• Ocean and Polar Research
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• v.33 no.4
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• pp.409-419
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• 2011

Semi-diurnal internal tides and near-inertial waves are investigated using moored current meter measurements at four sites along the shelf break of the East China Sea during August 1987 and May-June 1988. Each mooring is equipped with four current meters spanning from near surface to near bottom. Spectral analyses of all current data reveal dominant spectra at the semi-diurnal frequency band, where the upper and lower current measurements show out-of-phase relationship between them with significant coherences. These are consistent with typical characteristics of the first-mode semi-diurnal internal tide. Strong intensification of the near-bottom baroclinic currents is observed only at one site, where the ratio of the bottom slope to the slope of the internal-wave characteristics at the semi-diurnal frequency is close to unity. An energetic near-inertial wave event is observed during the first half of May-June 1988 observation at two mooring sites. Rotary spectra reveal that the most dominant signal is clockwise rotating motion at the near-inertial frequency band. Upward phase and downward energy propagations, shown in time-depth contour plots of near-inertial bandpass filtered currents, are confirmed by cross correlations between the upper- and lower-layer current measurements. The upward-propagating phase speed is estimated to be about 0.13 cm $s^{-1}$ at both sites. Significant coherences and in-phase relationships of near-inertial currents at the same or similar depths between the two sites are observed in spite of their long distance of about 110 km.

• Ocean and Polar Research
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• v.36 no.1
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• pp.59-69
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• 2014

The long-term mooring performed at a KOGA station, located at about $30^{\circ}20^{\prime}N$, $126^{\circ}12^{\prime}E$ in the East China Sea shelf, shows some different behaviors between "semi-diurnal" and "diurnal currents" defined as the currents with periods around, respectively, a half day and a day. They appear to be predominantly tidal having significant coherences with sea level changes around the semi-diurnal and diurnal frequencies. The "semi-diurnal current" is strongly barotropic all year round. However, contrastingly, it is largely baroclinic in summer in the area about 70 km nearer to the continental slope, referred to as the "slope-area", as was found in previous current observations. The "diurnal current" of tidal origin is strongly barotropic in winter. In spring and summer, however, it becomes more baroclinic although it still remains largely barotropic, also showing more of its barotropic nature than in the "slope-area". The inertial oscillation contributing to the "diurnal current" appears to be more prominent when the current is baroclinic, indicating the important role played by stratification in generation of inertial oscillations. Downward energy propagation of inertial oscillation is not observed, suggesting that it is not created at the surface by wind. Considering that the study area is both near a critical latitude and proximity to the continental slope, it is suggested that parametric subharmonic instability (PSI) plays a significant role in creating the baroclinic inertial oscillation.

• Journal of Advanced Navigation Technology
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• v.23 no.3
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• pp.245-250
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• 2019

Inertial navigation system has navigation errors because of the error of inertial measurement unit (IMU) and misalignment over time. In order to solve this problem, aided navigation system is performed using global navigation satellite system (GNSS), speedometer, etc. The inertial navigation system equipped with underwater vehicle mainly uses speedometer and performed aided navigation because satellite signals do not pass through underwater. There are DVL, EM-Log, and RPM in the speedometer, and the sensors are applied according to the system environment. This paper describes velocity aided navigation using RPM of inertial navigation system operating in high speed and deep water environment. In addition, we proposes an algorithm to compensate the limit of RPM with straight direction and the current velocity error. There are results of monte-calo simulation to prove performance of the proposed algorithm.

• Structural Engineering and Mechanics
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• v.83 no.1
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• pp.1-17
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• 2022

The static design approach in the current code implies that the inherent torsional moment represents the state of zero inertial torsional moments at the center of mass (CM). However, both experimental and analytical results prove the existence of a large amount of the inertial torsional moment at the CM. Also, the definition of eccentricity by engineers, which is referred to as the resistance eccentricity, is defined as the distance between the center of mass and the center of resistance, which is conceptually different from the static eccentricity in the current codes, defined as the arm length about the center of rotation. The difference in the definitions of eccentricity should be made clear to avoid confusion about the torsion design. This study proposed prediction equations as a function of resistance eccentricity based on a resistance eccentricity model with advantages of (1) the recognition of the existence of torsional moment at the CM, (2) the avoidance of the confusion by using resistance eccentricity instead of the design eccentricity, and (3) a clear relationship of applied inertial forces at the CM and resisting forces. These predictions are compared with the seismic responses obtained from time-history analyses of a five-story building structure under moderate and severe earthquakes. Then, the trend of the resistance eccentricity corresponding to the maximum edge drift is investigated for elastic and inelastic responses. The comparison given in this study shows that these prediction equations can serve as a useful reference for the prediction in both the elastic and the inelastic ranges.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.3
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• pp.165-173
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• 2018

Underwater vehicles use Inertial Navigation System (INS) with high-performance Inertial Measurement Unit (IMU) for high precision navigation. However, when underwater navigation is performed for a long time, the INS error gradually diverges, therefore, an integrated navigation method using auxiliary sensors is used to solve this problem. In terms of underwater vehicles, the vertical axis error is primarily compensated through Vertical Channel Damping (VCD) using a depth gauge, and an integrated navigation filter can be designed to perform horizontal axis error and sensor error correction using a speedometer such as Electromagnetic-Log (EM-Log). However, since EM-Log outputs the forward direction relative speed of the vehicle with respect to the sea and sea current, INS correction filter using this may cause a rather large error. Although it is possible to design proper filters if the exact model of the sea current is known, it is impossible to know the accurate model in reality. Therefore, this study proposes an INS/EM-Log integrated navigation filter with the function to estimate sea current using an Interacting Multiple Model (IMM) filters, and the performance of this filter is analyzed through a simulation performed in various environments.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.72-81
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• 2023

We introduce tightly-coupled GNSS-LiDAR-Inertial state estimator, which is capable of SLAM (Simultaneously Localization and Mapping) and autonomous driving. Long term drift is one of the main sources of estimation error, and some LiDAR SLAM framework utilize loop closure to overcome this error. However, when loop closing event happens, one's current state could change abruptly and pose some safety issues on drivers. Directly utilizing GNSS (Global Navigation Satellite System) positioning information could help alleviating this problem, but accurate information is not always available and inaccurate vertical positioning issues still exist. We thus propose our method which tightly couples raw GNSS measurements into LiDAR-Inertial SLAM framework which can handle satellite positioning information regardless of its uncertainty. Also, with NLOS (Non-light-of-sight) satellite signal handling, we can estimate our states more smoothly and accurately. With several autonomous driving tests on AGV (Autonomous Ground Vehicle), we verified that our method can be applied to real-world problem.

• Ocean and Polar Research
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• v.36 no.2
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• pp.103-110
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• 2014

A wind-driven current in the East Sea from Lagrangian measurements of wind and current at 15 m using MiniMet drifters was analyzed. Spectral analysis of the current from 217 pieces of a 10 day-long time series shows the dominant energy at the inertial frequency for the current at 15 m. Wind has energy peaks at a 0.2-0.5 cycles per day (cpd) frequency band. The power spectrum of the clockwise rotating component is predominant for the current and was 1.5-2 times larger than the anticlockwise rotating component for wind. Co-spectra between the wind and current show two peak frequency bands at subinertial frequency and 0.5-0.3 cpd. Coherences between the wind and current at those peak frequencies are significant with 95% confidence and phase differences were $90-100^{\circ}$. From the phase differences, the efolding depth is estimated as 17 m and this e-folding depth is smaller than the estimation by Chereskin's (1999) 25 m using a moored Acoustic Doppler Current Profiler and an anemometer installed at the surface buoy. The angle between the wind-driven current (or ageostrophic current) and wind from this study was also much larger than the global estimate by Rio and Hernandez (2003) using reanalysis wind and drifters. The possible explanation for the discrepancy comes from the fact that the current is driven by a wind of smaller length scale than 250 km but the satellite or the reanalysis products do not resolve winds of length scale smaller than 250 km. Large rms differences between Mini-Met and QuickSCAT wind on spatial lags smaller than 175 km substantiate this explanation.

• Fisheries and Aquatic Sciences
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• v.11 no.1
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• pp.41-49
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• 2008

Internal waves and internal tides occur frequently along the eastern coast of Korea. During the spring-tide period in April 2003, the East Korean Warm Current (EKWC) flowed near the Korean East Coast Farming Forecast System (KECFFS; a moored oceanographic measurement system), creating a strong thermocline at the intermediate layer. Weakened stratification and well-mixed water appeared frequently around the KECFFS, with duration of approximately 1 day. The results suggest the following scenario. Baroclinic motion related to the internal tide generated high frequency internal waves around the thermocline. The breaking of those waves then created turbulence around the thermocline. After well-mixed water appeared, a current component with perpendicular direction to the EKWC appeared within the inertial period. The change in stratification around the KECFFS locally broke the geostrophic balance as a transient state. This local vertical mixing formed an ageostrophic current within the inertial period.

• Current Research on Agriculture and Life Sciences
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• v.32 no.2
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• pp.79-84
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• 2014

The precision aerial application of agricultural unmanned helicopters has become a new paradigm for small farms with orchards, paddy, and upland fields. The needs of agricultural applications require easy and affordable control systems. Recent developments of MEMS technology based on inertial sensors and high speed DSP have enabled the fabrication of low-cost attitude system. Therefore, this study evaluates inertial MEMS sensors for estimating the attitude of an agricultural unmanned helicopter. The accuracies and errors of gyro and acceleration sensors were verified using a pendulum system. The true motion values were calculated using a theoretical estimation and absolute encoder measurement of the pendulum, and then the sensor output was compared with reference values. When comparing the sensor measurements and true values, the errors were determined to be 4.32~5.72%, 3.53~6.74%, and 3.91~4.16% for the gyro rate and x-, z- accelerations, respectively. Thus, the measurement results confirmed that the inertial sensors are effective for establishing an attitude and heading reference system (AHRES). The sensors would be constructed in gimbals for the estimating and proving attitude measurements in the following paper.

• 한국해양학회지
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• v.17 no.2
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• pp.41-50
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• 1982

We present theoretical models for the unstedy transports driven by the time-varying wind stress in horizontally unbounded shallow seas of an uniform depth. We derive linearized transport equations that inchude the acceleration, the Coriolis firce, the wind stress and the bottom friction. The steady transport in a shallow sea is different from the classical Ekman transport because of a presence of non-negligible bottom fricttttion. The transient reansport and an inertial oscillation of which frequency of rotation is the same as the frequency of the wind stress forcing. The transprt associated with a wind stress of which direction changes linearlywith time is decribed by a superpoeition so a free inertial oscillation with a pweiod of one inertial day, The theoretical models of the transports are useful in understanding the time-varying currents and the transports of nutrients in shallow seas.