• 한국해양공학회지
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• 제19권5호
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• pp.71-77
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• 2005

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.

• 한국지진공학회논문집
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• 제3권1호
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• pp.21-28
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• 1999

본 연구의 목적은 한반도 남부 지역에서의 지진동 감쇄식을 개발하는 것이다 활용가능한 계기 지진 자료로부터 지진원 및 지반 매질의 특성을 추정하고 그 값을 입력 요소로써 사용하였다 확률진동이론에 의하여 최대 지반가속도 및 의사 속도 응답스펙트럼을 모사하여 이로부터 최대지반 가속도 및 의사 속도 응답스펙트럼에 대한 감쇄식을 지역규모 및 진원거리의 함수로 개발하였다

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1996년도 가을 학술발표회 논문집
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• pp.203-208
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• 1996

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.410-415
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• 2013

This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2007년도 공동학술대회 논문집
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• pp.209-214
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• 2007

In Korean geology that crystalline rock is dominant, the properties of subsurface including the anisotropy are distributed complexly and changed abruptly. Because of such geological environments, cross-hole seismic traveltime tomography is widely used to obtain the high resolution image of the subsurface for the engineering purposes in the geotechnical sites. However, because the cross-hole tomography has a wide propagation angle coverage relatively, its data tend to include the seismic velocity anisotropy comparing with the surface seismic methods. It can cause the misinterpretation that the cross-hole seismic data including the anisotropic effects are analyzed and treated with the general processing techniques assuming the isotropy. Therefore, we need to consider the seismic anisotropy in cross-hole seismic traveltime tomography. The seismic anisotropic tomography algorithm, which is developed for evaluation of the velocity anisotropy, includes several inversion schemes in order to make the inversion process stable and robust. First of all, the set of the inversion parameters is limited to one slowness, two ratios of slowness and one direction of the anisotropy symmetric axis. The ranges of the inversion parameters are localized by the pseudo-beta transform to obtain the reasonable inversion results and the inversion constraints are controlled efficiently by ACB(Active Constraint Balancing) method. Especially, the inversion using the Fresnel volume is applied to the anisotropic tomography and it can make the anisotropic tomography more stable than ray tomography as it widens the propagation angle coverage.

• 대한자원환경지질학회:학술대회논문집
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• 대한자원환경지질학회 2002년도 춘계 공동학술발표회
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• pp.159-162
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• 2002

We tried to obtain an initial velocity model for prestack depth migration via waveform inversion. For application of any field data we chose a smooth background layered velocity model (v=v0 + k x z) as an initial velocity model. Newton type waveform inversion needs to invert huge Hessian matrix. In order to compute full Hessian matrix arising from full aperture data and full illumination zone, we meet insurmountable difficulties of paying astronomical computing cost. For the layered media, approximate Hessian emerging from single shot aperture data can be used repeatedly for split spread source configuration. In our work of using this Hessian characteristic of layered media we attempted to obtain the approximate velocity model as close as possible to the true velocity model in first iteration.

• 한국자동차공학회논문집
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• 제19권1호
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 춘계 학술발표회논문집
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• pp.129-139
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• 2003

The response displacement method is the most frequently used method for seismic design of buried structures. This method is pseudo-static method, and the evaluations of velocity response spectrum of seismic base and response displacement of surrounding soil are the most important steps. In this study, the evaluation of velocity response spectrum of seismic base according to the Korean seismic design guide and the simple method of calculating the response displacement were studied. It was found that velocity response spectrum of seismic base can be estimated by direct integrating the ground-surface acceleration response spectrum of soil type $S_{A}$, and the evaluation of the response displacement using double cosine method assuming two layers of soil profile shows the advantages in the seismic design.n.

• 전자공학회논문지A
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• 제31A권1호
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• pp.54-60
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• 1994

In this paper, we present the analytical models for the change of the lateral electric field distribution and the velocity saturation region length with the electron trapping of stressed SC-PMOSFET in the saturation region. To derive the hot-electron-induced lateral electric field of stressed SC-PMOSFET. Ko's pseudo two dimensional box model in the saturation region which illustrates the analysis of the velocity saturation region is modified under the condition of electron trapping in the oxide near the drain region. From the results, we have the following lateral electric field in the y-direction, that is, E(y) ES1satT.cosh(y/l) qNS1tT.sinh(y/l)/lCox. It is shown that the trapped electrons influence the field in the drain region. decreasing the lateral electric field. Calculated velocity saturaion length increases with the trapped electrons. increasing the drain current of stressed SCPMOSFET. This results well explain the HEIP phenomenon of PMOSFET's.

• Journal of Mechanical Science and Technology
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• 제14권2호
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• pp.159-167
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• 2000

A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.