• Journal of Positioning, Navigation, and Timing
• /
• 제9권2호
• /
• pp.117-124
• /
• 2020

In this paper, the symmetric position drift of the integration approach in pedestrian dead reckoning (PDR) system with dual foot-mounted IMU is analyzed. The PDR system that uses the inertial sensor attached to the shoe is called the IA-based PDR system. Since this system is designed based on the inertial navigation system (INS), it has the same characteristics as the error of the INS, then zero-velocity update (ZUPT) is used to correct this error. However, an error that cannot be compensated perfectly by ZUPT exists, and the trend of the position error is the symmetric direction along the side of the shoe(left, right foot) with the IMU attached. The symmetric position error along the side of the shoe gradually increases with walking. In this paper, we analyze the causes of symmetric position drift and show the results. It suggests the possibility of factors other than the error factors that are generally considered in the PDR system based on the integration approach.

• Geosciences Journal
• /
• 제22권6호
• /
• pp.1041-1052
• /
• 2018

A single-well push-drift-pull tracer test using two different tracers ($SF_6$ and salt) was performed at the Environmental Impact Test (EIT) site to determine suitable locations for monitoring wells and arrange them prior to artificial $CO_2$ injection and leak tests. Local-scale estimates of hydraulic properties (linear groundwater velocity and effective porosity) were obtained at the study site by the tracer test with two tracers. The mass recovery percentage of the volatile tracer ($SF_6$) was lower than that of the non-volatile tracer (salt) and increased drift time may make degassing of $SF_6$ intensified. The $CO_2$ leakage monitoring results for both unsaturated and saturated zones suggest that the $CO_2$ monitoring points should be located near points at which a high concentration gradient is expected. Based on the estimated hydraulic properties and tracer mass recovery rates, an optimal $CO_2$ monitoring network including boreholes for monitoring the unsaturated zone was constructed at the study site.

• 한국항만학회지
• /
• 제6권2호
• /
• pp.25-31
• /
• 1992

Herein we investigate the mass transport velocity caused by the viscosity near the ocean structure such as circular pile and inclined breakwaters. The mass transport velocity which is represented by the sum of the Eulerian velocity and the stokes drift were derived by Carter, Liu and Mei(1973). The tangential components of the inviscid velocity field at the bottom needed in the calculation of the mass transport velocity is obtained by solving the scattering problem due to breakwaters. The matched asymptotic expansion technique is employed to obtain the inviscid flow fields scattered by inclined breakwaters. The numerical results show that heary sediments tends to be deposited near the center of breakwaters and that the narrowing of the entrance width results in reduction of the magnitude of mass transport.

• 한국항해항만학회지
• /
• 제31권3호
• /
• pp.223-228
• /
• 2007

최근 선박의 대형화와 전용화가 현저하게 진행됨에 따라 갑판 상부의 구조물이 비교적 큰 컨테이너선, LNG 운반선, 자동차운반선, 여객선 등이 출현하여 운항되고 있다. 이러한 선박들이 부두에서 접 이안 또는 항내에서 저속으로 운항할 경우 바람, 조류 등과 같은 외력의 영향을 받기 쉬우며, 외력이 과도할 경우에는 압류나 회두 현상으로 인해 선박 운항에 지장을 초래할 수 있으므로 특정 외력 하에서의 선체 거동에 대한 분석은 선박의 안전운항에 있어서 매우 중요한 자료라 할 수 있다. 본 연구는 수면 상부의 구조물이 상대적으로 큰 실습선 한나라호를 대상으로 정상풍 하에서의 선체에 작용하는 풍압력 및 풍압모우멘트 영향을 분석하였다. 또한 정상풍 하의 선박 운항에 있어 주요한 정보인 표류각과 대응 타각을 상대 풍향과 풍속을 기초로 산출하였고, 풍속 선속비에 따른 조종 한계 풍속, 선속별 풍향에 따른 조종 한계 풍속, 최대 풍압력에 의한 횡경사각 등을 정량적으로 산출하여 제시하였다. 이러한 자료는 한나라호의 입출항 조종 및 태풍 피항을 위한 운항 현장에서 직접 활용될 수 있고, 실선에서 해당 결과를 비교 평가할 수 있으므로 향후 이론식에 대한 수정 및 보완과 함께 교육 자료로 이용될 수 있을 것으로 판단된다.

• 전기학회논문지
• /
• 제67권7호
• /
• pp.871-877
• /
• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• Journal of Biosystems Engineering
• /
• 제20권3호
• /
• pp.236-244
• /
• 1995

Droplet size is one of the important factors in the deposition and drift of agrichemical application. In this study, droplet size and its distribution of the three different sizes of ceramic hollow cone nozzles being used in the air carrier sprayer for apple production were investigated at the various nozzle pressures and the three air velocities. The Malvern particle size analyzer were used for the measurement of droplet size and its distribution. The important results emerged from th is study can be summarized as follows. 1. Discharged rate was increase with the increase of the nozzle diameter and pressure, amount of the difference was remarkable between the nozzle diameter of 1.0, 1.2 and 1.5 mm, but no difference were found between the diameter of 1.0 and 1.2 mm in the same nozzle pressure. 2. Mass median diameter were varied as 40~160 ${mu}m$ at the air velocity of 0 m/s, 70~140 ${mu}m$ of 15 m/s and 100~160 ${mu}m$ of 20 m/s 3. It appeared that the air velocity range of 15~20 m/s was desirable for both drift and deposition control in the given experimental conditions.

• 한국전기전자재료학회논문지
• /
• 제18권4호
• /
• pp.375-380
• /
• 2005

CF₄ molecular gas is used in most of semiconductor manufacture processing and SF/sub 6/ molecular gas is widely used in industrial of insulation field. but both of gases have defect in global warming. C₃F/sub 8/ gas has large attachment cross-section more than these gases, moreover GWP, life-time and price of C₃F/sub 8/ gas is lower than them, therefor it is important to calculate transport coefficients of C₃F/sub 8/ gas like electron drift velocity, ionization coefficient, attachment coefficient, effective ionization coefficient and critical E/N. The aim of this study is to get these transport coefficients for imformation of the insulation strength and efficiency of etching process. In this paper, we calculated the electron drift velocity (W) in pure C₃F/sub 8/ molecular gas over the range of E/N=0.1∼250 Td at the temperature was 300 K and gas pressure was 1 Torr by the Boltzmann equation method. The results of this paper can be important data to present characteristic of gas for plasma etching and insulation, specially critical E/N is a data to evaluate insulation strength of a gas.

• IEIE Transactions on Smart Processing and Computing
• /
• 제6권1호
• /
• pp.1-9
• /
• 2017

This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

• 한국해양공학회지
• /
• 제23권1호
• /
• pp.81-88
• /
• 2009

An evaluation of the structural integrity of an oceanographic buoy subjected to extreme loads was carried out in this study. Load components, such as the current, waves, and wind load, which were required for the sea's environmental conditions, were calculated precisely. A non linear finite element analysis was conducted to elucidate the structural response of the buoy under extreme environmental conditions. Based on the surface drift velocity scheme, a dynamic impact analysis was also carried out for the case of collision accidents. The proposed numerical technique would be a useful and cost effective tool for design scheme evaluation in the field of oceanographic buoys.

• 조명전기설비학회논문지
• /
• 제22권8호
• /
• pp.104-108
• /
• 2008

플라즈마 현상의 정량적 이해를 위해서는 원자나 분자기체가 가지고 있는 정확한 전자충돌단면적과 그 전자수송 계수의 값을 필요로 한다. 본 연구에서 사용하고 있는 Kr과 Xe 원자기체는 PDP와 무전각램프 등 다양한 산업 응용분야에 이용되고 있다. 따라서 2항 근사 볼츠만 해석에 의해 기체압력 1[torr]의 조건에 $0.001{\sim}500$[Td]의 광범위한 E/N에서 순수 Kr과 Xe 원자기체의 전자이동속도 W, 종 횡축확산계수 $ND_L$과 $ND_T$, 전리계수 $\alpha$/N의 전자수송 계수를 계산하고 물성 해석하였다.