• Journal of Institute of Control, Robotics and Systems
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• v.7 no.10
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• pp.843-848
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• 2001

Most of gimballed inertial navigation systems(GNIS) are calibrated periodically to maintain their inherent accuracy. The existing calibration techniques using the conventional schuler test with the least square method and the multiposition test take a long time and have some problems in procedures. To solve this problem, calibration method using a linear Kalman filter is proposed by us. In this paper, the calibration method by the change of Schuler period is studied in order to improve the calibration performance of the gimballed INS. First of all, it is shown that the observability of Kalman filter is also enhanced the Schuler period is decreased. Simulation results show that the calibration performance using the present scheme is improved according to the decrease of the Schuler period and the calibration time is shortened extremely, too. And our proposed technique shows desirable estimation performance for the g-sensitive errors of inertial sensors in particular.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.1 s.24
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• pp.5-12
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• 2006

This study describes an SDINS/GPS/ZUPT integration algorithm for land navigation systems. The SDINS error can be decoupled in two parts. The first part is the the Schuler component which does not depend on object motion parameters, and the other is the Non-Schuler part which depends on the product of object acceleration and azimuth error. Azimuth error causes SDINS error in proportion to the traversed distance. The proposed system consists of a GPS/SDINS integration system and an SDINS/ZUPT integration system, which are both realized by an indirect feedforward Kalman filter. The main difference between the two is whether the estimate includes the Non-Schuler error or not, which is decided by the measurement type. Consequently, subtracting GPS/SDINS outputs from SDINS/ZUPT outputs provide the Non-Schuler error information which can be applied to improving azimuth accuracy. Simulation results using the raw data obtained from a van test attest that the proposed SDINS/GPS/ZUPT system is capable of providing azimuth improvement.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.944-952
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• 2001

Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it is desired to combine INS with external aids such as GPS. However GPS informations have a randomly abrupt jump due to a sudden corruption of the received satellite signals and environment, and moreover GPS can\`t provide navigation solutions. In this paper, smoothing and prediction schemes are proposed for GPS`s jump or unavailable GPS. The smoothing algorithm which is designed as a scalar adaptive filter, smooths abrupt jump. The prediction algorithm which is proved by Schuler error model of INS, estimates INS error in appropriate time. The outputs of proposed algorithm apply stable measurements to GPS aided INS Kalman filter. Simulations show that the proposed algorithm can effectively remove measurement jump and predict INS error.

• Koreanishche Zeitschrift fur Deutsche Sprachwissenschaft
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• v.8
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• pp.273-297
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• 2003

Der Computer kann ein nutzliches, herausforderndes und kreatives Werkzeug und Hilfsmittel beim Sprachenlernen darstellen. Bei der Anwendung auf die Situation des Grammatiklernens sind die analytischen und interaktiven $F\"{a}higkeiten$ des Computers mit gutem Erfolg eingesetzt worden. Eine der attraktivsten Eigenschaften des Computers ist nun seine $F\"{a}higkeit$, mit dem Schiller zu interagieren. Gute Computerprogramme $erm\"{o}glichen$ eine ausgedehnte Interaktion zwischen Computer und $Sch\"{u}ler$. Die Computerprogramme zum Sprachenlemen befassen sich mit Grammtik. Hier habe ich ein Lemprogramm des Intelligent Tutoring Systems $f\"{u}r$ die Grammatik Perfekt programmiert. Das Intelligent Tutoring System ist ein Computerlehrer. Wenn dem $Sch\'{u}ler$ Fehler unterlaufen, gibt ein guter Lehrer nicht nur die richtige Antwort, sondern hilft dem Schiller auch, seinen Fehler zu erkennen, ihn zu analysieren und zur richtigen Antwort zu finden. Das ist eine Funktion des Intelligent Tutoring Systems. Die Programme geben die Fehlermeldung richtig oder falsch. Dem Schuler werden Aufgaben vorgelegt, die sich aus mehreren Schritten und Prozessen zusammensetzen, wobei der Computer als Werkzeug bei der Suche nach einer $L\"{o}sung$ dient In guten $Probleml\"{o}sungsprogrammen$ verfolgt der Computer den $L\"{o}sungsansatz$ des $Sch\"{u}lers$ und analysiert seine Fehler. Wenn der Schuler bei der $\"{U}bung$ die richtige Antwort $ausw\"{a}hlt$, lauft das nachste Lernprogrammn des Computers. Die $\"{U}bungstyp$ kann auf dem Computer angereichert werden, indem $pr\"{a}zise$ und hilfreiche Kommentare $f\"{u}r$ jede $Auswahlm\"{o}glichkeit$ geboten werden.

• Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
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• 2001.06a
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• pp.1288-1288
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• 2001

X-ray powder diffraction (XRD) is utilized for determination of polymorphism in crystalline organic materials. Though convenient to use in a laboratory setting, XRD is not easily adapted to in situ monitoring of synthetic chemical production applications. Near-Infrared spectroscopy (NIR) can be adapted to in situ manufacturing schemes by use of a source/detector probe. Conversely, NIR is unable to conclusively define the existence of polymorphism in crystalline materials. By combining the two techniques, a novel simultaneous NIR/XRD instrument has been developed. During material's analysis, results from XRD allow for defining the polymorphic phase present, and NIR data are collected as a fingerprint for each of the observed polymorphs. These NIR fingerprints will allow for the development of a library, which can be referenced during the use of a NIR probe in manufacturing settings.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.125.2-125
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• 2001

Inertial navigation error is the major source of miss distance when only the inertial navigation system is used for guidance, and tend to monotonically increase if the flight time is small compared to the Schuler period. Miss distance due to these inertial navigation errors, therefore, can be minimized when a missile has the minimum time trajectory. Moreover, vertical component of navigation error becomes null if he impact angle to a surface target approaches to 90 degrees. In this paper, the minimum time trajectories with the steep terminal impact angle constraint are obtained by using CFSQP 2.5, and their properties are analyzed to give a guideline for he construction of an effective guidance algorithm for short range tactical surface-to-surface missiles.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.62-67
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• 1998

Gimballed Inertial Navigation Systems(GINS) are sophisticated autonomous electro-mechanical systems which supply the position, velocity and attitude of the vehicle on which they are mounted. In order to maintain accuracy of outputs, the GINS are required to regularly calibrate senior errors. However, existing calibration methods take up a long time due to multiposition alignments needed to increase accuracy. A particular system formulation for calibration of a GINS is proposed to enhance system observability and thus to expedite calibration procedure. Performance of the proposed calibration method is compared with existing methods such as Schuler test and muliposition alignment. Simulation studies show the proposed system formulation associated with a suggested suboptimal filter is accurate as well as efficient in error identification essential to GINS calibration.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1992.11a
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• pp.13-18
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• 1992

대형 틸팅패드 저어널베어링은 고속안정성 특성이 우수한 베어링으로서 시스템의 안정성이 매우 중요시되는 터빈발전기 등 대형 고속 회전기계에 많이 사용되고 있다. 그런데 이들 대형 저어널베어링에서는 유막의 온도상승이 매우 많고, 유체의 흐름이 거의 난류영역에 이르기 때문에 베어링의 운전특성을 정확하게 예측하기가 어려운 실정이다. Hopf & Schuler는 대형 틸팅패드 저어널베어링에 대한 실험적 연구에서 유동상태에 따라 베어링의 온도분포가 서로 달라진다고 발표하였다. 대형 틸팅패드 저어널베어링은 구조적으로 유동상태가 복잡할 뿐만 아니라 계산과정도 까다로운 편이어서 온도상승과 난류를 고려하여 엄밀하게 운전특성을 예측한 연구는 거의 없다. 따라서 본 연구에서는 대형 틸팅패드 저어널베어리으이 운전특성을 보다 엄밀하게 예측하기 위하여 3차원 적으로 유막의 점도변화 및 패드에서의 열전달을 고려하고, 와점성계수를 이용한 난류윤활이론을 사용하여 유막의 온도상승 및 난류가 베어링의 온도분포, 부하능력, 마찰손실 등의 운전특성에 미치는 영햐을 보다 엄밀하게 제시하고자 한다.

• Journal of Korea Water Resources Association
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• v.55 no.3
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• pp.245-255
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• 2022

Evaluating the qualitative the qualitative process of water resources by using various indicators, as one of the most prevalent methods for optimal managing of water bodies, is necessary for having one regular plan for protection of water quality. In this study, zoning maps were developed on a yearly basis by collecting and reviewing the process, validating, and performing statistical tests on qualitative parameters҆ data of the Iranian aquifers from 1995 to 2020 using Geographic Information System (GIS), and based on Inverse Distance Weighting (IDW), Radial Basic Function (RBF), and Global Polynomial Interpolation (GPI) methods and Kriging and Co-Kriging techniques in three types including simple, ordinary, and universal. Then, minimum uncertainty and zoning error in addition to proximity for ASE and RMSE amount, was selected as the optimum model. Afterwards, the selected model was zoned by using Scholar and Wilcox. General evaluation of groundwater situation of Iran, revealed that 59.70 and 39.86% of the resources are classified into the class of unsuitable for agricultural and drinking purposes, respectively indicating the crisis of groundwater quality in Iran. Finally, for validating the extracted results, spatial changes in water quality were evaluated using the Groundwater Quality Index (GWQI), indicating high sensitivity of aquifers to small quantitative changes in water level in addition to severe shortage of groundwater reserves in Iran.

• Koreanishche Zeitschrift fur Deutsche Sprachwissenschaft
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• v.5
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• pp.375-398
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• 2002

Um von der 'kritischen' Situation des Faches DaF rauszukommen, werden viele Versuche untemommen, durch die Verbesserung des Untenichts in der Richtung nach der Entwicklung der kommunikativen $F\"{a}higkeit$ Deutsch als Fremdsprache wieder attraktiv und $konkurrenzf\"{a}hig$ zu machen. Aber leider sieht die Zwischenbilanz nicht so erfolgreich aus. Eine der Ursachen $daf\"{u}r\;l\"{a}sst$ sich mE. darin sehen, dass die $Ans\"{a}tze,\;die\;haupts\"{a}chlich\;f\"{u}r$ den Unterricht von Deutsch als Zweitsprache entwickelt wurden, ohne $gen\"{u}gende$ Berucksichtigung auf die kulturellen und institutionellen Unterschiede zwischen den Lemsituationen im zielsprachigen Land und im Heimatland der Schuler eingesetzt werden. In diesem Kontext $w\"{a}re\;es\;n\"{o}tig$, auf die Unterschiede zwischen DaF und DaZ und ihre Wirkung auf die Lehrstrategien im DaF-Unterricht zuruckzugreifen, Dabei sind auf einige Faktoren besonders zu achten, die DaF-Untenicht vom DaZ-Untenicht unterscheiden: die Mangel an den $M\"{o}glichkeiten$ der authentischen Kommunikation, die $Homogenit\"{a}t\;der\;Sch\"{u}ler$, die Lemkultur in der schlulischen Institution, das Alter, in dem die Sch\"{u}ler$ mit dem Lemen der Zielsprache beginnen. Daraus lassen sich die folgenden unterrichtlichen Konsequenzen ergeben: Die Lehrer sollten sich bemtihen, den $Sch\"{u}lern\;die\;M\"{o}glichkeiten\;f\"{u}r$ die authentischen Kommunikation besorgen, besonders $au{\ss}erhaib$ des Unterrichts, z.B. durch das Chatting- Projekt, $w\"{a}hrend$ im Unterricht mehr $Anl\"{a}sse\;f\"{u}r$ die Reflexion gegeben sollten. Und dabei sollten die unterrichtlichen Vorteile-die gemeinsame Muttersprache und Kultur, das Alter usw. - aktiv benutzt werden. Die meisten Koreaner beginnen $n\"{a}mlich$ mit dem Lernen der zweiten Fremdsprache erst in oder nach der $Pubert\"{a}t$. In diesem Zusammenhang sollte es auch betont werden, dass sich die Autonomie der Lerner durch den Unterricht richtig entwickelt, damit sie $sp\"{a}ter$ ihre Fertigkeiten autonom entwickeln $k\"{o}nnen$.