• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.626-637
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• 2014

On ship, especially on large ship, the flexure deformation between Master (M)/Slave (S) Inertial Navigation System (INS) is a key factor which determines the accuracy of the integrated system of M/S INS. In engineering this flexure deformation will be increased with the added ship size. In the M/S INS integrated system, the attitude error between MINS and SINS cannot really reflect the misalignment angle change of SINS due to the flexure deformation. At the same time, the flexure deformation will bring the change of the lever arm size, which further induces the uncertainty of lever arm velocity, resulting in the velocity matching error. To solve this problem, a $H_{\infty}$ algorithm is proposed, in which the attitude and velocity matching error caused by deformation is considered as measurement noise with limited energy, and measurement noise will be restrained by the robustness of $H_{\infty}$ filter. Based on the classical "attitude plus velocity" matching method, the progress of M/S INS information fusion is simulated and compared by using three kinds of schemes, which are known and unknown flexure deformation with standard Kalman filter, and unknown flexure deformation with $H_{\infty}$ filter, respectively. Simulation results indicate that $H_{\infty}$ filter can effectively improve the accuracy of information fusion when flexure deformation is unknown but non-ignorable.

• 한국실내디자인학회논문집
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• 제14권6호
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• pp.185-192
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• 2005

The Tabernacle was Personally designed by God and was ordered from God to Moses to build it as the first Piece of church architecture that accurately showed God's love and will of salvation towards humankind. Tabernacles, through the architecture of tabernacles teaches the Lord being among us. His Holiness and man's sins, and also reflects the path of eternity as well as the good news and salvation through Jesus Christ. And the Tabernacle is talking of the Glory of New Jerusalem that is provided Kingdom of Heaven for us at the same time being a completion of a final and ultimate church constructed long predicted through the Bible being already designed by God. The external expression of modern architecture may follow the uniqueness of that age but the special quality of the interior and exterior symbolism of church architecture will have to consist the standards of God for He is the first, sincere designer.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1044-1050
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• 2001

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

• 한국항공우주학회지
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• 제36권11호
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• pp.1079-1086
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• 2008

관성항법장치 초기정렬 방법인 전달정렬의 경우 MINS에서 SINS로 전송되는 데이터에는 변동하는 시간지연이 존재한다. 이러한 시간지연은 전달정렬의 성능을 저하시킨다. 본 논문에서는 측정치 잉여값을 이용하여 실시간으로 시간지연 공분산값을 추정하여 시간지연 추정오차를 줄이는 적응필터를 제시하고 수직발사 SDINS 전달정렬에 적용하여 확장형 칼만필터의 성능과 비교하였다. 시뮬레이션 결과 배운동이 크게 변할수록 적응필터의 성능이 확장형 칼만필터보다 더 우수한 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.286-289
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• 1986

항법(navigation)은 기준좌표계에 대한 항체(vehicle)의 위치나 속도를 알아내기 위한 것으로 이를 위한 시스템이 관성항법장치(inertial navigation system-INS)이며 항법기능을 수행하기 위하여 항체에 놓여진 쎈서의 관성성질을 이용한다. INS는 specific force와 관성 각속도의 측정에서 얻은 데이타를 처리함으로 그 기능을 수행한다. 스트랩다운 INS(SINS)는 관성항법장치의 한 종류로 analytic INS라고도 하는데 기준좌표축을 유지하기 위하여 안정테이블을 사용하지 않고 쎈서들을 항체에 직접 부착시켜 초기상태와 현재상태와의 사이에 상대적인 회전방향을 해석적으로 계산한다. INS의 성능은 수많은 오차원(error source)의 함수로 주어지며 이 오차원 중에는 주위환경에 의한 것도 있고 INS 구성에 사용된 기구(instruments)와 관련된 것도 있다. INS 를 해석하는 목적은 항법의 정확도를 알아보는데 있으며 또한 각각의 오차원의 값을 추정하는 것도 부가적인 목적이 된다. 이러한 오차의 추정치는 사양(specification)을 모르는 부품의 성능을 식별하는데 사용될 수 있다. 따라서 INS를 해석함으로 INS를 구성하는 어떤 부품에 대한 성능이 어느정도 개선을 필요로 하는가 알 수 있다. 본 논문에서는 SINS의 오차원을 크게 고도계의 불확실성, 중력의 편향과 이상, 가속도계의 불확실성, 자이로의 불확실성의 네 그룹으로 나누어 상호분산해석(covariance analysis)방법으로 각 오차원이 시스템에 미치는 영향을 알아보았다.

• 전기학회논문지
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• 제65권6호
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• pp.1038-1044
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• 2016

In this paper, a SDINS(Strapdown Inertial Navigation System) rapid initial alignment technique robust to the pyro-shock in multi-launch rocket system is proposed. The proposed method consists of three steps. Firth, transfer alignment is performed to estimate misalignment between MINS(Master INS) and SINS(Slave INS), and the estimated misalignment is written in the memory when transfer alignment is completed. Next, the pre-filtering process is performed to get rid of the acceleration error induced by launcher vibration. Finally, the horizontal alignment is performed to compensate misalignment variation caused by pyro-shock. We verified the performance of the proposed alignment method comparing with the conventional transfer alignment method. The simulation shows that the proposed initial alignment technique improves alignment performance.

• 한국군사과학기술학회지
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• 제14권4호
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• pp.684-693
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• 2011

Measurement time delay in the transfer alignment is very important. It has been well known that the time delay degrades the alignment performance and makes some navigation errors on the transfer alignment of slave INS(SINS). Therefore there are many schemes to eliminate that time delay but the compensation technique through the estimation by Kalman filter through modeling the time delay as a random constant is generally used. In the case of change over measurement time delay or the large measurement time delay, estimation performance in the existing compensation technique is degraded because model of time delay is not correct any more. In this paper, we propose the method to keep the time delay almost constant even though in the abnormal communication state and very small through feedback compensation using double buffer. Double buffer consists of two moving window to temporarily store measurements from master INS and slave INS in real time.

• 영어어문교육
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• 제7권2호
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• pp.167-185
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• 2002

The purpose of this article is to examine the relationship between sin and grace represented in The Power and the Glory. This work is composed of two thriller patterns of the pursuer and the pursed. The first pursuit is that the whisky priest, the representative of religious order is pursued by the lieutenant, the representative of secular order. And the second pursuit is that the whisky priest is trying to escape from God. In the course of his flight from God the whisky priest discovers his sinful nature and this self-recognition helps him restore his proper relationship with God. When he was a young priest he had religious piety, but he didn't feel true love for others. Ironically, after he is corrupted he finds his sinful nature and regrets his wrong behavior. He then comes to understand God's will and his responsibility to have love for the miserable human beings. The whisky priest is willing to accept his destiny as a martyr, after having repented his sins to God. Though the lieutenant captures the whisky priest and executes him, he doesn't feel triumph or hope but feels empty. The Power and the Glory shows us the irony that the lieutenant's power is a symbol of his weakness, while the priest's weakness is a symbol of his power.

• The Journal of Korean Physical Therapy
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• 제34권5호
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• pp.242-247
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• 2022

Purpose: This study investigates the effect of 60° semi-squat exercises according to three different types of support surfaces. The effects were examined on joint position sense and balancing ability using stable and unstable surfaces in patients afflicted with post-stroke hemiplegia. Methods: Subjects were instructed to perform three sets of 60° semi-squat exercises according to the characteristics of the support surface conditions. The three ground states were bilateral stable surface (BSS), nonaffected side unstable surface (NUS), and bilateral unstable surface (BUS). The joint position sense, characteristics of body sway, and dynamic balance were analyzed according to floor conditions before and after the experiment. A balance-pad (50 cm W×41 cm L×6 cm H; Alcan Airex AG, Sins, Switzerland) was used for the unstable floor. Results: The 60° semi-squat exercises applied to hemiplegic patients showed the highest statistical significance in joint position sense in the NUS group, and Timed Up and Go test (TUG) in the BUS group (p<0.05). Conclusion: Functional training using an unstable surface can be applied as a meaningful intervention method for improving the balance and joint position sense of stroke patients.

• 영어영문학
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• 제57권3호
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• pp.495-513
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• 2011

Murdoch's novel, The Black Prince, is not, as most critics have suggested, an autobiographical novel. It is about the inner life or rather trauma of Bradley Pearson, an artist who repeatedly dreams about a shabby paper shop which used to be run by his "unsuccessful" parents. In this respect, Freudian concept of trauma is helpful since it can explain Bradley's present repetition of his past traumatic experience, while allowing us to understand the nature of his trauma which reveals itself not only through his repeated nightmares but also through the women who are represented as diverse versions of his mother, the origin of Bradley's trauma. Caruth's concept of traumatic awakening and traumatic survival is also instrumental in understanding the nature of the traumatic experience which Bradley undergoes in this novel. Induced by Loxias's address, Bradley makes a confession of "the sins," which makes possible his traumatic survival as well as traumatic awakening, which is transmitted not only to Loxias but also to us the readers. In this sense, the significance of Bradley's awakening is not confined to his past only, but becomes a matter of a social dimension. The meaning of Bradley's writing lies in this fact.