• Journal of the Korea Society of Computer and Information
• /
• v.19 no.5
• /
• pp.43-52
• /
• 2014

In this paper, we propose Gravity Removal and Vector Rotation algorithm for counting steps of wearable device, and we evaluated the proposed GRVR algorithm with Micro-Electro-Mechanical (MEMS) 3-axis accelerometer equipped in low-power wearable device while the device is mounted on various positions of a walking or running person. By applying low-pass filter, the gravity elements are canceled from acceleration on each axis of yaw, pitch and roll. In addition to DC-bias removal and the low-pass filtering, the proposed GRVR calculates acceleration only on the yaw-axis while a person is walking or running thus we count the step even if the wearable device's axis are rotated during walking or running. The experimental result shows 99.4% accuracies for the cases where the wearable device is mounted in the middle and on the right of the belt, and 91.1% accuracy which is more accurate than 83% of commercial 3-axis pedometer when worn on wrist for the case of axis-rotation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.06a
• /
• pp.1889-1893
• /
• 2000

During the test drive of developing vehicle, a low frequency vibration of sprung mass on front outer wheel has been frequently observed in cornering with some speed. The purpose of this paper is to investigate the low frequency vibration of the sprung mass. The analysis result shows that the low frequency vibration is caused by sudden migration of the center of gravity of vihicle and it is determined by geometric points of suspension.

• Geophysics and Geophysical Exploration
• /
• v.13 no.1
• /
• pp.88-95
• /
• 2010

An airborne gravity survey using a helicopter was carried out in October 2008, offshore along the northern Noto Peninsula, to understand the shallow and regional underground structure. Eleven flight lines, including three tie lines, were arranged at 2 km spacing within 20 km of the coast. The total length of the flight lines was ~700 km. The Bouguer anomalies computed from the airborne gravimetry are consistent with those computed from land and shipborne gravimetry, which gradually decrease in the offshore direction. So, the accuracy of the airborne system is considered to be adequate. A local gravity low in Wajima Bay, which was already known from seafloor gravimetry, was also observed. This suggests that the airborne system has a structural resolution of ~2 km. Reduction of gravity data to a common datum was conducted by compiling the three kinds of gravity data, from airborne, shipborne, and land surveys. In the present study, we have used a solid angle numerical integration method and an iteration method. We finally calculated the gravity anomalies at 300 m above sea level. We needed to add corrections of 2.5 mGals in order to compile the airborne and shipborne gravity data smoothly, so the accuracy of the Bouguer anomaly map is considered to be nearly 2 mGal on the whole, and 5 mGals at worst in limited or local areas.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.29 no.9 s.240
• /
• pp.997-1005
• /
• 2005

The extinction characteristics of low strain rate normal gravity (1-g) nonpremixed methane-air flames were studied numerically and experimentally. A time-dependent axisymmetric two-dimensional (2D) model considering buoyancy effects and radiative heat transfer was developed to capture the structure and extinction limits of 1-g flames. One-dimensional (1D) computations were also conducted to provide information on 0-g flames. A 3-step global reaction mechanism was used in both the 1D and 2D computations to predict the measured extinction limit and flame temperature. A specific maximum heat release rate was introduced to quantify the local flame strength and to elucidate the extinction mechanism. Overall fractional contribution by each term in the energy equation to the heat release was evaluated to investigate the multi-dimensional structure and radiative extinction of 1-g flames. Images of flames were taken for comparison with the model calculation undergoing extinction. The two-dimensional numerical model was validated by comparing flame temperature profiles and extinction limits with experiments and ID computation results. The 2D computations yielded insight into the extinction mode and flame structure of 1-g flames. Two combustion regimes depending on the extinction mode were identified. Lateral heat loss effects and multi-dimensional flame structure were also found. At low strain rates of 1-g flame ('Regime A'), the flame is extinguished from the weak outer flame edge, which is attributed to multi-dimensional flame structure and flow field. At high strain rates, ('Regime B'), the flame extinction initiates near the flame centerline due to an increased diluent concentration in reaction zone, which is the same as the extinction mode of 1D flame. These two extinction modes could be clearly explained with the specific maximum heat release rate.

• Geophysics and Geophysical Exploration
• /
• v.27 no.1
• /
• pp.23-36
• /
• 2024

In this study, we analyze the structure of the Korea-Japan Joint Development Zone (JDZ) using gravity, magnetic, and seismic data. Gravity and magnetic data analysis confirmed that the Jeju Basin exhibits low anomalies compared to adjacent areas. We applied the total gradient to the Bouguer anomaly to identify basin boundaries, and computed the analytic signal from the total magnetic anomaly data to enhance the edges of the magnetic anomalies. The Taiwan-Sinzi Belt, exhibits high magnetic anomalies and crosses the center of the JDZ in the northeast-southwest direction; we presume that intrusive rocks are sporadic in the JDZ. The 3D inversion results of the gravity and magnetic data show a strong correlation between magnetic susceptibility and density (i.e. a low-density zone in the Jeju Basin and the Ho Basin, and a high magnetic susceptibility distribution in the Taiwan-Sinzi Belt). Comparison of the density and seismic profiles of the Jeju Basin shows that high densities are associated with sill, horst, and basement highs, whereas low densities are associated with basement low and grabens. These results suggest that interpretations based on seismic, gravity and magnetic data can effectively reveal the subsurface structure of the JDZ.

• 한국지구물리탐사학회:학술대회논문집
• /
• 2005.05a
• /
• pp.261-266
• /
• 2005

According to development of satellite geodesy, gravity potential models which have high accuracy and resolution were released. Using the EIGEN-CG01C model based on low orbit satellite data such as CHAMP and GRACE and the EGM96 model, geoid and gravity anomaly were calculated and compared. The study area is located at $123^{\circ}{\sim}132^{\circ}$ E, $33^{\circ}{\sim}43^{\circ}$ including Korea. Comparing two models, very high correlation more than 0.90 in geoid and gravity anomaly was observed, but in amplitude analysis the EIGEN-CG01C model have higher amplitude in high frequency area. Gravity anomaly calculated with both models shows a little difference in North Korea and some coast area of the Yellow sea. Through power spectrum analysis, residual anomaly that can be used in large scale structure or underground resources survey was calculated.

• Journal of The Korean Astronomical Society
• /
• v.46 no.3
• /
• pp.133-140
• /
• 2013

The empirical mass discrepancy-acceleration (MDA) relation of disk galaxies provides a key test for models of galactic dynamics. In terms of modified laws of gravity and/or inertia, the MDA relation quantifies the transition from Newtonian to modified dynamics at low centripetal accelerations $a_c{\lesssim}10^{-10}ms^{-2}$. As yet, neither dynamical models based on dark matter nor proposed modifications of the laws of gravity/inertia have predicted the functional form of the MDA relation. In this work, I revisit the MDA data and compare them to four different theoretical scaling laws. Three of these scaling laws are entirely empirical; the fourth one - the "simple ${\mu}$" function of Modified Newtonian Dynamics - derives from a toy model of gravity based on massive gravitons (the "graviton picture"). All theoretical MDA relations comprise one free parameter of the dimension of an acceleration, Milgrom's constant aM. I find that the "simple ${\mu}$" function provides a good fit to the data free of notable systematic residuals and provides the best fit among the four scaling laws tested. The best-fit value of Milgrom's constant is $a_M=(1.06{\pm}0.05){\times}10^{-10}ms^{-2}$. Given the successful prediction of the functional form of the MDA relation, plus an overall agreement with the observed kinematics of stellar systems spanning eight orders of magnitude in size and 14 orders of magnitude in mass, I conclude that the "graviton picture" is sufficient (albeit probably not a necessary nor unique approach) to describe galactic dynamics on all scales well beyond the scale of the solar system. This suggests that, at least on galactic scales, gravity behaves as if it was mediated by massive particles.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.758-765
• /
• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.31 no.7
• /
• pp.100-111
• /
• 2003

The HAUSAT-1(Hankuk Aviation University SATellite-1) will orbit at the altitude of 650km-800 km with 65 or 98 degree inclination angle. The effects of magnetic field and Earth gravity are more predominant than other space disturbances because the HAUSAT-1 will be positioned in LEO(Low Earth Orbit). The HAUSAT-1 design implements a magnetic control system and gravity-stable system which implement the solar panel deployment system. The simulation using MATLAB was performed to make sure the attitude stability of HAUSAT-1, which is based on the 8th order magnetic field model and non-linear equations of disturbances and the HAUSAT-1 attitude. The stability is investigated for two different HAUSAT-1 configurations and attitude which are affected by disturbances through simulation. The results for gravity-gradient stable and non gravity-gradient stable system are compared. Methodology of attitude stabilization was explored to develop an effective attitude control system for the HAUSAT-1 using magnetic torquers.

• Journal of the Korean Society of Industry Convergence
• /
• v.27 no.1
• /
• pp.229-237
• /
• 2024

The logistics industry is converging with digital technology and growing into various logistics automation systems. However, inspection and loading/unloading, which are mainly performed in logistics work, depend on human resources, and the workforce is shrinking due to the decline in the productive population due to the low birth rate and aging. Although much research is being conducted on the development of automated logistics systems to solve these problems, there is a lack of research and development on load stacking stability, which has the potential to cause significant accidents. In this study, loading boxes with various sizes and positions of the center of gravity were set up, and a method for stacking that with high stability is presented. The size of the loading box is measured using a depth camera. The loading box's weight and center of gravity are measured and estimated by a developed device with four loadcells. The measurement error is measured through various repeated experiments and is corrected using the least squares method. The robot arm performs load stacking by determining the target position so that the centers of gravity of the loading boxes with unbalanced masses with a random sequence are transported in alignment. All processes were automated, and the results were verified by experimentally confirming load stacking stability.