• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• Journal of the Korean Society for Railway
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• v.9 no.4 s.35
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• pp.349-356
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• 2006

At present, the selecting system and analytic estimation criterion on repair materials and methods of the deteriorated RC structures have not yet been set up in domestic. Under these circumstances, deterioration such as shrinkage crack, corrosion of rebar has been often occurred after repair, and this finally results in too frequent repairs. In this study, three types of repair methods were experimentally investigated by the accelerating test in a combined deterioration chamber and long-term field exposure test. Three types of repair methods applied in this study belong to a group of polymer cement mortar, which is commonly used in repair works. According to the results of this study, durability of repair mortar layers and corrosion properties of recovered rebar could be investigated in short period by the accelerating test in a combined deterioration chamber, which can simulate the condition of repeated high-and-low temperature and repeated dry-and-wet environment, spraying chloride solution and emitting $CO_2$ gas. After 36 month long-term filed exposure test in the coastal area, harmful macro-cracks are observed in the polymer cement mortar layer of some repair methods. These crack are considered to result from drying shrinkage of polymer cement mortar. Also, after 36 month exposure, amount of corrosion area and weight loss of rebar are found to be different according to the types of repair methods.

• Journal of Environmental Impact Assessment
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• v.23 no.3
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• pp.187-196
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• 2014

The objective of this study is to evaluate and analyze Osu stream watershed water environment system. The data were collected from January 2009 to December 2011 including water temperature, pH, DO, EC, BOD, COD, TOC, SS, T-N, T-P and discharge. The data were used for principle component analysis and factor analysis. The results are as followes. The primary factors obtained from both the principal component analysis and the factor analysis were BOD, COD, TOC, SS and T-P. Once principal component analysis and factor analysis have been performed with the collected data and then the results will be applied to both simple regression model and multiple regression model. The regression model was developed into case 1 using concentrations of water quality parameters and case 2 using delivery loads. The value of the coefficient of determination on case 1 fell between 0.629 and 0.866; this was lower than case 2 value which fell between 0.946 and 0.998. Therefore, case 2 model would be a reliable choice.The coefficient of determination between the estimated figure using data which was developed to the regression model in 2012 and the actual measurement value was over 0.6, overall. It can be safely deduced that the correlation value between the two findings was high. The same model can be applied to get TOC concentrations in future.

• Transactions of Materials Processing
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• v.6 no.3
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• pp.239-249
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• 1997

The behaviour of alloys in the semi-solid state strongly depends on the imposed stress state and on the morphology of the phase which can vary from dendritic to globular. To optimal net shape forging of semi-solid materials, it is important to investigate for filling phenomena in forging process of arbitrarily shaped dies. To produce a automotive part which has good mechanical property, the filling pattern according to die velocity and solid fraction distribution has to be estimated for arbitrarily shaped dies. Therefore, the estimation of filling characteristic in the forging simulation with arbitrarily shaped dies of semi-solid materials are calculated by finite element method with proposed algorithm. The proposed theoretical model and a various boundary conditions for arbitrarily shaped dies is investigated with the coupling calculation between the liquid phase flow and the solid phase deformation. The simulation process with arbitrarily shaped dies is performed to the isothermal conditions of two dimensional problems. To analysis of forging process by using semi-solid materials, a new stress-strain relationship is described, and forging analysis is performed by viscoelastic model for the solid phase and the Darcy's law for the liquid flow. The calculated results for forging force and filling limitations will be compared to experimental data. The filling simulation of simple products performed with the uniform billet temperature(584$^{\circ}C$) from the induction heating by the commercial package MAGMAsoft. The initial step of computation is the touching of semi-solid material with the end of die gate and the initial concept of proposed system just fit with the capability of MAGMAsoft.

• Journal of The Korean Astronomical Society
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• v.46 no.2
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• pp.75-91
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• 2013

We estimate the power spectra of the cosmic microwave background radiation (CMB) temperature anisotropy in localized regions of the sky using the Wilkinson Microwave Anisotropy Probe (WMAP) 7-year data. We find that the north and south hat regions at high Galactic latitude ($|b|{\geq}30^{\circ}C$) show an anomaly in the power spectrum amplitude around the third peak, which is statistically significant up to 3. We try to explain the cause of the observed anomaly by analyzing the low Galactic latitude ($|b|$ < $30^{\circ}C$) regions where the galaxy contamination is expected to be stronger, and the regions weakly or strongly dominated byWMAP instrument noise. We also consider the possible effect of unresolved radio point sources. We find another but less statistically significant anomaly in the low Galactic latitude north and south regions whose behavior is opposite to the one at high latitude. Our analysis shows that the observed north-south anomaly at high latitude becomes weaker on regions with high number of observations (weak instrument noise), suggesting that the anomaly is significant at sky regions that are dominated by the WMAP instrument noise. We have checked that the observed north-south anomaly has weak dependences on the bin-width used in the power spectrum estimation, and on the Galactic latitude cut. We also discuss the possibility that the detected anomaly may hinge on the particular choice of the multipole bin around the third peak. We anticipate that the issue of whether or not the anomaly is intrinsic one or due to WMAP instrument noise will be resolved by the forthcoming Planck data.

• Journal of Environmental Science International
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• v.11 no.12
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• pp.1205-1215
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• 2002

To evaluate the change for water quality after the water gate operation in Shiwha lake, in situ survey were conducted on september in 2000 and January, march, jane in 2001. Chemical characteristics and eutrophication level was estimated from the survey data. The water quality of the Shihwa lake was greatly affected by pollutant load from rainfall, and formation of stratification in summer and winter was increased to effect on nutrient release from sediment. Especially, high concentration of chlorophyll-a was occurred in autumn, due to increased nutrient, high water temperature and low salinity after rainfall runoff. The mean concentration of DIN, DIP were 0.346mg/L, 0.0217mg/L in surface water and 0.826mg/L, 0.0415mg/L in bottom water, respectively, which were over III grade of seawater standard. Also high percentage of ammonia nitrogen to DIN in bottom water for autumn and winter was affected by released nutrient from sediment. Correlation analysis of chlorophyll-a versus TSS was shown that organic matter was affected by autochthonous organic matter stem from the algae, these factor showed reverse correlation about salinity. Closely correlations among to the water quality constituent in continuity survey was appeared. The results of eutrophication index estimation showed the high potentiality of red tide occurrence in Shiwha lake, particularity in summer or fall. Overall water quality was greatly improve to compared with measuring data during 1997~1998 at the beginning water gate operation, which reported by KORDI. Therefore, to improve of water quality in Shiwha lake, we need to establish of management plan about nutrient release from sediment, rainfall runoff, maximum of seawater exchange.

• Journal of the Korean Geotechnical Society
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• v.33 no.8
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• pp.17-27
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• 2017

Gangwon province which is located in northeast of Korea is the coldest region where average daily temperature is below zero during winter while the other regions are above zero. However, there have been insufficient researches on the insulation design and the effect of the insulation on the freezing damages, even though freezing damages were reported consistently in the lining of road tunnel during winter. In this study, to investigate the effect of insulations on the reduction of freezing damages, numerical analysis was performed considering geotechnical and meteorological characteristics in Gangwon province during winter. As a result, it was found that thickness of concrete and shotcrete in lining had negligible effect on the freezing depth while the insulation had significant effect on it. In addition, because the freezing depth is greatly affected by the thermal conductivity of the ground behind the lining in the period of cold weather, these effects should be considered in the estimation of the insulation thickness.

• Journal of Hydrogen and New Energy
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• v.20 no.1
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• pp.38-44
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• 2009

Recently, the research focused on fuel cell hybrid vehicles (FCHVs) is becoming an attractive solution due to environmental pollution generated by fossil fuel vehicles. The proper energy control strategy will result in extending the fuel cell lifetime, increasing of energy efficiency and an improvement of vehicle performance. Battery state of charge (SoC) is an important quantity and the estimation of the SoC is also the basis of the energy control strategy for hybrid electric vehicles. Estimating the battery's SoC is complicated by the fact that the SoC depends on many factors such as temperature, battery capacitance and internal resistance. In this paper, battery charging time estimated by SoC is studied by using the speed response and current response. Hybrid system is consist of a fuel cell unit and a battery in series connection. For experiment, speed response of vehicle and current response of battery were determined under different state of charge. As the results, the optimal battery charging time can be estimated. Current response time was faster than RPM response time at low speed and vice versa at high speed.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1120-1121
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• 2015

대용량 SMES(Superconducting Magnetic Energy Storage)를 제작하기 위해서는 높은 자장특성을 가고 있는 2세대 HTS(High-Temperature Superconductor) 선재를 사용하는 것이 효율적이다. SMES의 에너지밀도를 높이기 위해서는 선재에 많은 전류를 흘려야 하는데, 수직자기장이 커지면 임계전류가 작아지는 2세대 HTS 선재의 특성상 토로이드형태의 SMES가 유리하다. SMES를 설계하기 전에 선재의 사용량을 줄이고 체적을 줄이기 위해서 정확한 설계와 평가가 필요하다. 유한요소법을 사용한 상용프로그램을 이용하여 쉽게 해석할 수 있으나 토로이드 형태의 SMES는 대칭성의 문제로 3차원 해석을 해야만 한다. 그러나 2차원 해석에 비해 여러 가지 제약조건이 따르며 해석 시간이 많이 소요된다. 본 논문에서는 이러한 문제점을 해결하기 위해 분석적이고 통계적으로 고온 초전도 코일에서 작용하는 최대 수직자장을 결정하는데 이해하기 쉽고 효율적으로 계산하는 방법을 제시했다. 본 논문에서는 싱글펜케이크코일의 크기에 따른 최대 자장값을 계산하였고 싱글펜케이크코일이 토로이드형태로 배치된 토로이드 모델에서 주변코일이 싱글펜케이크코일의 미드포인트에 미치는 자장값을 계산하여 두 계산값을 합하는 방식으로 최대 자기장을 계산하였다. 이 방법은 현저한 시간단축과 효율적인 설계를 할 수 있는 새로운 계산 방법으로 기존 FEM을 사용해 걸리는 시간에 비해 1/1000정도의 시간단축을 할 수 있었다.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.223-230
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• 2001

The Monkman-Grant (M-G) and its modified parameters were estimated for modified type 316LN and $9{\sim}12Cr-1Mo$ steels with chemical variations. Several sets of creep data were obtained by constant-load creep tests in $550-650^{\circ}C$ ranges. The relation parameters, m, $m^*$, C and $C^*$ were proposed and discussed for two alloy systems. In creep fracture mode, type 316LN steel showed domination of the intergranular fracture caused by growth and coalescence of cavities. On the other hand, the Cr-Mo steel showed transgranular fracture of the ductile type caused from softening at high temperature. In spite of the basic differences in creep fracture modes as well as creep properties, the M-G and its modified relations demonstrated linearity within the $2{\sigma}$ standard deviation. The value of the m parameter of the M-G relation was 0.90 in the 316LN steel and 0.84 in the Cr-Mo steel. The value of the $m^*$ parameter of the modified relation was 0.94 in the 316LN steel and 0.89 in Cr-Mo steel. The modified relation was superior to the M-G relation because the $m^*$ slopes almost overlapped regardless of creep testing conditions and chemical variations to the two alloy systems.