• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.6
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• pp.39-46
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• 2023

In this study, the dynamic behavior of friction bearings of PSC (Pre-Stressed Concrete) box train continuous bridge was numerically analyzed at 10 km/h intervals up to 600 km/h according to the increasing speed of the next-generation high-speed train. A frame model was generated targeting the 40-meter single-span and two-span continuous PSC box bridges in the Gyeongbu High-Speed Railway section. The interaction forces including the inertial mass vehicle model with 38 degrees of freedom and the irregularities of the bridge and track were considered. It was calculated the longitudinal displacement, cumulative sliding distance and displacement speed of the bridge bearings at each running speed so that compared with the dynamic behavior trend analysis of the bridge. In addition, long-term friction test standards were applied to evaluate the durability of friction plates.

• Journal of Advanced Navigation Technology
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• v.25 no.6
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• pp.441-449
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• 2021

With advances in autonomous vehicles, there is a growing demand for more accurate position estimation. Especially, this is a case for a moving robot for the indoor operation which necessitates the higher accuracy in position estimation when the robot is required to execute the task at a predestined location. Thus, a method for improving the position estimation which is applicable to both the fixed and the moving object is proposed. The proposed method exploits the initial position estimation from Bluetooth beacon signals as observation signals. Then, it estimates the gravitational acceleration applied to each axis in an inertial frame coordinate through computing roll and pitch angles and combining them with magnetometer measurements to compute yaw angle. Finally, it refines the control inputs for an object with motion dynamics by computing acceleration on each axis, which is used for improving the performance of Kalman filter. The experimental assessment of the proposed algorithm shows that it improves the position estimation accuracy in comparison to a conventional Kalman filter in terms of average error distance at both the fixed and moving states.

• Economic and Environmental Geology
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• v.37 no.4
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• pp.401-411
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• 2004

The Earth's total magnetic field was calculated from on board TAM(Three-Axis Magnetometer) observations of KOMPSAT-1 satellite between June 19th and 21st, 2000. The TAM's telemetry data were transformed from ECI(Earth-Centered Inertial Frame) to ECEF(Earth-Centered Earth-Fixed Frame) and then to spherical coordination. Self-induced field from the satellite bus were removed by the symmetric nature of the magnetic field. The 2-D wavenumber correlation filtering and quadrant-swapping method were applied to eliminate the dynamic components and track-line noise. To test the validity of the TAM's geomagnetic field, ${\phi}$rsted satellite's magnetic model and IGRF2000 model were used for statistical comparison. The correlation coefficients between KOMPSAT-1/${\phi}$rsted and KOMPSAT-1/IGRF2000 models are 0.97 and 0.96, respectively. The global spherical harmonic coeffi-cient was then calculated from the KOMPSAT-1 data degree and order of up to 19 and compared with those from IGRF2000, $\phi$rsted, and CHAMP models. The KOMPSAT-1 model was found to be stable to degree & order of up to 5 and it can give new information for the low frequency components of the global geomagtic field.

• Journal of The Korean Association For Science Education
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• v.37 no.2
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• pp.301-311
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• 2017

In this study, we observed the characteristics of students' small group discussions concerning the four friction problems. Participants in this study were 22 students of upper-level mechanics course and their small group discussions have been transcribed. As a result, we found that the phenomenon in this study is well defined by 'common context.' The process of formation of the common context was explicitly observed when students discussed about the identification of the problem situation (especially the movement of A in the second problem), the nature of friction and various forces, inertial frame, and noninertial reference frame. Meanwhile, the formation of common context was tacit when students thought they already had a common context. For example, students did not discuss about the friction rule itself because they had confidence about the knowledge. We also found that the presence of the questioner, receiver, and the other opinion were important for positive group discussions. The result of this study would be meaningful because it analyzed how the theme affects the group discussion beyond the limit of previous studies of just analyzing the form or pattern of discourse.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.