• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.941-946
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• 2013

In this paper, an enhanced method for attitude determination is proposed for systems using an IMU (Inertial Measurement Unit). In attitude determination with IMU, it is generally assumed that the IMU can be located in the center of gravity on the vehicle. If the IMU is not located in the center of gravity, the accelerometers of the IMU are disturbed from additive accelerations such as centripetal acceleration and tangential acceleration. Additive accelerations are derived from the lever arm which is the distance between the center of gravity and the position of the IMU. The performance of estimation errors can be maintained in system with a non-zero lever arm, if the lever arm is estimated to remove the additive accelerations from the accelerometer's measurements. In this paper, an estimation using Kalman filter is proposed to include the lever arm in the state variables of the state space equation. For the Kalman filter, the process model and the measurement model for attitude determination are made up by using quaternion. In order to evaluate the proposed algorithm, both of the simulations and the experiments are performed for the simplified scenario of motion.

• Earthquakes and Structures
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• 제17권5호
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• pp.511-519
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• 2019

The concrete gravity dam is one of the most important parts of the nation's infrastructure. Besides the benefits, the dam also has some potentially catastrophic disasters related to the life of citizens directly. During the lifetime of service, some degradations in a dam may occur as consequences of operating conditions, environmental aspects and deterioration in materials from natural causes, especially from dynamic loads. Cumulative Absolute Velocity (CAV) plays a key role to assess the operational condition of a structure under seismic hazard. In previous researches, CAV is normally used in Nuclear Power Plant (NPP) fields, but there are no particular criteria or studies that have been made on dam structure. This paper presents a method to calculate the limitation of CAV for the Bohyeonsan Dam in Korea, where the critical Peak Ground Acceleration (PGA) is estimated from twelve sets of selected earthquakes based on High Confidence of Low Probability of Failure (HCLPF). HCLPF point denotes 5% damage probability with 95% confidence level in the fragility curve, and the corresponding PGA expresses the crucial acceleration of this dam. For determining the status of the dam, a 2D finite element model is simulated by ABAQUS. At first, the dam's parameters are optimized by the Minitab tool using the method of Central Composite Design (CCD) for increasing model reliability. Then the Response Surface Methodology (RSM) is used for updating the model and the optimization is implemented from the selected model parameters. Finally, the recorded response of the concrete gravity dam is compared against the results obtained from solving the numerical model for identifying the physical condition of the structure.

• 한국전산구조공학회논문집
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• 제35권1호
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• pp.29-34
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• 2022

최근 비구조요소의 피해사례가 증가하면서 비구조요소 내진설계에 관한 많은 연구가 진행되고 있다. 하지만 대부분의 연구는 평면적 요소보다는 수직적 요소나 시스템적 요소를 변수로 층가속도를 평가하고 있다. 때문에 본 논문에서는 횡력저항에 많은 부분을 차지하는 코어를 평면적 변수로 사용하여 비구조요소 내진설계를 위한 층가속도에 대해 평가하였다. 정사각형의 2축대칭의 평면에서 코어의 형태(위치 및 비중)변화에 따라 서로 다른 5개의 평면과 각 평면마다 5층, 10층, 15층, 20층의 층수를 가진 총 20개의 모델로 선형시간이력해석을 수행하였다. 분석 결과 코어 위치에 따라 편심을 받는 평면에서는 층가속도가 최대 1.7배의 비틀림 증폭이 발생하였고 구조물의 중층부에서 비틀림의 영향이 가장 큰 것을 확인할 수 있었다. 편심이 없이 코어의 비중만 변화한 평면에서는 주기 0.4694초를 기준으로 이하일 때는 주기가 증가할수록 층가속도가 저층부에서는 감소하고 고층부에는 증가하며, 반대로 주기 0.4694초 이상일 때는 주기가 증가할수록 층가속도가 저층부에서는 증가하고 고층부에는 감소한다는 것을 확인할 수 있었다. 또한, 구조물의 층수는 최대층가속도에 영향을 주지 못하는 것을 확인하였다.

• 천문학회지
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• 제46권1호
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• pp.41-47
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• 2013

I present a simple scheme for the treatment of gravitational interactions on galactic scales. In anal- ogy with known mechanisms of quantum field theory, I assume ad hoc that gravitation is mediated by virtual exchange particles-gravitons-with very small but non-zero masses. The resulting den- sity and mass profiles are proportional to the mass of the gravitating body. The mass profile scales with the centripetal acceleration experienced by a test particle orbiting the central mass, but this comes at the cost of postulating a universal characteristic acceleration $a_0{\approx}4.3{\times}10^{-12}msec^{-2}$ (or $8{\pi}a_0{\approx}1.1{\times}10^{-10}msec^{-2}$). The scheme predicts the asymptotic flattening of galactic rotation curves, the Tully-Fisher/Faber-Jackson relations, the mass discrepancy-acceleration relation of galaxies, the surface brightness-acceleration relation of galaxies, the kinematics of galaxy clusters, and "Renzo's rule" correctly; additional (dark) mass components are not required. Given that it is based on various ad-hoc assumptions and given further limitations, the scheme I present is not yet a consistent theory of gravitation; rather, it is a "toy model" providing a convenient scaling law that simplifies the description of gravity on galactic scales.

• 한국컴퓨터정보학회논문지
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• 제19권5호
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• pp.43-52
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• 2014

최근, 다양한 형태의 웨어러블 컴퓨팅 디바이스와 이에 따른 응용 프로그램이 개발되고 있으며, 이들 중에서 헬스 케어의 한 영역으로 웨어러블 컴퓨팅 디바이스를 이용하여 개인의 운동량은 측정하는 다양한 연구가 진행되고 있다. 본 논문에서는 가장 기초적인 운동인 걸음걸이 측정 알고리즘으로 중력 제거 및 백터 회전(Gravity Removal and Vector Rotation) 알고리즘을 제안하고, 이를 위한 실험으로 보행 또는 주행 중인 개인의 다양한 위치에 부착한 웨어러블 디바이스에 장착된 3축 MEMS 가속도 센서로부터 획득된 가속도 값을GRVR 알고리즘을 이용하여 걸음 수를 측정한다. GRVR은 가속도 센서로 획득된 3축 가속도 값으로 부터 중력에 의한 가속도 분은 저대역 필터를 이용하여 제거 하고, 이 후 각각의 가속도 값에서 직류 성분 제거 및 센서 축 회전 보상인 GRVR 알고리즘으로 보행 혹은 주행 중에 순수하게 걸음걸이에 의하여 발생하는 가속도 변화분 만을 추출한다. 실험 결과로 웨어러블 디바이스를 개인의 허리 중앙 혹은 우측에 부착한 경우 GRVR 알고리즘을 이용한 걸음 수 측정은 99.4%의 정확도, 또한 손목에 부착한 경우 상용 3축 가속도 만보계의 83%보다 정확한 91.1%의 정확도를 확인하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2725-2728
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• 2003

The manipulability of robot provides useful Information for the design and path planning of robots. This paper shows an influence of joint velocities to acceleration of robot end-effector using a dynamic manipulability polytope. The main idea of this paper is that the dynamic manipulability polytope of robot can be divided to three intermediate polytope, the torque-dependant polytope, velocity-dependent polytope, and gravity-dependant polytope. The velocity-dependant polytope is made from the limits of robot joint velocities while the torque-dependant polytope is made from the limits of the joint torques. Combining of these two intermediate polytopes and considering the gravity-dependant polytope, the overall dynamic manipulability polytope of robot is obtained. This investigation will be useful on the field of space robot and high-speed application.

• 한국정밀공학회지
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• 제33권10호
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2002년도 추계 학술발표회 논문집
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• pp.75-82
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• 2002

The Mononobe-Okabe method is generally used to evaluate the dynamic earth force for the seismic design of retaining walls. However, the Mononobe-Okabe method does not consider the effects of the dynamic interactions between the backfill soil and the wall. In fact, a phase difference exists between the inertia force and the seismic earth pressure. In this study, shaking table tests were peformed on gravity walls retaining dry backfill sand to analyze the influence of several parameters (the unit weight of the wall, the input acceleration and base friction) on the development of the seismic earth pressure. The experiments revealed that the magnitude of the inertia force mobilized during seismic loading affected the seismic earth pressure. The difference in the phase angles between the inertia force and the seismic earth pressure was retained at 180 degrees before the wall failed but its magnitude changed significantly as the wall began to fail.

• 한국해안해양공학회:학술대회논문집
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• 한국해안해양공학회 2003년도 한국해안해양공학발표논문집
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• pp.10-17
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• 2003

Acoustic and pressure type seabed installed wave sensors have advantage in observing long period infra-gravity wave and tsunami, while buoy type wave gauges which measure acceleration of the moored buoy motion are not able to detect long period waves. That's why most of the Japanese coastal wave observation sensors are seabed installed typed ones. Nationwide Japanese coastal wave observation systems with seabed installed sensors are gradually clarifying long-period tsunami profiles and infra-gravity wave characteristics (Nagai.et.al., 1996, 1997,2000,2002a,2002b). (omitted)

• 자원환경지질
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• 제32권6호
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• pp.653-660
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• 1999

Any mechanical system has a natural oscillation which can be excited, and the earth is no exception. The earth can oscillate in an indefinite number of normal modes of oscillation, rather like a giant bell. The various free modes are generally sparated into two categoridal modes and toroidal modes. Clearly the toroidal modes will produce no perturvation of the gravity field and no vertical acceleration on the surface of the earth. Hence only spheroidal modes can be detected with a gravimeter. EarthTide gravimeter was installed at AIMST in order to observe free modes of the earth. Eight major earthquakes including chinese earthquake (magnitude 7.3) with free oscillations of the earth are observed during one year (1998. 8. 1∼1999.7.31). And then the earth tides components were eilminated from earthquake records using a numerical Butterworth highpass filter. Spectral analysis of gravity readings repersent that 48 observations of shheroidal modes. The relationships between instrumental observations and theoretical predictions based on the Gutenberg earth model agree well those resulting from free oscillation in Korea.