• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.29-33
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• 1993

This paper suggests Kalman filter formulation using by precision GINS output angle for SDINS initial transfer alignment of missile. The Kalman filter model was derived from quaternion parameters and the transfer alignment system by angle matching method satisfies azimuth observability in horizontal angular motion. The estimated error of SDINS attitude settles to less 3mrad(1.sigma.) in 200 seconds at proper sea state.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.524-532
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• 2002

This paper presents a new in-flight alignment method for an SDINS under large initial heading error. To handle large heading error, a new attitude error model is introduced. The attitude errors are divided into heading error and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with Position measurement is designed to estimate navigation errors as the indirect feedback filter Simulation results show that the proposed in-flight alignment method reduces the heading error very quickly from more than 40deg to about 5deg so as to apply a refined navigation filter. The total alignment process including leveling mode and navigation mode in addition to the proposed one allows large initial values not only in heading error but also in leveling errors.

• 한국도로학회지:도로
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• v.15 no.3
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• pp.40-45
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• 2013

• 한국도로학회:학술대회논문집
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• 2004.10a
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• pp.363-368
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• 2004

• Korean Journal of Applied Biomechanics
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• v.26 no.3
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• pp.303-308
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• 2016

Objective: This study evaluated the vertical and horizontal forces in the frontal plane acting on a pedal due to the vertical alignment of the lower limbs. Method: Seven male subjects (age: $25.3{\pm} 0.8years$, height: $175.4{\pm}4.7cm$, weight: $74.7{\pm}14.2kg$, foot size: $262.9{\pm}7.6mm$) participated in two 2-minute cycle pedaling tests, with the same load and cadence (60 revolutions per minute) across all subjects. The subject's saddle height was determined by the height when the knee was at $25^{\circ}$ flexion when the pedal crank was at the 6 o'clock position (knee angle method). The horizontal force acting on the pedal, vertical force acting on the pedal in the frontal plane, ratio of the two forces, and knee range of motion in the frontal plane were calculated for four pedaling phases (phase 1: $330{\sim}30^{\circ}$, phase 2: $30{\sim}150^{\circ}$, phase 3: $150{\sim}210^{\circ}$, phase 4: $210{\sim}330^{\circ}$) and the complete pedaling cycle. Results: The range of motion of the knee in the frontal plane was decreased, and the ratio of vertical force to horizontal force and overall pedal force in the complete cycle were increased after vertical alignment. Conclusion: The ratio of vertical force to horizontal force in the frontal plane may be used as an injury prevention index of the lower limb.

• International conference on construction engineering and project management
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• 2013.01a
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• pp.403-411
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• 2013

Horizontal construction projects such as oil and gas pipeline projects typically involve repetitive-work activities with the same crew and equipment from one end of the project to the other. Repetitive scheduling also known as linear scheduling is known to have superior schedule management capabilities specifically for such horizontal construction projects. This study discusses on expanding the capabilities of repetitive scheduling to account for the variance in production rates and visual representation by developing an automated alignment based linear scheduling program for applying temporal and spatial changes in production rates. The study outlines a framework to apply changes in productions rates when and where they will occur along the horizontal alignment of the project and illustrates the complexity of construction through the time-location chart through a new linear scheduling model, Linear Scheduling Model with Varying Production Rates (LSM_VPR). The program uses empirically derived production rate equations with appropriate variables as an input at the appropriate time and location based on actual 750 mile natural gas liquids pipeline project starting in Wyoming and terminating in the center of Kansas. The study showed that the changes in production rates due to time and location resulted in a close approximation of the actual progress of work as compared to the planned progress and can be modeled for use in predicting future linear construction projects. LSM_VPR allows the scheduler to develop schedule durations based on minimal project information. The model also allows the scheduler to analyze the impact of various routes or start dates for construction and the corresponding impact on the schedule. In addition, the graphical format lets the construction team to visualize the obstacles in the project when and where they occur due to a new feature called the Activity Performance Index (API). This index is used to shade the linear scheduling chart by time and location with the variation in color indicating the variance in predicted production rate from the desired production rate.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.4
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• pp.71-75
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• 2007

Geometrical error of ultra-precision machining due to spherical tool alignment error is analyzed. Deviation of spherical edge, ranged several ten micrometers, generates vertical and horizontal error of tool path and affects profile accuracy of machined surface. Simulation of machined error shows effect of tool alignment error and enables to estimate alignment error. This work provides technical insights into the minimizing of geometrical error of ultra-precision machining.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.435-442
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• 2016

For inertial navigation systems, initial information such as position, velocity and attitude is required for navigation. Self-alignment is the process to determine initial attitude on stationary condition using inertial measurements such as accelerations and angular rates. The accuracy of self-alignment is determined by inertial sensor error. As soon as an inertial navigation system is powered on, the temperature of accelerometer rises rapidly until temperature stabilization. It causes acceleration error which is called temperature stabilizing error of accelerometer. Therefore, temperature stabilizing error degrades the alignment accuracy and also increases alignment time. This paper suggests a method to calculate azimuthal attitude using curve fitting of horizontal control angular rate in fixed-gain self-alignment. It is verified by simulation and experiment that the accuracy is improved and the alignment time is reduced using the proposed method under existence of the temperature stabilizing error.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.10
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• pp.105-111
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• 2003

A measurement of spacecraft alignment is an important process of spacecraft assembly, integration and test. Because, it is necessary that a operator of a ground station controls the precise positions of on-orbit spacecraft by using the alignment data of attitude orbit control sensors(AOCS) on spacecraft. And, an accuracy of spacecraft alignment requirement is about $0.1^{\circ}{\sim}0.7^{\circ}$. A spacecraft alignment is measured by autocollimation of theodolite. This paper describes the measurement principle and method of spacecraft alignment. The result shows that all the AOCS on the spacecraft are aligned within the tolerance required through the alignment measurement.

• Journal of the Korean Society for Railway
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• v.13 no.6
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• pp.589-594
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• 2010

Superimposition of horizontal and vertical curves may hamper the ride comfort and running stability of train and largely affect the maintenance costs. However, in many cases, it is not easy to make a track alignment plan because of the geographic conditions or undesirable environmental factors. In this paper, a comparative study on the effect of superimposition of vertical and horizontal curve on the ride comfort and optimum horizontal curve conditions was performed. That is, optimal cant and ride comfort analysis with and without a vertical curve superimposed on the horizontal curve were evaluated. Also the superimposition effect on ride comfort and alignment conditions in high speed zone were evaluated. From the analysis results, it was found that the ride comfort is similar to that at the only horizontal curves when applying the compensation cant for the superimposed site.