• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• Progress in Superconductivity and Cryogenics
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• v.8 no.4
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• pp.15-18
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• 2006

REBCO coated conductors (RE: rare earth elements) have recently drawn great attention since they are known to possess stronger flux pinning centers in high magnetic fields compared with YBCO coated conductors. In this study, $GdBa_2Cu_3O_{7-d}(GdBCO)$ was selected to investigate the influence of the distance between target and substrate and substrate temperature on the superconducting properties of GdBCO films on the $SrTiO_3(100)$ substrate. Samples were fabricated by pulsed laser deposition (PLD) with a Nd:YAG laser (355nm). Under a given oxygen pressure of 800mTorr, we changed the distance between target and substrate from 5.5cm to 7.0cm and the substrate temperature from $750^{\circ}C\;to\;850^{\circ}C$. The crystallinity and texture of GdBCO films were analyzed by X-ray diffraction (XRD), and the surface morphology was observed by the scanning electron microscopy (SEM). Tc and Jc values were measured by the four point probe method. High quality GdBCO films with Tc of 89.7K and Jc over $1MA/cm^2$ at 77 K in self field were successfully fabricated by optimizing processing parameters. The detailed processing conditions, microstructure and superconducting properties will be presented for a discussion.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.52.2-52.2
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• 2020

At quasi-perpendicular shocks in the high-�� (��=Pgas/Pmag~100) intracluster medium (ICM), various microinstabilities occur by the temperature anisotropies and/or drift motions of plasma. In the downstream, the Alfvén ion cyclotron instability (AIC) due to the ion temperature anisotropy (Ti⊥>Ti║) is triggered by shock-reflected ions, the whistler instability (WI) is driven by the electron temperature anisotropy (Te⊥>Te║) as a consequence of the shock compression of magnetic fields, and the mirror instability is generated due to the ion and/or electron temperature anisotropy. At the shock foot, the modified two stream instability (MTSI) is possibly excited by the cross-field drift between ions and electrons. In the upstream, electron firehose instability (EFI) is driven by the electron temperature anisotropy or the relative drift between incoming and reflected electrons. These microinstabilities play important roles in the particle acceleration in ICM shocks, so understanding of the microinstabilities and the resultant plasma waves is essential. In this study, based on a linear stability analysis, the basic properties of the microinstabilities in ICM shocks and the ion/electron scale fluctuations are described. We then discuss the implication of our work on the electron pre-acceleration in ICM shocks.

• Journal of The Korean Astronomical Society
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• v.37 no.1
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• pp.41-53
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• 2004

It has been a big mystery what drives filament eruptions and flares. We have studied in detail an X1.8 flare and its associated filament eruption that occurred in NOAA Active Region 9236 on November 24,2000. For this work we have analyzed high temporal (about 1 minute) and spatial (about 1 arcsec) resolution images taken by Michelson Doppler Imager (MDI) onboard the Solar and Heliospheric Observatory, Hoc centerline and blue wing ($-0.6{\AA}$) images from Big Bear Solar Observatory, and 1600 ${\AA}$ UV images by the Transition Region and Corona Explorer (TRACE). We have found that there were several transient brightenings seen in H$\alpha$ and, more noticeably in TRACE 1600 ${\AA}$ images around the preflare phase. A closer look at the UV brightenings in 1600 ${\AA}$ images reveals that they took place near one end of the erupting filament, and are a kind of jets supplying mass into the transient loops seen in 1600 ${\AA}$. These brightenings were also associated with canceling magnetic features (CMFs) as seen in the MDI magnetograms. The flux variations of these CMFs suggest that the flux cancellation may have been driven by the emergence of the new flux. For this event, we have estimated the ejection speeds of the filament ranging from 10 to 160 km $s^{-1}$ for the first twenty minutes. It is noted that the initiation of the filament eruption (as defined by the rise speed less than 20 km $s^{-1}$) coincided with the preflare activity characterized by UV brightenings and CMFs. The speed of the associated LASCO CME can be well extrapolated from the observed filament speed and its direction is consistent with those of the disturbed UV loops associated with the preflare activity. Supposing the H$\alpha$/UV transient brightenings and the canceling magnetic features are due to magnetic reconnect ion in the low atmosphere, our results may be strong observational evidence supporting that the initiation of the filament eruption and the preflare phase of the associated flare may be physically related to low-atmosphere magnetic reconnection.

• Geophysics and Geophysical Exploration
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• v.11 no.2
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• pp.85-92
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• 2008

Magnetotelluric (MT) methods are widely applied as an effective exploration technique to geothermal surveys. Two-dimensional (2-D) analysis is frequently used to investigate a complicated subsurface structure in a geothermal region. A 2-D finite-element method (FEM) is usually applied to the MT analysis, but we must pay attention to the accuracy of so-called auxiliary fields. Rodi (1976) proposed an algorithm of improving the accuracy of auxiliary fields, and named it as the MOM method. Because it introduces zeros into the diagonal elements of coefficient matrix of the FEM total equation, a pivoting procedure applied to the symmetrical band matrix makes the numerical solution far less efficient. The MOM method was devised mainly for the inversion analysis, in which partial derivatives of both electric and magnetic fields with respect to model parameters are required. In the case of forward modeling, however, we do not have to resort to the MOM method; there is no need of modifying the coefficient matrix, and the auxiliary fields can be elicited from the regular FEM solution. The computational efficiency of the MOM method, however, can be greatly improved through a sophisticated rearrangement of the total equation.

• 한국지구물리탐사학회:학술대회논문집
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• 2005.05a
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• pp.273-280
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• 2005

Robust magneto-telluric (MT) response function estimators are now in standard use in electromagnetic induction research. Properly devised and applied, these methods can reduce the influence of unusual data (outlier) in the response (electric field) variable, but often not sensitive to exceptional predictor (magnetic field) data, which are termed leverage points. A bounded influence estimator is described which simultaneously limits the influence of both outlier and leverage point, and has proven to consistently yield more reliable MT response function estimates than conventional robust approach. The bounded influence estimator combines a standard robust M-estimator with leverage weighting based on the statistics of the hat matrix diagonal, which is a standard statistical measure of unusual predictors. Further extensions to MT data analysis are proposed, including a establishment of data rejection criterion which minimize the influence of both electric and magnetic outlier in frequency domain based on statistical distribution of electromagnetic field. The rejection scheme made in this study seems to have an effective performance on eliminating extreme data, which is even not removed by BI estimator, in frequency domain. The effectiveness and advantage of these developments are illustrated using real MT data.

• Geophysics and Geophysical Exploration
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• v.2 no.1
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• pp.17-25
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• 1999

A traveltime tomography has been carried out by transforming electromagnetic data in frequency domain to wave-like domain. The transform uniquely relates a field satisfying a diffusion equation to an integral of the corresponding wavefield. But direct transform of frequency domain magnetic fields to wave-field domain is ill-posed problem because the kernel of the integral transform is highly damped. In this study, instead of solving such an unstable problem, it is assumed that wave-fields in transformed domain can be approximated by sum of ray series. And for further simplicity, reflection and refraction energy compared to that of direct wave is weak enough to be neglected. Then first arrival can be approximated by calculating the traveltime of direct wave only. But these assumptions are valid when the conductivity contrast between background medium and the target anomalous body is low enough. So this approach can only be applied to the models with low conductivity contrast. To verify the algorithm, traveltime calculated by this approach was compared to that of direct transform method and exact traveltime, calculated analytically, for homogeneous whole space. The error in first arrival picked by this study was less than that of direct transformation method, especially when the number of frequency samples is less than 10, or when the data are noisy. Layered earth model with varying conductivity contrasts and inclined dyke model have been successfully imaged by applying nonlinear traveltime tomography in 30 iterations within three CPU minutes on a IBM Pentium Pro 200 MHz.

• Journal of the Korean Geophysical Society
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• v.4 no.2
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• pp.103-111
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• 2001

Geophysical survey was carried out to derive some information on the existence of near-surface anomalous body at Reung-Chi area in Kongju. Resistivity, seismic, magnetic and gravity method were applied. Geophysical survey that was applied was the electrical resistivity survey, seismic survey, magnetic survey, gravity survey. These surveys are analyzed to provide data of high resolution. As a result of analysis of resistivity survey, anomalies showing high resistivity anomaly than around appeared, and the one showing M-shape out of those explains the possibility that underground common or other underground structure or geographical anomalous zone could exist in the underground. As a result of analysis of seismic survey, it is clear that the low velocity layer is spread as far as the bottom of the underground. It is possible to presume that it is a phenomenon appearing while going through the underground space where it is lying in the underground. Area that shows unusual situation in interpretation of data on seismic waves are included into the area that once showed resistivity anomaly, the results of both seismic surveys come in accord. As a result of magnetic survey, a circle-shape of twin magnetic fields in the area where abnormalities are shown between electrical resistivity survey and seismic survey is appeared. Given the area of gravity survey, abnormalities whose density is different from the one around the bottom of the underground. As a result of analogizing the data of underground of the subsurface based on analysis of data from each survey, it was interpreted that anomalous zone exists commonly in the research areas.

• Journal of Astronomy and Space Sciences
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• v.14 no.2
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• pp.312-319
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• 1997

The magnetometer is one of the most important payloads for scientific satellite to monitor the near-earth space environment. The electromagnetic variations of the space environment can be observed with the electric and magnetic field measurements. In practice, it is well known that the measurement of magnetic fields needs less technical complexities than that of electric fields in space. Therefore the magnetometer has long been recognized as one of the basic payloads for the scientific satellites. In this paper, we discuss the scientific fluxgate magnetometer which will be on board the KITSAT-3. The main circuit design of the present magnetometer is based on that of KITSAT-1 and -2 but its facilities have been re-designed to improve the resolution to about 5nT for scientific purpose. The calibration and noise level test of this circuit have been performed at the laboratory of the Tierra Tecnica company in Japan.

• Geophysics and Geophysical Exploration
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• v.8 no.1
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• pp.104-111
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• 2005

Dmitri Donskoi, the Russian cruiser launched in 1883, is known to have sunk near Ulleung Island (East Sea, Korea) on May 29, 1905, while it was participating in the Russo-Japanese War. In order to find this ship, information about its possible location was obtained from Russian and Japanese maritime historical records. The supposed location of the ship was identified, and we conducted a five-year geophysical survey from 1999 to 2003. A reconnaissance three-dimensional topographic survey of the sea floor was carried out using multi-beam echo sounder, marine magnetometer, and side-scan sonar. An anomalous body identified through the initial reconnaissance survey was identified by a detailed survey using a remotely operated vehicle, deep-sea camera, and the mini-submarine Pathfinder. Interpretation of the acquired data showed that the ship is hanging on the side of a channel, at the bottom of the sea 400 m below sea level. The location is about 2 km from Port Jeodong, Uleung Island. We discovered 152 mm naval guns and other war materiel still attached to the hull of the ship. In addition, the remnants of the steering gear and other machinery that were burnt during the final action were found near the hull. Strong magnetic fields, resulting from the presence of volcanic rocks in the survey area, affected the resolution of the magnetic data gathered; as a result, we could not locate the ship reliably using the magnetic method. Severe sea floor topography in the gully around the hull gave rise to diffuse reflections in the side-scan sonar data, and this prevented us from identifying the anomalous body with the side-scan sonar technique. However, the sea-floor image obtained from the multi-bean echo sounder was very useful in verifying the location of the ship.