• 지구물리와물리탐사
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• 제1권1호
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• pp.8-18
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• 1998

키르히호프 주시 쌍곡선은 탄성파 탐사에서 반사파 자료를 구조보정 하는데 널리 쓰여져 왔다. 그러나 이는 중합전 혹은 중합후 구조보정을 위한 적용에 있어 그 수학적인 기반이 그다지 명확하게 이해되어 오지 않아왔다. Exploding reflector 모델을 생각할 때 지하 산란체로부터 지표 수신기까지의 주시는 지하 산란체 위치에 송신원을 둔 경우 Green함수를 이용한 주시와 동일하다. 따라서 송신원에서 exploding reflector, 또 여기서 수신기까지의 주시의 합은 관측자료에 속도 및 밀도에 대한 편미분을 취함으로써 얻어지는 편미분 파동장의 주시와 개념적으로 일치한다. 키르히호프의 주시 쌍곡선을 따라 반사파 탄성파자료의 합은 편미분장과 관측된 자료의 내적과 동일한 것으로 간주될 수 있다. 또한 굴절 주시 직선을 이용한 굴절자료의 중합은 편미분장의 초동과 현장자료의 내적과 개념적으로 같음을 알 수 있다. 지하의 구조내의 속도나 밀도에 대한 편미분장의 관점에서 보면 굴절파자료에 대해서는 직선에 대한 중합, 반사파자료에 대해서는 키르히호프 쌍곡선으로 지하의 구조를 영상화 할 수 있는 연산자임을 확인하였다. 이러한 타당성 검증은 일반적인 키르히호프 구조보정에 대한 기본 이론을 구성할 수 있었고 또한굴절 주시 직선을 굴절파자료의 영상화에 있어서 연산자의 기본 지식을 확보할 수 있었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.567-572
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• 2004

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.474-477
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• 1997

In this paper, an efficient attitude determination algorithm based on the Kalman Filter which combines earth/sun sensor data with gyro data in a mutually compensating manner is presented. Quaternion is used as the attitude state to save computation time and to prevent the gimbal-lock situation associated with Euler angles. Gyro data allows the use of the kinematic equation instead of space vehicle's dynamic equation which is usually based on approximation of the actual dynamics and inaccurate torque information. The gyro data are used to propagate the attitude through kinematic equation and the earth/sun sensor data are used to update the attitude and estimate the gyro bias. Simulation results for the KOMPSAT attitude determination system are presented.

• 한국해양공학회지
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• 제37권2호
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• pp.49-57
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• 2023

Since Chappelear developed a Fourier approximation method, considerable research efforts have been made. On the other hand, Fourier approximations are unsuitable for deep water waves. The purpose of this study is to provide a Fourier approximation suitable even for deep water waves and a numerical method to determine the Fourier coefficients and the wave properties. In addition, the convergence of the solution was tested in terms of its order. This paper presents a velocity potential satisfying the Laplace equation and the bottom boundary condition (BBC) with a truncated Fourier series. Two wave profiles were derived by applying the potential to the kinematic free surface boundary condition (KFSBC) and the dynamic free surface boundary condition (DFSBC). A set of nonlinear equations was represented to determine the Fourier coefficients, which were derived so that the two profiles are identical at specified phases. The set of equations was solved using Newton's method. This study proved that there is a limit to the series order, i.e., the maximum series order is N=12, and that there is a height limitation of this method which is slightly lower than the Michell theory. The reason why the other Fourier approximations are not suitable for deep water waves is discussed.

• Journal of Theoretical and Applied Mechanics
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• 제1권1호
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• pp.97-109
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• 1995

In this paper, a finite viscoelastic continuum model for rubber and its finite element analysis are presented. This finite viscoelatic model based on continuum mechanics is an extended model of Johnson and Wuigley's 1-D model. In this extended model, continuum based kinematic measures are rigorously defied and by using this kinematic measures, elastic stage law and flow rule are introduced. In kinematics, three configuration are introduced. In kinematics, three configuration are introduced. They are reference, current and virtual visco configurations. In elastic state law, it is assumed that at a certain time, there exists an elastic potential which describes the recoverable elastic energy. From this elastic potential, elastic state law is derived. The proposed flow rule is based on phenomenological observation. The flow rule gives precise relaxation response. In finite element approximation, mixed Lagrangian description is used, where total and similar method of updated Lagrangian descriptions are used together. This approach reduces the numerical job and gives simple nonlinear syatem of equations. To satisfy the incompressible condition, penalty-type modified Mooney-Rivlin energy function is adopted. By this method nearly incompressible condition is obtain the virtual visco configuration. For verification, uniaxial stretch tests are simulated for various stretch rates. The simulated results show good agreement with experiments. As a practical experiments. As a preactical example, pressurized rubber plate is simulated. The result shows finite viscoelastic effects clearly.

• 한국항공운항학회지
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• 제18권4호
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• pp.16-20
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• 2010

The dynamic characteristics of flight sensors is obtained by a simple method that deploys a pendulum with a rotary encoder. The encoder output is used with kinematic relations to derive reference signals for various flight sensors, including position, velocity, attitude, and angular rate sensors as well as accelerometer and magnetic sensors. A time delay of 0.4 seconds is found in the position output of the flight sensor under investigation. A logic to compensate for the time delay using a velocity information is proposed and validated in flight tests.

• 천문학회지
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• 제34권4호
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• pp.251-254
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• 2001

To examine the structure and dynamics of thick accretion disks, we use a two-dimensional viscous hydrodynamic code coupled with radiation transport. The $\alpha$-model and the full viscous stress-tensor description for the kinematic viscosity are used. The radiation transport is treated in the gray, flux-limited diffusion approximation. The finite difference methods used are based on an explicit-implicit method. We apply the numerical code to the Super-Eddington black-hole model for SS 433.@The result for a very small viscosity parameter a reproduces well the characteristic features of SS 433, such as the relativistic jets with $\~$0.26c, the small collimation degree of the jets, the mass-outflow rate of ${\ge}5{\times}10^{-7}M{\bigodot}yr^{-1}$, and the formation of the X-ray iron emission lines.

• Journal of Electrical Engineering and Technology
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• 제8권2호
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• 물과 미래
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• 제25권1호
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• pp.101-110
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• 1992

유역내 공간적 및 시간적 분포특성을 가진 이동강우를 해석하기 위하여 분포형 모델을 개발하였으며 이 유역모델은 지표면 흐름과 하천망 흐름으로 나누어 유출을 해석하였다. 지표면의 흐름은 2차원의 연속방정식과 운동량 방정식을 이요하였는데 kinematic 이론을 도입하여 운동량 방정식을 간략화 하였으며 하천망 흐름은 하천망을 일체로 하여 1차원의 연속방정식과 운동량방정식들을 이용하였다. 기본방정식들의 수치해석법으로 지표면의 흐름은 유한요소법을 이용하였으며 하천망에 대한 해석은 음해법의 유한차분법을 이용하였다. 모델은 특히 이동강우에 있어서 중요한 특색인 공간적 및 시간적 특성을 효과적으로 해석할 수 있도록 개발되었다. 또한 모델은 구성된 행렬의 특징을 이용하였는데, 지표면 유출모델은 Gauss 소거법을 이용하여 그해를 구하였으며 하천망 해석은 double sweep 방법을 적용하기 위한 여러 종류의 순환계수방정식을 제안하였고 이를 이용하여 그 해를 구하였다.

• 한국해양공학회지
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• 제36권2호
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• pp.101-107
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• 2022

Dean (1965) proposed the use of the root mean square error (RMSE) in the dynamic free surface boundary condition (DFSBC) and kinematic free-surface boundary condition (KFSBC) as an error evaluation criterion for wave theories. There are well known wave theories with RMSE more than 1%, such as Airy theory, Stokes theory, Dean's stream function theory, Fenton's theory, and trochodial theory for deep-water waves. However, none of them can be applied for deep-water breaking waves. The purpose of this study is to provide a closed-form solution for deep-water waves with RMSE less than 1% even for breaking waves. This study is based on a previous study (Shin, 2016), and all flow fields were simplified for deep-water waves. For a closed-form solution, all Fourier series coefficients and all related parameters are presented with Newton's polynomials, which were determined by curve fitting data (Shin, 2016). For verification, a wave in Miche's limit was calculated, and, the profiles, velocities, and the accelerations were compared with those of 5^th-order Stokes theory. The results give greater velocities and acceleration than 5^th-order Stokes theory, and the wavelength depends on the wave height. The results satisfy the Laplace equation, bottom boundary condition (BBC), and KFSBC, while Stokes theory satisfies only the Laplace equation and BBC. RMSE in DFSBC less than 7.25×10^-2% was obtained. The series order of the proposed method is three, but the series order of 5^th-order Stokes theory is five. Nevertheless, this study provides less RMSE than 5^th-order Stokes theory. As a result, the method is suitable for offshore structural design.