower eddy flowing of the melt flow the self-gravity feeding system.

• Environmental Engineering Research
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• v.24 no.1
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• pp.17-23
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• 2019

This study monitored changes in the level of heterotrophic bacteria in the filtrate and investigated the effect of stagnant water on it, using a batch-operated, gravity-driven membrane system for household water treatment. The filtration test was carried out in the presence and absence of stagnant water in the filtrate line. The results showed that stagnant water accelerated the heterotrophic bacteria levels, measured by heterotrophic plate count, even though the heterotrophic plate count of the filtrate finally increased up to $10^5CFU/mL$ regardless of the presence of stagnant water. When the change in heterotrophic plate count of a batch was monitored over filtration time, heterotrophic plate count of the filtrate rapidly decreased within 5 min for each batch filtration. Biofilm formation on the filtrate line was observed in the presence of stagnant water. The biofilm fully covered the filtrate line and contained numerous microorganisms. During storage after filtration, heterotrophic plate count increased exponentially. To improve the filtrate quality of a filtration-based household water treatment system, therefore, the stagnant water in the filtrate line should be minimized, the filtrate produced at the first 5 min is recommended not to be used as potable water, and the storage of filtrate should be avoided.