• Title/Summary/Keyword: Gravity acceleration

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The Six-Position Calibration Technique of Gyro Bias for Rotational Inertial Navigation System Based on Ring Laser Gyroscope (링 레이저 자이로 기반 회전형 관성항법장치를 위한 6-자세 자이로 바이어스 교정 방법)

  • Yu, Haesung;Kim, Cheon-Joong;Lee, Inseop;Oh, Ju-Hyun;Sung, Chang-Ky;Lee, Sangjeong
    • Journal of the Korea Institute of Military Science and Technology
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    • v.22 no.2
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    • pp.189-196
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    • 2019
  • The inertial sensor errors in SDINS(Strapdown Inertial Navigation System) can be compensated by rotating the inertial measurement unit and it is called RINS(Rotational Inertial Navigation System). It is assumed that the error of the inertial sensor in RINS is a static bias. However, the error of the inertial sensor actually developed and produced is not a static bias due to the change of the temperature applied to the sensor and the influence of the earth's gravity acceleration. In this paper, we propose a six-position gyro bias calibration method to evaluate the gyro bias required for RINS and present the test results of applying it to a ring laser gyro inertial navigation system under development.

Structural Safety Analysis of a Spherical Flight Simulator Designed with a GFRP-Foam Sandwich Composite (GFRP-폼 샌드위치 복합재료로 설계된 구체 비행 시뮬레이터의 구조 안정성 평가)

  • Hong, Chae-Young;Ji, Wooseok
    • Composites Research
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    • v.32 no.5
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    • pp.279-283
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    • 2019
  • A flight training simulator of a fully spherical configuration is being developed to precisely and quickly control six degrees of freedom (Dof) motions especially with unlimited rotations. The full-scale simulator should be designed with a lightweight material to reduce inertial effects for fast and stable feedback controls while no structural failure is ensured during operations. In this study, a sandwich composite consisting of glass fiber reinforced plastics and a foam core is used to obtain high specific strengths and specific stiffnesses. T-type stainless steel frames are inserted to minimize the deformation of the sphere curvature. Finite element analysis is carried out to evaluate structural safety of the simulator composed of the sandwich sphere and steel frames. The analysis considers the weights of the equipment and trainee and it is assumed to be 200 kg. Gravity acceleration is also considered. The stresses and displacement acting on the simulator are calculated and the safety is assessed under two different situations.

Centrifuge modeling of dynamically penetrating anchors in sand and clay

  • An, Xiaoyu;Wang, Fei;Liang, Chao;Liu, Run
    • Geomechanics and Engineering
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    • v.30 no.6
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    • pp.539-549
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    • 2022
  • Accidental anchor drop can cause disturbances to seabed materials and pose significant threats to the safety and serviceability of submarine structures such as pipelines. In this study, a series of anchor drop tests was carried out to investigate the penetration mechanism of a Hall anchor in sand and clay. A special anchor drop apparatus was designed to model the inflight drop of a Hall anchor. Results indicate that Coriolis acceleration was the primary cause of large horizontal offsets in sand, and earth gravity had negligible impact on the lateral movement of dropped anchors. The indued final horizontal offset was shown to increase with the elevated drop height of an anchor, and the existence of water can slow down the landing velocity of an anchor. It is also observed that water conditions had a significant effect on the influence zone caused by anchors. The vertical influence depth was over 5 m, and the influence radius was more than 3 m if the anchor had a drop height of 25 m in dry sand. In comparison, the vertical influence depth and radius reduced to less than 3 m and 2 m, respectively, when the anchor was released from 10 m height and fell into the seabed with a water depth of 15 m. It is also found that the dynamically penetrating anchors could significantly influence the earth pressure in clay. There is a non-linear increase in the measured penetration depth with kinematic energy, and the resulted maximum earth pressure increased dramatically with an increase in kinematic energy. Results from centrifuge model tests in this study provide useful insights into the penetration mechanism of a dropped anchor, which provides valuable data for design and planning of future submarine structures.

Influence of Backfill Condition on Force Components of Gravity Walls During Earthquakes (지진시 배면지반 조건이 중력식 안벽의 하중성분에 미치는 영향)

  • Kim Sung-Ryul;Hwang Jae-Ik;Kim Myoung-Mo
    • Journal of the Korean Geotechnical Society
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    • v.22 no.1
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    • pp.15-23
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    • 2006
  • During earthquake, force components acting on quay walls consist of inertia force, earth pressure and water pressure. The earth pressure is largely influenced by the backfill condition such as soil density and the installation of gravel backfill. Therefore, shaking table tests were performed by using four different model sections, which were designed by varying the soil density and the backfill materials. The magnitude and the phase of force components acting on quay wall were analyzed. Test results showed that the gravel backfill and the soil compaction were effective to reduce the excess pore pressure in backfill and the magnitude and phase of backfill thrust were much influenced by the excess pore pressure in backfill. When the input acceleration was 0.10g, the average ratios of the inertia force, the front dynamic water force and the thrust to the total force were $64\%,\;21\%\;and\;16\%$, respectively. As the excess pore pressure increased, the ratio of the thrust to the total force increased.

A Study on the Estimation of Discharge in Unsteady Condition by Using the Entropy Concept (엔트로피 개념에 의한 부정류 유량 산정에 관한 연구)

  • Choo, Tai Ho;Chae, Soo Kwon
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.13 no.12
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    • pp.6159-6166
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    • 2012
  • A discharge measurement is difficult in flood season which is especially important in the water resources field and the continuous discharge measurement for all rivers is impossible on the present system. So, the stage-discharge curve has been used for a long time to produce discharge data of rivers. However, there has been problems from a reliability angle due to the fact that this method uses only stage-discharge relationship, although the stage-discharge curve has the convenience. Therefore, a new mean velocity equation was derived by using Chiu's 2D velocity formula of the entropy concept in this paper. The derived equation reflected hydraulic characteristics such as the depth, gravity acceleration, hydraulic radius, energy slope, kinematic coefficient of viscosity, etc. and estimated also a maximum velocity. In addition, this method verified the relationship between a mean and maximum velocity and estimates an equilibrium state ${\phi}(M)$ well presenting properties of a river cross section as the results. The mean velocity was estimated by using the equilibrium state ${\phi}(M)$, and then the discharge was estimated. To prove this equation to be accurate, the comparison between the measured and estimated discharge is conducted by using the measured laboratory data in the unsteady condition flow showing loop state and the results are consistent. If this study is constantly carried out by using various laboratory and river data, this method will be widely utilized in water resources field.

Kinematic and Dynamic Analyses of Human Arm Motion

  • Kim, Junghee;Cho, Sungho;Lee, Choongho;Han, Jaewoong;Hwang, Heon
    • Journal of Biosystems Engineering
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    • v.38 no.2
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    • pp.138-148
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    • 2013
  • Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

Development of Gait Distance Measurement System Based on Inertial Measurement Units (관성측정장치를 이용한 보행거리 측정 시스템 개발)

  • Lee, K.H.;Kang, S.I.;Cho, J.S.;Lim, D.H.;Lee, J.S.;Kim, I.Y.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.9 no.2
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    • pp.161-168
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    • 2015
  • In this paper, we present an inertial sensor-based gait distance measurement system using accelerometer, gyroscope, and magnetometer. To minimize offset and gain error of inertial sensors, we performed the calibration using the self-made calibration jig with 9 degrees of freedom. For measuring accurate gait distance, we used gradient descent algorithm to remove gravity error and used analysis of gait pattern to remove drift error. Finally, we measured a gait distance by double-integration of the error-removed acceleration data. To evaluate the performance of our system, we walked 10m in a straight line indoors to observe the improvement of removing error which compared un-calibrated to calibrated data. Also, the gait distance measured by the system was compared to the measurement of the Vicon motion capture system. The evaluation resulted in the improvement of $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ and $69.71{\pm}26.25%$ for x, y and z axis, respectively when walked in a straight line, and a root mean square error of 0.10m, 0.16m, and 0.12m for x, y and z axis, respectively when compared to the Vicon motion capture system.

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An Analytical Study on the Seismic Behavior and Safety of Vertical Hydrogen Storage Vessels Under the Earthquakes (지진 시 수직형 수소 저장용기의 거동 특성 분석 및 안전성에 관한 해석적 연구)

  • Sang-Moon Lee;Young-Jun Bae;Woo-Young Jung
    • Journal of the Korea institute for structural maintenance and inspection
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    • v.27 no.6
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    • pp.152-161
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    • 2023
  • In general, large-capacity hydrogen storage vessels, typically in the form of vertical cylindrical vessels, are constructed using steel materials. These vessels are anchored to foundation slabs that are specially designed to suit the environmental conditions. This anchoring method involves pre-installed anchors on top of the concrete foundation slab. However, it's important to note that such a design can result in concentrated stresses at the anchoring points when external forces, such as seismic events, are at play. This may lead to potential structural damage due to anchor and concrete damage. For this reason, in this study, it selected an vertical hydrogen storage vessel based on site observations and created a 3D finite element model. Artificial seismic motions made following the procedures specified in ICC-ES AC 156, as well as domestic recorded earthquakes with a magnitude greater than 5.0, were applied to analyze the structural behavior and performance of the target structures. Conducting experiments on a structure built to actual scale would be ideal, but due to practical constraints, it proved challenging to execute. Therefore, it opted for an analytical approach to assess the safety of the target structure. Regarding the structural response characteristics, the acceleration induced by seismic motion was observed to amplify by approximately ten times compared to the input seismic motions. Additionally, there was a tendency for a decrease in amplification as the response acceleration was transmitted to the point where the centre of gravity is located. For the vulnerable components, specifically the sub-system (support columns and anchorages), the stress levels were found to satisfy the allowable stress criteria. However, the concrete's tensile strength exhibited only about a 5% margin of safety compared to the allowable stress. This indicates the need for mitigation strategies in addressing these concerns. Based on the research findings presented in this paper, it is anticipated that predictable load information for the design of storage vessels required for future shaking table tests will be provided.

Studies on Engneering Properties of Coal Ash Obtained as Industrial Wastes (산업폐기물(産業廢棄物)로 발생(發生)되는 석탄회(石炭灰)의 토질력학적(土質力學的) 특성(特性)에 관한 연구(硏究))

  • Chun, Byung Sik;Koh, Yong Il;Oh, Min Yeoul;Kwon, Hyung Seok
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.10 no.1
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    • pp.115-123
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    • 1990
  • The purpose of this study was to examine the uses of coal ash as a type of construction material. The methods of examination were chemical anlysis, soil laboratory test and the soil vibration test. Materials used were coal ash obtained as a by-product from 5 thermal power plants in Yongdong, Yongwol, Sochon(anthracite coal) and in Samchonpo and Honam (bituminous coal). Over 70% of the coal ash consisted of silica and alumina. The fly ash grain size showed a uniform distribution from fine-sand to silt, and that of the bottom ash showed from sand to gravel. The specific gravity and density of the coal ash were low. The long term strength increased gradually due to the self-setting property resulting from pozzolanic activity. The shear strength was higher than that of general soil. Cohesion and optimum moisture content of anthracite coal ash were higher than bituminous coal ash, whereas the maximum dry density was higher in bituminous coal ash. The coal ash dynamic Young's modulous curve range was similar to that of general soil. Of the results from the soil vibration test by car-running, the size relative acceleration level in the ash pond was higher than that of natural ground, but the damping ratio was lower than that of natural ground near the ash pond. The coal ash has more advantageous engineering properties than general soil with particles of the same size. For example, the California Bearing Ratio of the bottom ash at both Yongdong and Yongwol was 77~137%. Therefore we expect that if further study is done, coal ash can be used as a construction material when reclaiming seashore, construction embankments, road construction, making right-weight aggregate, or as a general construction material.

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Ensemble of Nested Dichotomies for Activity Recognition Using Accelerometer Data on Smartphone (Ensemble of Nested Dichotomies 기법을 이용한 스마트폰 가속도 센서 데이터 기반의 동작 인지)

  • Ha, Eu Tteum;Kim, Jeongmin;Ryu, Kwang Ryel
    • Journal of Intelligence and Information Systems
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    • v.19 no.4
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    • pp.123-132
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    • 2013
  • As the smartphones are equipped with various sensors such as the accelerometer, GPS, gravity sensor, gyros, ambient light sensor, proximity sensor, and so on, there have been many research works on making use of these sensors to create valuable applications. Human activity recognition is one such application that is motivated by various welfare applications such as the support for the elderly, measurement of calorie consumption, analysis of lifestyles, analysis of exercise patterns, and so on. One of the challenges faced when using the smartphone sensors for activity recognition is that the number of sensors used should be minimized to save the battery power. When the number of sensors used are restricted, it is difficult to realize a highly accurate activity recognizer or a classifier because it is hard to distinguish between subtly different activities relying on only limited information. The difficulty gets especially severe when the number of different activity classes to be distinguished is very large. In this paper, we show that a fairly accurate classifier can be built that can distinguish ten different activities by using only a single sensor data, i.e., the smartphone accelerometer data. The approach that we take to dealing with this ten-class problem is to use the ensemble of nested dichotomy (END) method that transforms a multi-class problem into multiple two-class problems. END builds a committee of binary classifiers in a nested fashion using a binary tree. At the root of the binary tree, the set of all the classes are split into two subsets of classes by using a binary classifier. At a child node of the tree, a subset of classes is again split into two smaller subsets by using another binary classifier. Continuing in this way, we can obtain a binary tree where each leaf node contains a single class. This binary tree can be viewed as a nested dichotomy that can make multi-class predictions. Depending on how a set of classes are split into two subsets at each node, the final tree that we obtain can be different. Since there can be some classes that are correlated, a particular tree may perform better than the others. However, we can hardly identify the best tree without deep domain knowledge. The END method copes with this problem by building multiple dichotomy trees randomly during learning, and then combining the predictions made by each tree during classification. The END method is generally known to perform well even when the base learner is unable to model complex decision boundaries As the base classifier at each node of the dichotomy, we have used another ensemble classifier called the random forest. A random forest is built by repeatedly generating a decision tree each time with a different random subset of features using a bootstrap sample. By combining bagging with random feature subset selection, a random forest enjoys the advantage of having more diverse ensemble members than a simple bagging. As an overall result, our ensemble of nested dichotomy can actually be seen as a committee of committees of decision trees that can deal with a multi-class problem with high accuracy. The ten classes of activities that we distinguish in this paper are 'Sitting', 'Standing', 'Walking', 'Running', 'Walking Uphill', 'Walking Downhill', 'Running Uphill', 'Running Downhill', 'Falling', and 'Hobbling'. The features used for classifying these activities include not only the magnitude of acceleration vector at each time point but also the maximum, the minimum, and the standard deviation of vector magnitude within a time window of the last 2 seconds, etc. For experiments to compare the performance of END with those of other methods, the accelerometer data has been collected at every 0.1 second for 2 minutes for each activity from 5 volunteers. Among these 5,900 ($=5{\times}(60{\times}2-2)/0.1$) data collected for each activity (the data for the first 2 seconds are trashed because they do not have time window data), 4,700 have been used for training and the rest for testing. Although 'Walking Uphill' is often confused with some other similar activities, END has been found to classify all of the ten activities with a fairly high accuracy of 98.4%. On the other hand, the accuracies achieved by a decision tree, a k-nearest neighbor, and a one-versus-rest support vector machine have been observed as 97.6%, 96.5%, and 97.6%, respectively.