• Geophysics and Geophysical Exploration
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• v.1 no.1
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• pp.8-18
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• 1998

In exploration seismology, the Kirchhoff hyperbola has been successfully used to migrate reflection seismo-grams. The mathematical basis of Kirchhoff hyperbola has not been clearly defined and understood for the application of prestack or poststack migration. The travel time from the scatterer in the subsurface to the receivers (exploding reflector model) on the surface can be a kinematic approximation of Green's function when the source is excited at position of the scatterer. If we add the travel time from the source to the scatterer in the subsurface to the travel time of exploding reflector model, we can view this travel time as a kinematic approximation of the partial derivative wavefield with respect to the velocity or the density in the subsurface. The summation of reflection seismogram along the Kirchhoff hyperbola can be evaluated as an inner product between the partial derivative wavefield and the field reflection seismogram. In addition to this kinematic interpretation of Kirchhoff hyperbola, when we extend this concept to shallow refraction seismic data, the stacking of refraction data along the straight line can be interpreted as a measurement of an inner product between the first arrival waveform of the partial derivative wavefield and the field refraction data. We evaluated the Kirchhoff hyperbola and the straight line for stacking the refraction data in terms of the first arrival waveform of the partial derivative wavefield with respect to the velocity or the density in the subsurface. This evaluation provides a firm and solid basis for the conventional Kirchhoff migration and the straight line stacking of the refraction data.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.567-572
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• 2004

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.474-477
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• 1997

In this paper, an efficient attitude determination algorithm based on the Kalman Filter which combines earth/sun sensor data with gyro data in a mutually compensating manner is presented. Quaternion is used as the attitude state to save computation time and to prevent the gimbal-lock situation associated with Euler angles. Gyro data allows the use of the kinematic equation instead of space vehicle's dynamic equation which is usually based on approximation of the actual dynamics and inaccurate torque information. The gyro data are used to propagate the attitude through kinematic equation and the earth/sun sensor data are used to update the attitude and estimate the gyro bias. Simulation results for the KOMPSAT attitude determination system are presented.

• Journal of Ocean Engineering and Technology
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• v.37 no.2
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• pp.49-57
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• 2023

Since Chappelear developed a Fourier approximation method, considerable research efforts have been made. On the other hand, Fourier approximations are unsuitable for deep water waves. The purpose of this study is to provide a Fourier approximation suitable even for deep water waves and a numerical method to determine the Fourier coefficients and the wave properties. In addition, the convergence of the solution was tested in terms of its order. This paper presents a velocity potential satisfying the Laplace equation and the bottom boundary condition (BBC) with a truncated Fourier series. Two wave profiles were derived by applying the potential to the kinematic free surface boundary condition (KFSBC) and the dynamic free surface boundary condition (DFSBC). A set of nonlinear equations was represented to determine the Fourier coefficients, which were derived so that the two profiles are identical at specified phases. The set of equations was solved using Newton's method. This study proved that there is a limit to the series order, i.e., the maximum series order is N=12, and that there is a height limitation of this method which is slightly lower than the Michell theory. The reason why the other Fourier approximations are not suitable for deep water waves is discussed.

• Journal of Theoretical and Applied Mechanics
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• v.1 no.1
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• pp.97-109
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• 1995

In this paper, a finite viscoelastic continuum model for rubber and its finite element analysis are presented. This finite viscoelatic model based on continuum mechanics is an extended model of Johnson and Wuigley's 1-D model. In this extended model, continuum based kinematic measures are rigorously defied and by using this kinematic measures, elastic stage law and flow rule are introduced. In kinematics, three configuration are introduced. In kinematics, three configuration are introduced. They are reference, current and virtual visco configurations. In elastic state law, it is assumed that at a certain time, there exists an elastic potential which describes the recoverable elastic energy. From this elastic potential, elastic state law is derived. The proposed flow rule is based on phenomenological observation. The flow rule gives precise relaxation response. In finite element approximation, mixed Lagrangian description is used, where total and similar method of updated Lagrangian descriptions are used together. This approach reduces the numerical job and gives simple nonlinear syatem of equations. To satisfy the incompressible condition, penalty-type modified Mooney-Rivlin energy function is adopted. By this method nearly incompressible condition is obtain the virtual visco configuration. For verification, uniaxial stretch tests are simulated for various stretch rates. The simulated results show good agreement with experiments. As a practical experiments. As a preactical example, pressurized rubber plate is simulated. The result shows finite viscoelastic effects clearly.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.4
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• pp.16-20
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• 2010

The dynamic characteristics of flight sensors is obtained by a simple method that deploys a pendulum with a rotary encoder. The encoder output is used with kinematic relations to derive reference signals for various flight sensors, including position, velocity, attitude, and angular rate sensors as well as accelerometer and magnetic sensors. A time delay of 0.4 seconds is found in the position output of the flight sensor under investigation. A logic to compensate for the time delay using a velocity information is proposed and validated in flight tests.

• Journal of The Korean Astronomical Society
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• v.34 no.4
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• pp.251-254
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• 2001

To examine the structure and dynamics of thick accretion disks, we use a two-dimensional viscous hydrodynamic code coupled with radiation transport. The $\alpha$-model and the full viscous stress-tensor description for the kinematic viscosity are used. The radiation transport is treated in the gray, flux-limited diffusion approximation. The finite difference methods used are based on an explicit-implicit method. We apply the numerical code to the Super-Eddington black-hole model for SS 433.@The result for a very small viscosity parameter a reproduces well the characteristic features of SS 433, such as the relativistic jets with $\~$0.26c, the small collimation degree of the jets, the mass-outflow rate of ${\ge}5{\times}10^{-7}M{\bigodot}yr^{-1}$, and the formation of the X-ray iron emission lines.

• Journal of Electrical Engineering and Technology
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• v.8 no.2
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• Water for future
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• v.25 no.1
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• pp.101-110
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• 1992

In this paper for simulating spatially and temporally varied moving storm in a watershed a distributed model was developed. The model is conducted by two major flow simulations which overland flow simulation and channel network flow simulation. Two dimensional continuity equation and momentum equation of kinematic approximation are used in the overland flow simulation. On the other hand, in the channel networks simulation two types of governing equations which are one dimensional continuity and momentum equations between two adjacent sections in a channel, and continuity and energy equations at a channel junction are applied. The finite element formulations were used in the overland flow simulation and the implicit finite difference formulations were used in the channel network simulation. The finite element formulations for the overland flow are analyzed by the Gauss elimination method and the finite difference formulations for the channel network flow are analyzed by the double sweep method having advantages of computational speed and reduced computer storages. Several recurrent coefficient equations for channel network simulation are suggested in the paper.

• Journal of Ocean Engineering and Technology
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• v.36 no.2
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• pp.101-107
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• 2022

Dean (1965) proposed the use of the root mean square error (RMSE) in the dynamic free surface boundary condition (DFSBC) and kinematic free-surface boundary condition (KFSBC) as an error evaluation criterion for wave theories. There are well known wave theories with RMSE more than 1%, such as Airy theory, Stokes theory, Dean's stream function theory, Fenton's theory, and trochodial theory for deep-water waves. However, none of them can be applied for deep-water breaking waves. The purpose of this study is to provide a closed-form solution for deep-water waves with RMSE less than 1% even for breaking waves. This study is based on a previous study (Shin, 2016), and all flow fields were simplified for deep-water waves. For a closed-form solution, all Fourier series coefficients and all related parameters are presented with Newton's polynomials, which were determined by curve fitting data (Shin, 2016). For verification, a wave in Miche's limit was calculated, and, the profiles, velocities, and the accelerations were compared with those of 5^th-order Stokes theory. The results give greater velocities and acceleration than 5^th-order Stokes theory, and the wavelength depends on the wave height. The results satisfy the Laplace equation, bottom boundary condition (BBC), and KFSBC, while Stokes theory satisfies only the Laplace equation and BBC. RMSE in DFSBC less than 7.25×10^-2% was obtained. The series order of the proposed method is three, but the series order of 5^th-order Stokes theory is five. Nevertheless, this study provides less RMSE than 5^th-order Stokes theory. As a result, the method is suitable for offshore structural design.