• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.11
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• pp.965-972
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• 2016

This paper presents results of flight experiments on a navigation algorithm including multiplicative extended Kalman filter for estimating attitude of the guided munition. The filter describes orientation of aircraft by data fusion with low-cost sensors where measurement update is done by multiplication, rather than addition, which is suitable for quaternion representation. In determining attitude from vector observations, the existing approach utilizes a 3-axis accelerometer as a 2-axis inclinometer by measuring gravity to estimate pitch and roll angles, while GNSS velocity is used to derive heading of the vehicle. However, during accelerated maneuvers such as coordinated flight, the accelerometer provides inadequate inclinometer measurements. In this paper, the measurement update process is newly defined to complement the vulnerability by using different vector observations. The acceleration measurement is considered as a result of a centrifugal force and gravity during turning maneuvers and used to estimate roll angle. The effectiveness of the proposed method is verified through flight experiments.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.36.1-36.1
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• 2008

An Unscented Kalman Filter(UKF) for estimation of attitude and rate of a spacecraft using only magnetometer vector measurement is presented. The dynamics used in the filter is nonlinear rotational equation which is augmented by the quaternion kinematics to construct a process model. The filter is designed for low Earth orbit satellite, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. To stabilize the attitude, linear PD controller is applied and the actuator is assumed to be thruster. A Monte-Carlo simulation has been done to guarantee the stability of the filter performance to the various initial conditions. The UKF performance is compared to that of EKF and it reveals that UKF outperforms EKF.

• Journal of Multimedia Information System
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• v.2 no.2
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• pp.233-240
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• 2015

Mobile devices are becoming increasingly sophisticated and the latest generation of smartphones now incorporates many diverse and powerful sensors. These sensors include acceleration sensor, magnetic field sensor, light sensor, proximity sensor, gyroscope sensor, pressure sensor, rotation vector sensor, gravity sensor and orientation sensor. The availability of these sensors in mass-marketed communication devices creates exciting new opportunities for data mining and data mining applications. In this paper, we describe and evaluate a system that uses phone-based accelerometers to perform activity recognition, a task which involves identifying the physical activity that a user is performing. To implement our system, we collected labeled accelerometer data from 10 users as they performed daily activities such as "phone detached", "idle", "walking", "running", and "jumping", and then aggregated this time series data into examples that summarize the user activity 5-minute intervals. We then used the resulting training data to induce a predictive model for activity recognition. This work is significant because the activity recognition model permits us to gain useful knowledge about the habits of millions of users-just by having them carry cell phones in their pockets.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.12
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• pp.1699-1706
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• 2002

In this paper, the investigation about the elevation control and the formation of the free surface of magnetic fluids is carried out theoretically and experimentally on the basis of magnetic fluids is carried out theoretically and experimentally on the basis of Rosensweig' Ferrohydrodynamic Bernoulli Equation. Governing equations of magnetic fields are solved using the concept of vector potential. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the fee surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. The results of numerical simulation and experiment show the formation of the free surface of the magnetic fluid. Using PID control, an experiment for the elevation control of the free surface of magnetic fluids is performed.

• Journal of the Korean Wood Science and Technology
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• v.44 no.4
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• pp.494-504
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• 2016

Eucalyptus oils are widely used as spices, perfume industrial materials, food flavorings, and medicines. Several types of Eucalyptus oils also have insecticidal activity and as carminative. This study investigated the chemical composition, insecticidal (larvicidal and repellent) activity of E. urophylla oil against filarial mosquito Culex quinquefasciatus. E. urophylla oil was obtained from fresh leaves by water-steam distillation with oil yield 1.08%. E. urophylla oil in this study had no color (clear), has odor (typical eucalyptus), with specific gravity 0.941; refractive index 1.465; miscibility in 70% ethanol 1 : 3; and optical rotation (-) $5.83^{\circ}$. The major compounds of the oil were ${\alpha}$-pinene (11.73%), 1,8-cineole (49.86%), ${\beta}$-ocimene (6.25%), ${\gamma}$-terpinene (9.11%), and ${\alpha}$-terpinyl acetate (7.63%). The result showed the excellent insecticide activity against C. quinquefasciatus. The oil provided larvicidal activity with $LC_{50}$: 80.21 ppm and $LC_{90}$: 210.18 ppm, and repellent activity with $IC_{50}$: 0.82% and $IC_{90}$: 4.88%. The present study showed the effectiveness of E. urophylla as natural insecticide against C. quinquefasciatus, the mosquito vector of filariasis.

• Korean Journal of Applied Biomechanics
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• v.29 no.4
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• pp.219-226
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• 2019

Objective: The purpose of this study is to provide a better understanding of short turn mechanism by describing short turns after kinematic analysis and provide skiers and winter sports instructors with data through which they are able to analyze right postures for turns in skiing in a systematic, rational and scientific manner. Method: For this, a mean difference of kinematic variables (ski-hip angle, ski-shoulder twist angle, pole checking angle, the center of gravity (CG) displacement, trunk forward lean angle) was verified against a total of 12 skiers (skilled and unskilled, 6 persons each), regarding motions from the up-start to down-end points for short turns. Results: There was no difference in a ski-hip twist angle. The ski-shoulder twist angle was large at the up-start point while a pole-checking angle was high at the down-end point in skilled skiers. Concerning the horizontal displacement of CG, skilled skiers were positioned on the right side at the upstart point. No significant difference was observed in the trunk forward lean angle. Conclusion: According to the ski-shoulder twist angle and CG horizontal displacement results, the upper body should be kept leant toward the pole. In addition, big turns should be made via edging and angulation. During pole checking, the hand holding the pole should be thrown and released toward a vector direction of the forearm.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.6 s.144
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• pp.608-618
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• 2005

A new technique giving significant drag reduction in turbulent shear flows has been proposed by using the buoyancy effect to generate periodic spanwise motion. Such spanwise motion can be obtained by arranging heating and cooling strips periodically aligned in the spanwise direction of a vertical channel, where the streamwise mean flow is perpendicular to the gravity vector The strip size has been changed in order to obtain the optimum size corresponding to the maximum drag reduction. The bulk Reynolds number, $ Re_{m} = U_{m} \delta / \nu \$ is fixed at 2270 while Grashof numbers is changed between $10^{6}$ to $10^{7}$. As Grashof number increases, considerable drag reduction can be obtained, At the highest Grashof number, an optimum strip size of about 250 wail units gives drag reduction of about 35$\%$. The greater the Grashof number, the smaller the strip size attains the maximum drag reduction.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.101-106
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• 2006

The geoidal undulations are needed for determining the orthometric heights from the Global Positioning System GPS-derived ellipsoidal heights. There are several methods for geoidal undulation determination. The paper presents a method employing a simple architecture Two Layer Multiquadric-Biharmonic Artificial Neural Network (TLMB-ANN) to approximate an area of 4200 square kilometres quasigeoid surface with GPS-levelling data. Hardy’s Multiquadric-Biharmonic functions is used as the hidden layer neurons’ activation function and Levenberg-Marquardt algorithm is used to train the artificial neural network. In numerical examples five surfaces were compared: the gravimetric geometry hybrid quasigeoid, Support Vector Machine (SVM) model, Hybrid Fuzzy Neural Network (HFNN) model, Traditional Three Layer Artificial Neural Network (ANN) with tanh activation function and TLMB-ANN surface approximation. The effectiveness of TLMB-ANN surface approximation depends on the number of control points. If the number of well-distributed control points is sufficiently large, the results are similar with those obtained by gravity and geometry hybrid method. Importantly, TLMB-ANN surface approximation model possesses good extrapolation performance with high precision.