• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.727-732
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• 2008

In this paper, the state-space representation of generalized complimentary filter is proposed. Complementary filter has the suitable structure to merge information from sensors whose frequency regions are complementary. First, the basic concept and structure of complementary filter is introduced. And then the structure of the generalized filter and its state-space representation are proposed. The state-space representation of complementary filter is able to design the complementary filter by applying modern filtering techniques like Kalman filter and $H_{\infty}$ filter. To show the usability of the proposed state-space representation, the design of Inertial Navigation System(INS) vertical channel damping loop using Global Positioning System(GPS) is described. The proposed GPS/INS damping loop lends the structure of Baro/INS(Barometer/INS) vertical channel damping loop that is an application of complementary filter. GPS altitude error has the non-stationary statistics although GPS offers navigation information which is insensitive to time and place. Therefore, $H_{\infty}$ filtering technique is selected for adding robustness to the loop. First, the state-space representation of GPS/INS damping loop is acquired. And next the weighted $H_{\infty}$ norm proposed in order to suitably consider characteristics of sensor errors is used for getting filter gains. Simulation results show that the proposed filter provides better performance than the conventional vertical channel loop design schemes even when error statistics are unknown.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.410-415
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• 2012

An experimental study is carried out to investigate the near-wake characteristics of a NACA 0018 foil with a flat plate. Two-frame grey-level cross correlation PIV method is used to measure the local flow characteristic around a pitch damping foil to control the vertical motion of high speed crafts in a circulating water channel. The analysis also includes angles of attack 10 and 20 degrees respectively. Reynolds number $Re{\fallingdotseq}3.5{\times}10^4$ based on the chord length(C=100mm) of NACA0018 has been applied during the whole experiments. The distance between the foil and the flat plate is D/C=0.5, 1.0 and 1.5 respectively. The channel effect according as the distance between the foil and the flat plate has a close relation with the velocity distributions around the foil. In the wake of 20-degree of attack, the complex turbulent flow and a thick boundary layer are formed due to the processes of vortex generation and dissipation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.6
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• pp.51-56
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• 2005

This paper introduces an altitude determination algorithm using GPS/INS/Baroaltimeter and evaluates the algorithm by real field tests. The test results show that the proposed method can determine the altitude of an aircraft continuously and sensitively. Therefore, it is appropriate to be used as an altimeter for a flight control system, especially for the automatic take-off and landing. In addition, it is shown that the second and the third baro-inertial vertical channel damping methods are essentially complementary filters while the proposed scheme improves these complementary filters.

• Proceedings of the Korean Nuclear Society Conference
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• 1995.10a
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• pp.321-326
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• 1995

The present study provides some experimental observations on the structural developments of bubbly flow and the void wave damping in vertical, circular channel with a large diameter, and discusses the channel size effect on them. It is observed that the developing mode of bubbly flow structures and its transition mechanism are influenced by the channel size as well as the bubble size, and that they are well revealed in the behavior of wave damping.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.2
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• pp.64-71
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• 2022

In this paper, we simulate the collision of a solitary wave on a vertical wall in a uniform water channel and investigate the effect of damping on the amplitude attenuation. In order to take into account the damping effect, we introduce the Stokes damping whose dissipation is dependent on the velocity of wave motion on the surface of a thin layer of oil. That is, we use the improved Boussinesq equation with Stokes damping to describe the damped wave motion. Our work mainly focuses on the amplitude attenuation of a propagating solitary wave, which may depend on the Stokes damping together with the initial position and initial amplitude of the wave. We utilize the method of images and a powerful numerical tool (functional iteration method) for solving the improved Boussinesq equation, yielding an effective numerical simulation. This enables us to find the amplitudes of the incident wave and reflected one, whose ratio is a measure of the (wave) amplitude attenuation. Accordingly, we have shown that the reflection of a solitary wave by a vertical wall is dependent on not only the initial amplitude and position of a solitary but the Stokes damping.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.3
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• pp.165-173
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• 2018

Underwater vehicles use Inertial Navigation System (INS) with high-performance Inertial Measurement Unit (IMU) for high precision navigation. However, when underwater navigation is performed for a long time, the INS error gradually diverges, therefore, an integrated navigation method using auxiliary sensors is used to solve this problem. In terms of underwater vehicles, the vertical axis error is primarily compensated through Vertical Channel Damping (VCD) using a depth gauge, and an integrated navigation filter can be designed to perform horizontal axis error and sensor error correction using a speedometer such as Electromagnetic-Log (EM-Log). However, since EM-Log outputs the forward direction relative speed of the vehicle with respect to the sea and sea current, INS correction filter using this may cause a rather large error. Although it is possible to design proper filters if the exact model of the sea current is known, it is impossible to know the accurate model in reality. Therefore, this study proposes an INS/EM-Log integrated navigation filter with the function to estimate sea current using an Interacting Multiple Model (IMM) filters, and the performance of this filter is analyzed through a simulation performed in various environments.

• Advances in concrete construction
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• v.9 no.5
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• pp.437-448
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• 2020

In high rise buildings that utilize precast large panel system for construction, the shear wall provides strength and stiffness during earthquakes. The performance of a wall panel system depends mainly on the type of connection used to transfer the forces from one wall element to another wall element. This paper presents an experimental investigation on different types of construction detailing of the precast wall to wall vertical connections under reverse cyclic loading. One of the commonly used connections in India to connect wall to wall panel is the loop bar connection. Hence for this study, three types of wet connections and one type of dry connection namely: Staggered loop bar connection, Equally spaced loop bar connection, U-Hook connection, and Channel connection respectively were used to connect the precast walls. One third scale model of the wall was used for this study. The main objective of the experimental work is to evaluate the performance of the wall to wall connections in terms of hysteretic behaviour, ultimate load carrying capacity, energy dissipation capacity, stiffness degradation, ductility, viscous damping ratio, and crack pattern. All the connections exhibited similar load carrying capacity. The U-Hook connection exhibited higher ductility and energy dissipation when compared to the other three connections.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1379-1380
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• 2015

본 논문에서는 고도유지 제어기를 포함한 자율이동체의 수직 채널 안정화 루프를 제안한다. 제안된 방법은 일반적으로 널리 사용되고 있는 고전적인 수직채널 댐핑루프와 달리 고도정보와 함께 속도정보를 이용하여 궤적의 고도변화가 큰 이동체에 대하여 빠른 응답특성을 갖도록 한다. 루엔-버거(Luenberger) 관측기 구조를 이용함으로써 속도정보를 활용한 수직채널 안정화루프의 체계적 설계가 가능함을 보인다. 제안된 설계 방법에 대하여 모의실험을 통해 제안한 기법의 성능 및 유용성을 확인한다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.4
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• pp.47-56
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• 2005

In GPS/INS/barometer navigation system for UAV, vertical channel damping loop was introduced to suppress divergence of the vertical axis error of INS, which could be reduced to the level of accuracy of pressure altitude measured by a pitot-static tube. Because static pressure measured by the pitot-static tube depends on the speed and attitude of the vehicle, static pressure error models, based on aerodynamic data from wind tunnel test, CFD analysis, and flight test, were applied to reduce the error of pressure altitude. Through flight tests and sensitivity analyses, the error model using the ratio of differential pressure and static pressure turned out to be superior to the model using only differential pressure, especially in case of high altitude flight. Both models were proposed to compensate the effect of vehicle speed change and used differential and static pressure which could be obtained directly from the output of pressure transducer.

• Journal of the Earthquake Engineering Society of Korea
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• v.25 no.3
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• pp.145-152
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• 2021

KAERI has planned to carry out a series of dynamic tests using a shaking table and time-history analyses for a channel-type concrete shear wall to investigate its seismic performance because of the recently frequent occurrence of earthquakes in the south-eastern parts of Korea. The overall size of a test specimen is b×l×h =2500 mm×3500 mm×4500 mm, and it consists of three stories having slabs and walls with thicknesses of 140 mm and 150 mm, respectively. The system identification, FE model updating, and time-history analysis results for a test shear wall are presented herein. By applying the advanced system identification, so-called pLSCF, the improved modal parameters are extracted in the lower modes. Using three FE in-house packages, such as FEMtools, Ruaumoko, and VecTor4, the eigenanalyses are made for an initial FE model, resulting in consistency in eigenvalues. However, they exhibit relatively stiffer behavior, as much as 30 to 50% compared with those extracted from the test in the 1st and 2nd modes. The FE model updating is carried out to consider the 6-dofs spring stiffnesses at the wall base as major parameters by adopting a Bayesian type automatic updating algorithm to minimize the residuals in modal parameters. The updating results indicate that the highest sensitivity is apparent in the vertical translational springs at few locations ranging from 300 to 500% in variation. However, their changes seem to have no physical meaning because of the numerical values. Finally, using the updated FE model, the time-history responses are predicted by Ruaumoko at each floor where accelerometers are located. The accelerograms between test and analysis show an acceptable match in terms of maximum and minimum values. However, the magnitudes and patterns of floor response spectra seem somewhat different because of the slightly different input accelerograms and damping ratios involved.