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Performance Enhancement and Countermeasure for GPS Failure of GPS/INS Navigation System of UAV Through Integration of 3D Magnetic Vector

  • No, Heekwon;Song, Junesol;Kim, Jungbeom;Bae, Yonghwan;Kee, Changdon
    • Journal of Positioning, Navigation, and Timing
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    • v.7 no.3
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    • pp.155-163
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    • 2018
  • This study examined methods to enhance navigation performance and reduce the divergence of navigation solutions that may occur in the event of global positioning system (GPS) failure by integrating the GPS/inertial navigation system (INS) with the three-dimensional (3D) magnetic vector measurements of a magnetometer. A magnetic heading aiding method that employs a magnetometer has been widely used to enhance the heading performance in low-cost GPS/INS navigation systems with insufficient observability. However, in the case of GPS failure, wrong heading information may further accelerate the divergence of the navigation solution. In this study, a method of integrating the 3D magnetic vector measurements of a magnetometer is proposed as a countermeasure for the case where the GPS fails. As the proposed method does not require attitude information for integration unlike the existing magnetic heading aiding method, it is applicable even in case of GPS failure. In addition, the existing magnetic heading aiding method utilizes only one-dimensional information in the heading direction, whereas the proposed method uses the two-dimensional attitude information of the magnetic vector, thus improving the observability of the system. To confirm the effect of the proposed method, simulation was performed for the normal operation and failure situation of GPS. The result confirmed that the proposed method improved the accuracy of the navigation solution and reduced the divergence speed of the navigation solution in the case of GPS failure, as compared with that of the existing method.

A COMPARATIVE STUDY ON THE RECORDINGS OF MANDIBULAR MOVEMENT (운동의 기록방법에 관한 비교 연구)

  • Shin, Sang Yong;Kim, Kwang Nam;Chang, Ik Tai
    • The Journal of Korean Academy of Prosthodontics
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    • v.28 no.2
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    • pp.125-146
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    • 1990
  • The relationale for recording mandibular movement is to accurately adjust an articulator. Techniques to record mandibular movement include radiographic interpretation, extraoral tracing, and intraoral recording materials. This study was performed to compare the concylar guidance inclination and Bennett shift(immediate & progressive side shift)obtained by using an electronic pantograph, pantograph and wax interocclusal records in Korean. Ten adults who have normal occlusion and are free of TMJ dysfunction were selected and clutches were constructed. At first Pantronic survey was performed three times by using an kinematic hinge axis according to manufacturer's direction. Next pantographic survey was performed three times and the articulator was adjusted with each pantographic recording. And then maxillary cast was attached to the articulator with pantographic as a face-bow and the mandibular cast was mounted to the articulator with centric relation record. Three protrusive, three left lateral and three right lateral wax interocclusal records were taken on the subjects and the articulator was adjusted with each interocclusal record. Protrusive condylar inclination, lateral condylar inclination, immediate side shift and progressive side shift obtained by using electronic pantograph, pantograph and wax interocclusal record were compared and analized. The results were as follows; 1. The average left and right protrusive and orbiting condylar inclination($33.7^{\circ},\;37.1^{\circ},\;40.6^{\circ},\;43.5^{\circ}$) record with Pantronic was significantly greater than that recorded with other methods. 2. The average left and right protrusive and orbiting condylar inclination($24.8^{\circ},\;27.0^{\circ},\;31.4^{\circ},\;32.4^{\circ}$)recorded with wax interocclusal record was less than that of other methods. 3. The average left and right immediate side shift(0.57mm,0.44mm)recorded with wax interocclusal record was greater than that of other methods and the average left rigtht immmediate side shift(0.30mm,0.41mm)recorded with Pantronic was significantly greater than that recorded with pantograph(0.11mm,0.20mm). 4. The average variance of wax interocclusal was signivicantly higher than that of other methods.

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AUTOTRANSPLANTATION OF ECTOPICALLY ERUPTING MAXILLARY ANTERIOR TEETH (이소맹출하는 상악전치의 자가치아이식 치험례)

  • Son, Jeong-Min;Kim, Seon-Mi;Yang, Kyu-Ho;Choi, Nam-Ki
    • Journal of the korean academy of Pediatric Dentistry
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    • v.33 no.4
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    • pp.704-709
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    • 2006
  • Ectopic eruption should be understood as a change in the course of the normal eruption path of a dental bud at any moment in its origin. Transposition is a unique and extreme form of ectopic eruption. The treatment for ectopic eruption and transposition is various from simple observation to surgical exposure and orthodontic traction, according to direction of erupting tooth degree of developing root apex and eruption space etc. Autotransplantation is transplantation of tooth from one area of the mouth to another in the same individual or is moving a eruption tooth into extraction socket or surgically prepared socket, and autotransplantation is considered as a treatment of choice for the ectopic eruption when orthodontic traction is unable or when tooth movement is limited. These cases which were treated with autotransplantation of maxillary lateral incisor and maxillary canine were reported, and good esthetic and functional result were induced.

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Experimental Study on Features of Air Egress Velocity in Vestibule Pressurization System (특별피난계단 부속실 제연설비의 방연풍속 기류특성에 관한 실험적 연구)

  • Ryu, Sung-Ho;Lee, Su-Kyung;Hong, Dae-Hwa;Yoon, Myong-O;Choi, Keum-Ran;Park, Jae-Hyun
    • Fire Science and Engineering
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    • v.24 no.5
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    • pp.79-86
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    • 2010
  • In this study, we confirmed the fact that air egress velocity of pressure differential system which is installed in vestibule of smokeproof stairway in domestic high-rise building becomes back-flow into the vestibule not into the livingroom when the doors open to escape in case of fire by actual measurement. It concerned that fire smoke inflow into the vestibule of smokeproof stairway. so, reflux symptoms were developing the condition does not occur by creating an area of $2m^2$ and a model. if it‘s area is less, airflow in upper area was severely reflux. in the case upward 45 gradient of supply damper’s angle of blade, The results that reflux symptoms include upper door but bottom has some reflux. also vestibule of smokeproof stairway‘s area of $4m^2$ in the living room door in the direction of the flow distributon was normal. if a vestibule of smokeproof stairway is smaller, it designed to be performance-based design should be.

On Diagnosis Measurement under Dynamic Loading of Ball Bearing using Numerical Thermal Analysis and Infrared Thermography (전산 열해석 및 적외선 열화상을 이용한 볼베어링의 동적 하중에 따른 진단 계측에 관한 연구)

  • Hong, Dong-Pyo;Kim, Ho-Jong;Kim, Won-Tae
    • Journal of the Korean Society for Nondestructive Testing
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    • v.33 no.4
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    • pp.355-360
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    • 2013
  • With the modern machinery towards the direction of high-speed development, the thermal issues of mechanical transmission system and its components is increasingly important. Ball bearing is one of the main parts in rotating machinery system, and is a more easily damaged part. In this paper, bearing thermal fault detection is investigated in details Using infrared thermal imaging technology to the operation state of the ball bearing, a preliminary thermal analysis, and the use of numerical simulation technology by finite element method(FEM) under thermal conditions of the bearing temperature field analysis, initially identified through these two technical analysis, bearing a temperature distribution in the normal state and failure state. It also shows the reliability of the infrared thermal imaging technology. with valuable suggestions for the future bearing fault detection.

A COMPARATIVE STUDY OF THE EFFECT OF THE CR-CO DISCREPANCY ON THE MANDIBULAR MOVEMENTS (중심교합위와 중심위간의 변위가 하악운동에 미치는 영향에 관한 비교연구)

  • Lee, Ji-Hoon;Kim, Kwang-Nam;Chang, Ik-Tea
    • The Journal of Korean Academy of Prosthodontics
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    • v.29 no.2
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    • pp.295-317
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    • 1991
  • The discrepancy between centric relation and centric occlusion have a great role on the successful prosthodontic and occlusal treatment. This study was performed to investigate the effect of the discrepancy between centric relation and centric occlusion on condylar guidance inclination and Bennett shift (immediate and progressive side shift). Sixteen adults who have physiologically normal occlusion and are free of TMJ dysfunction were selected. The amount of the sagittal CR-CO discrepancy in lower anterior incisor was obtained by Saphon Visi-Trainer. The amount of the CR-CO discrepancy in condylar level was measured on the individualized corrected tomography. Pantronic survey was performed by using a arbitrary hinge axis according to manufacturer's direction. All subjects were divided into two groups, group I (small) and group II (large), according to the amount of CR-CO discrepancy. At first the amount of the CR-CO discrepancy in condylar level between two groups was compared and then the condylar guidance inclination and Bennett shift between two groups were compared and analyzed. The results were as follows; 1. The average CR-CO discrepancy in lower anterior incisors was 0.7mm superoinferiorly, 0.49mm anteroposteriorly, and 0.88 mm in total. The average CR-CO discrepancy in condylar level was 0.43mm. 2. The CR-CO discrepancy measured on teeth level and condylar level were highly correlated (p<0.01). 3. The correlation of the condylar position in the glenoid fossa between two groups was not statistically significant. 4. The large CR-CO discrepancy group showed greater amount of Bennett shift and condylar guidance inclination, but there is no statistical significancy. 5. It seems that the CR-CO discrepancy have greater effect on progressive side shift than other elements of mandibular movements.

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Evaluation of Response Functions for Activation Foil-based Bonner Spheres (중성자 방사화 포일 기반 보너구 반응함수 계산 방법)

  • Kim, Jung-Ho;Park, Hyeon-Seo
    • Journal of Radiation Protection and Research
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    • v.36 no.1
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    • pp.44-51
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    • 2011
  • Activation foil-based Bonner sphere spheres are used to obtain neutron energy spectra of nuclear power plants or accelerator-produced neutrons. The position and the foil mass dependence of response functions should be studied carefully before measurement of Bonner spheres. This study showed that the normal incidence to the foil surface made a large shift of responses while parallel and isotropic incidence made no position dependence. The correlation between foil mass and response was not linear. Therefore, the response functions of activation-foil based Bonner spheres should be calculated for every different foil mass and the direction of Bonner spheres for parallel incidence will be preferred for radioactive neutron source or accelerator target produced neutrons.

Risk free zone study for cylindrical objects dropped into the water

  • Xiang, Gong;Birk, Lothar;Li, Linxiong;Yu, Xiaochuan;Luo, Yong
    • Ocean Systems Engineering
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    • v.6 no.4
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    • pp.377-400
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    • 2016
  • Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

Experimental analysis of vortical structures in a turbulent layer using a dynamic PIV technique (Dynamic PIV를 이용한 난류경계층 내부 와구조 거동의 실험적 분석)

  • Choi, Yong-Seok;Lee, Sang-Joon
    • 한국전산유체공학회:학술대회논문집
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    • 2008.03b
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    • pp.193-196
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    • 2008
  • The vortical structures in a turbulent boundary layer (TBL) developed over a flat plate have been investigated experimentally. The flow conditions tested in this study were Re$_{\theta}$ = 3700, Re$_{\delta}$ = 11${\times}$105 and the shape factor H = 1.3. Instantaneous velocity fields in the streamwise-wall-normal planes were measured by using a dynamic PIV system. A trip-wire and sandpapers were placed behind the leading edge to promote the turbulent transition. 1000 velocity fields were obtained consecutively with a time interval of 1 millisecond. Streamwise u-velocity components were temporally averaged in the measuring plane. In addition, 2000 velocity fields were obtained randomly and ensemble-averaged to get the fully-developed turbulent characteristics. Profiles of the normalized u-component, turbulent intensities and Reynolds shear stress were evaluated. The structures of spanwise vortices were extracted from the instantaneous velocity fields by determining the swirling strength, ${\lambda}_{ci}$. The wall-normalized locations of vortices were temporally averaged in the measuring plane with respect to their rotational direction. The correlations between the temporally averaged u and the temporally averaged $y^+$ of vortices were evaluated. For the case of positive vortices, the correlation is not significant. However, the negative vortices show a strong negative correlation. The y-location of negative vortices tends to increase, as the averaged u decreases and vice versa. These findings indicate that the number of negative vortices in the outer layer increases during the outward bursting events.

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The Effect of Compression Knee Band and Heat Treatment on Blood Velocity of the Elderly with Osteoarthritis (무릎밴드 가압과 가온요법이 퇴행성 무릎관절염 노인의 혈류속도에 미치는 효과)

  • Kim, Nam Yim;Hong, Kyunghi
    • Fashion & Textile Research Journal
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    • v.18 no.5
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    • pp.716-723
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    • 2016
  • The purpose of this study was to investigate the change in blood velocity(mm/sec) when compression and/or heat were applied to the knee joint for the elderly who has both normal and painful legs with osteoarthritis(OA). Experimental compression knee band was prepared from the 3D knee data of the average women in 60's. 3D replica of knee was reduced by 7, 10, and 13% from the nude pattern in course direction. Clothing pressure was measured at the front and back of each healthy and painful knee of elderly women for one minute while standing and sitting on the chair. Blood velocity was measured at 13 cm upper from the mid-patella for 15 minutes. Results are as follows: first, compression or heating treatment itself did not change blood velocity of both legs; second, combination treatment with heating and compression was effective to increase blood velocity. In details, for healthy legs, combination treatments with compression by 10% reduced pattern(about 1.3kPa) and heating($43^{\circ}C$) induced the maximal blood velocity, however, for knees with OA, 7% reduced pattern(about 1.0kPa) with simultaneous heating($43^{\circ}C$) was more effective than other cases. These results indicated that pain and spasticity of knee joint with OA could be reduced by applying heat and compression therapy, where the compression level of painful knee should be slightly lower than of healthy leg.