• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2433-2435
• /
• 2000

Inertial Navigation System(INS) provides short-term accurate navigation solution but its error grows with time due to integration characteristics. Meanwhile, Global Positioning System(GPS) provides long-term stable solution but it has poor error characteristics in high dynamic region. So for its synergistic relationship, an integrated INS/GPS systems has been widely used as an advanced navigation system. Generally, two kinds of integration method are used. One is loosely coupled mode which uses GPS-derived position and velocity as measurements in an integrated Kalman filter. The other is tightly coupled one which uses pseudorange and pseudorange rate as Kalman filter measurements. In this paper the system error models and observation models for two kinds of integrated systems are derived, respectively, and their performance are compared through Monte-Carlo simulations.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.8 no.3
• /
• pp.221-230
• /
• 1996

The Suh and Park's analytical model. originally developed to calculate wave reflection from a conventional fully perforated caisson breakwater, is applied to a partially perforated caisson breakwater by approximating the vertical wall of the lower part of the front face of the caisson as a very steep sloping wall. Also, in the model, the inertial resistance term at the perforated wall is modified by using the blockage coefficient proposed by Kakuno and Liu. The model is compared against the hydraulic experimental data reported by Park et al. in 1993. Both the experimental data and the analytical model results show that the influence of inertial resistance is important so that wave reflection becomes minimum when B/L. is approximately 0.2 (in which R : wave chamber width, and 1, : wave length inside the wave chamber), which is somewhat smaller than the theoretical value B/L, : 0.25 obtained by assuming that the influence of inertial resistance is negligible. It is also shown that the analytical model based on a linear wave theory tends to overpredict the reflection coefficient as the wave nonlinearity increases, thus the model is preferably to be used for ordinary waves of small steepness.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.15 no.2
• /
• pp.291-298
• /
• 2020

Sign language was designed for the deaf and dumb people to allow them to communicate with others and connect to the society. However, sign language is uncommon to the rest of the society. The unresolved communication barrier had eventually isolated deaf and dumb people from the society. Hence, this study focused on design and implementation of a wearable sign language interpreter. 6 inertial measurement unit (IMU) were placed on back of hand palm and each fingertips to capture hand and finger movements and orientations. Total of 28 proposed word-based American Sign Language were collected during the experiment, while 156 features were extracted from the collected data for classification. With the used of the long short-term memory (LSTM) algorithm, this system achieved up to 99.89% of accuracy. The high accuracy system performance indicated that this proposed system has a great potential to serve the deaf and dumb communities and resolve the communication gap.

• Proceedings of the KIEE Conference
• /
• 1998.07e
• /
• pp.1840-1842
• /
• 1998

Gyroscope is a very important core sensor, as a rotation sensor in inertial space, in inertial guidance and navigation system on aeronautics, plane, vessel and so on for civilian and millitary applications. Mechnical gyroscopes, adopting a principle of spinning a top, have been used in many application system. These mechnical gyroscopes need high power consumption, long warming time and complicated peripheral devices. But fiber-optic gyroscopes, based on the Sagnac effect, have novel advantages as small volume. simple scheme, low power consumption and high reliability. So we have developed a Intermediate grade All-fiber Optic Gyroscope, which has open-loop and minimum reciprocal configuration scheme. We have designed feedback circuits for stability of amplitude and phase using four lock-in amplifier(LIA) circuits and also used for noise limitation. This paper describes the scheme of optical part and electronic part and also test results of this all-fiber optic gyroscope. The performance have been achieved as long-term bias drift of $9.54^{\circ}/h$, random walk of $0.0317^{\circ}/\sqrt{h}$ and dynamic range of ${\pm}150\;deg/s$.

• The Journal of Korea Robotics Society
• /
• v.18 no.4
• /
• pp.427-435
• /
• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• International Journal of Fluid Machinery and Systems
• /
• v.2 no.4
• /
• pp.431-438
• /
• 2009

A Large Eddy Simulation (LES) of the flow in an inducer is carried out under flow rate oscillations. The present study focuses on the dynamic response of the backflow and the unsteady pressure performance to the flow rate fluctuations under non-cavitation conditions. The amplitude of angular momentum fluctuation evaluated by LES is larger than that evaluated by RANS. However, the phase delay of backflow is nearly the same as RANS calculation. The pressure performance curve exhibits a closed curve caused by the inertia effect associated with the flow rate fluctuations. Compared with simplified one dimensional evaluation of the inertia component, the component obtained by LES is smaller. The negative slope of averaged performance curve becomes larger under unsteady conditions. From the conservations of angular momentum and energy, an expression useful for the evaluation of unsteady pressure rise was obtained. The examination of each term of this expression show that the apparent decrease of inertia effects is caused by the response delay of Euler's head and that the increase of negative slope is caused by the delay of inertial term associated with the delay of backflow response. These results are qualitatively confirmed by experiments.

• Smart Structures and Systems
• /
• v.2 no.3
• /
• pp.209-224
• /
• 2006

The use of smart dampers to optimally control the response of structures is on the increase. To maximize the potential use of such damper systems, their accurate modeling and assessment of their performance is of vital interest. In this study, the performance of a controllable fluid dashpot damper, in terms of damper forces, damper dynamic range and damping force hysteretic loops, respectively, is studied mathematically. The study employs a damper Bingham-Maxwell (BingMax) model whose mathematical formulation is developed using a Fourier series technique. The technique treats this one-dimensional Navier-Stokes's momentum equation as a linear superposition of initial-boundary value problems (IBVPs): boundary conditions, viscous term, constant Direct Current (DC) induced fluid plug and fluid inertial term. To hold the formulation applicable, the DC current level to the damper is supplied as discrete constants. The formulation and subsequent simulation are validated with experimental results of a commercially available magneto rheological (MR) dashpot damper (Lord model No's RD-1005-3) subjected to a sinusoidal stroke motion using a 'SCHENK' material testing machine in the Materials Laboratory at the University of Technology, Sydney.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.2 no.2
• /
• pp.186-196
• /
• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

• Proceedings of the KSME Conference
• /
• 2007.05b
• /
• pp.2261-2266
• /
• 2007

In this study, the numerical analysis to estimate condensation heat and mass transfer of the condenser was carried out using the PMA (porous medium approach). In the PMA, the details of tube bundle in the condenser are replaced by the porous medium, and the flow resistance term is added in the momentum equation. In this regard, the PMA is quite helpful for the study of tube bundle in the large condenser. The pressure loss through tube bundle can be compensated by viscous and inertial momentum sink terms, which was validated numerically. Value of the pressure drop was compared to that of Butterworth correlation. Three dimensional analysis of condensation for McAllister condenser with the PMA was conducted using Fluent 6.2 and UDFs (use-defined functions). The result of condensation rate was analogous to previous results (experimental and numerical data).

• Structural Engineering and Mechanics
• /
• v.66 no.5
• /
• pp.649-663
• /
• 2018

The scaled boundary finite element method is extended to evaluate the dynamic stress intensity factors and T-stress with a numerical procedure based on the improved continued-fraction. The improved continued-fraction approach for the dynamic stiffness matrix is introduced to represent the inertial effect at high frequencies, which leads to numerically better conditioned matrices. After separating the singular stress term from other high order terms, the internal displacements can be obtained by numerical integration and no mesh refinement is needed around the crack tip. The condition numbers of coefficient matrix of the improved method are much smaller than that of the original method, which shows that the improved algorithm can obtain well-conditioned coefficient matrices, and the efficiency of the solution process and its stability can be significantly improved. Several numerical examples are presented to demonstrate the increased robustness and efficiency of the proposed method in both homogeneous and bimaterial crack problems.