NHC/ZUPT의 장착 비정렬 추정 칼만필터 설계 및 성능분석

박영범,김갑진,박준표,Park, Young-Bum,Kim, Kap-Jin,Park, Jun-Pyo 한국군사과학기술학회 2009 한국군사과학기술학회지 Vol.12 No.5

NHC means that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. The main error source of NHC is the mounting misalignment which is the difference between the body frame of a land vehicle and the sensor frame of an inertial measurement unit. This paper suggests new NHC algorithm that can reduce position errors by real-time estimation of mounting misalignment. Then NHC/ZUPT integrated land navigation system is designed and its performances are analyzed by simulations with van test data. Simulation results show that the proposed NHC/ZUPT land navigation system improves navigation accuracy regardless of misalignment angle and is very useful when SDINS operates stand-alone for land vehicle navigation with large mounting misalignment.

웨슬리와 디아코니아적 교회 ― 다문화가족 돌봄에 관한 교회론적 발전 가능성 모색

박영범 ( Park Young Bum ) 한국조직신학회 2021 한국조직신학논총 Vol.65 No.-

This paper presents Wesley's theology and practice as advice for the Korean church. In particular, it is argued that it can be well represented in the form of a “Diakonische Kirche”(church of Diakonia). The Korean church is facing the social changes and demands of a ‘multicultural society.’ In other words, society requires Christian responsibility and practice for social questions. the church must respond to social questions. However, the serious discussions and practices by the church on these social issues do not seem to have yet taken place. Love God and love your neighbors is the reason for the church's existence. If the church fails to respond properly to these social questions, it will most likely be a crisis that will shake the foundation of church's. Today, multiculturalism is a social reality, and a social question. The purpose of this paper is to suggest an alternative based on Wesley's theology to these social questions. First, it presents the current status of multicultural families, especially migrant worker families, international marriage families and children's education. It was then analyzed in the categories of discrimination, education, poverty and human rights. It also describes how J. Wesley’s ecclesiology can answer these social questions in a theological and practical category. Finally, this study suggested how Korean churches should develop into Korean ecclesiology in connection with a “diakonische Kirche.” The church is to do “the worship-service of reconciliation” on behalf of Christ, proclaiming “the worship-service for reconciliation” (2 Cor. 5:20). Therefore, a ‘diakonische Kirche’ that unfolds com-passio (Faith in walking together) and social service (Love in Action) through the gospel is needed today.

‘측정문제’(Measurement Problem)에 대한 역사적 고찰과 공감 교회론적 의미 부여 ― 코펜하겐 해석을 중심으로

박영범 ( Park Young Bum ),민유홍 ( Min Yoo Hong ) 한국조직신학회 2024 한국조직신학논총 Vol.75 No.-

This paper is concerned with the question of how the church, as the subject of theology, can preserve its identity while sympathy (com-passio) and coexisting(Kon-vivenz) with the modern era, even amidst a prevailing tendency towards a scientific worldview and an atheistic scientism. The methodology of A. Jäger, reflecting a current trend in contemporary ecclesiology, is employed, und this paper also focuses on the ‘historical Reflection of measurement problem’ in the Copenhagen Interpretation, a significant topic in quantum mechanics. The measurement hypothesis, historically a major point of contention that has stirred debates between realism and anti-realism, is considered as a theory that best reflects the interaction between subject and object, a fundamental philosophy of quantum mechanics. Introducing the subjective element of the cognizant subject into the theoretical framework, the measurement hypothesis proposes the interaction between subject and object as a core principle of natural phenomena. In doing so, it seeks to transcend the dualism of mind and matter and to integrate the two realms of the reality into an unified perspective. Therefore, this paper will provide a foundation for the coexistence of science and the church from the perspective of a sympathetic ecclesiology.

교리, 복음을 토대로 한 그리스 정신의 작품? ― 하르낙의 『교리사 교본 I』을 통해 본 교리와 복음의 이해

박영범 ( Park Young Bum ) 한국조직신학회 2018 한국조직신학논총 Vol.52 No.-

The Reformation was a movement to rediscover the essence of the gospel. And the historical research of the Enlightenment or liberal theology has opened a new aspect for mankind. Harnack never claims that all Christians should think like him. Rather, Harnack offered a completely new possibility, so that he tried to understand the historical picture of Jesus and the dogmas more accurately through the historical-critical method of the Bible. The Christian doctrine or the theology of the church that has formed the church is not an absolute truth that we ought to be obedient or simply to follow. In this regard, Harnack tried to create new freedoms for Christians. Now that we have the 500th anniversary of the Reformation behind us, we again ask ourselves the question of the meaning of the gospel. In this regard, this work attempts to delineate the limits of his theology and understanding of the gospel by examining Harnack’s doctrine of dogmas and the original gospel. finally, this study seeks to transform the spirit of the Reformation again into today’s church in Korea and to make a living church.

조직신학 : 교회의 삶을 돕는 교회론을 향하여 -성서적, 조직 신학적 기초 다지기

박영범 ( Young Bum Park ) 서울신학대학교 기독교신학연구소 2015 神學과 宣敎 Vol.46 No.-

The Church in Korea is in predicament. In the past the Church made a great contribution to the development of society in cultural, political, and even in economic aspects. However, it is also undeniable to say that a positive contribution to the community today becomes significantly less than before. Facing on the challenging situation the Church has no choice but to accept the important task of understanding itself thoroughly and establishing its identity firmly. In particular, the urgent and specific issues that are raised in the ordinary people`s living require the Church to recognize it as a crucial task to clearly demonstrate the ecclesiological alternatives. Indeed, it is the time to ask again whether the Church is duly taking the responsibility of being the “light and salt of the earth” (Mt 5, 13-14). Acknowledging the importance of the responsibility leads to those questions: Shouldn`t we discuss the ecclesiology for the Church itself, emphasizing the reality and the future of it, in particular? When considering the reality and the future of the Church seriously, what would the nature and identity of the Church become and what role should the Church take in? This paper tries to answer those critical questions. However, it does not pursue the absolute answers to the questions. It is because it is not possible but also it is not the right thing to do. So the paper aims to establish an Ecclesiological basis which may provide help and advice properly not by repeating the descending statements word by word but by seriously speculating the current situations and the future of the Church. In order to accomplish it, it surely is helpful to think over the nature and identity of the Church which the original Christian communities established and tried to keep. What did they understand about themselves when they formed the Church and passed it over to us? And how did they establish the identity of the Church in the conflict between the secular world and the Jewish religion? These questions will provide important clues for the Church to be able to stay on as the true Church. So the paper will track down the Ecclesia, the Church of the New Testament and try to elucidate the self-understanding of the original Christian communities and the identity of the Church. Based on those discussions, the concept of the Ecclesiology will be refined, and an Ecclesiological basis which may serve and help the life of the Church will be presented focusing on the model of Alfred Jager.

“함께 즐거워하고 우는 자들과 함께 울라!”(롬 12: 15) ― 공감교회론의 철학적ㆍ교회론적 기초 다지기

박영범 ( Park Young Bum ) 서울신학대학교 기독교신학연구소 2018 神學과 宣敎 Vol.53 No.-

The empathy with others is the critical and central issue of Korean society today. In particular, the living church is a church that empathizes with society and energizes the gospel as a life. The paper aims to present an ecclesiological answer to the social challenges of the modern Korean church. And this is defined as “the ecclesiology of compassion.” The paper will be developed as follows. First this paper deals with the terminology of the 'empathy' or 'sympathy' that are mixed in various words in Korean society, in the Chapter 2. This is expected to reveal the concept of empathy or sympathy more specifically and concretely. In addition, based on the understanding of Max Scheler's sympathy theory, it attempts to establish a philosophical deposition of the ecclesiology of compassion (II.1), and the position of the ecclesiology of compassion in the theological history and in the ecclesiological understanding in general (II.2). The ecclesiological answers to the study are as follows: 1) The ecclesiology of compassion is a demand of the times. If the church cannot empathize with the lives of people in the modern society, it will be facing itself in crisis. 2) The ecclesiology of compassion sets the context of the concrete life of the church as its starting point. The ecclesiology must take into account the concrete and specific circumstances of life in which the ecclesia (or the church) is situated. 3) The ecclesiology of compassion seeks to be the ecclesiology that can provide advice and future blueprints to the life of the church. Therefore, the ecclesiology of compassion attempts to provide concrete and systematic advice. The last and the third chapter summarizes the theses, and based on this, the ecclesiological contents that can be developed later will be described.

신정론과 하나님의 고난 신정론 문제의 응답으로써 하나님 고난이 주는 의미

박영범 ( Young Bum Park ) 한국조직신학회 2012 한국조직신학논총 Vol.33 No.-

How do we say both the negative experiences of suffering and evil and our Almighty God altogether without contradiction? This paper does not attempt to present answers which have not provided so far to the Theodicy question. The main concern of this paper is to primarily discuss the appropriateness of the “Suffering of God” as response to the Theodicy question by investigating its relation to the “Suffering of God” which has been presented as an alternative explanation to the fundamental meaning of the Theodicy. To this end, the Theodicy question(Theodizeefrage) will be distinguished from the fundamental meaning of the Theodicy (Theodizeeproblem). Then, focusing on J. Moltmann and H. Jonas, in particular, among modern theologians, the concept of the “Suffering of God” will be reviewed. The review is intended to identify what connection the “Suffering of God” has with the Theodicy question and to investigate whether it is a way of answering the Theodicy question conclusively. The result of the discussion will show that, first of all, the answer to the Theodicy question(Theodizeefrage) is impossible and that Jonas and Moltmann also do not consider the concept of the “Suffering of God” as an answer to the Theodicy question. However, it will be revealed that a passionate inquiry on the fundamental meaning of the Theodicy (Theodizeeproblem) make us through the Theodicy question to look earnestly at the suffering in reality which has been lost. The concept of the Suffering of God is the one that has been revisited by identifying the critical questions implied in the fundamental meaning of the Theodicy. Second, the concept of the Suffering of God has changed the traditional metaphysical image of God which was effective in the past. God now participates in the human suffering experience in reality, instead of being Almighty. In addition, the consolation of Christ who is crucified on the cross is now expected along with the fellowship which is given in the suffering. When the secretive fellowship in crucified Christ is given in the place of suffering, they become humble at the same place. In this place, they feel that God participates in the suffering. In this place, they get relief and concern about the suffering of others. And they see the light of hope from God and get the new power to overcome the suffering. The theology of the Suffering of God, however, has also challenges. Theologians who speak of the Suffering of God tend to emphasize God`s love and goodness more than God`s almighty. Without a doubt, God`s love and goodness are his amazing grace. But the problem is that the more we emphasize his love, the more severe the suffering gets in reality. How can God of love tolerate this suffering? Why is God in silence for Auschwitz and natural disasters? At the same time, this helpless God should be able to explain his helplessness from the Eschatological perspective. The question of how this helpless and suffering God is going to overcome the suffering and to get rid of the evil still remains unanswered.

INS/GPS 결합방식에 따른 성능분석

박영범(Young Bum Park),이장규(Jang Gyu Lee),박찬국(Chan Gook Park) 대한전기학회 2000 대한전기학회 학술대회 논문집 Vol.2000 No.7

임무조건에 따른 달 착륙선 항법시스템 요구성능 분석

박영범(Young Bum Park),박찬국(Chan Gook Park),권재욱(Jae Wook Kwon),류동영(Dong Young Rew) 한국항공우주학회 2017 한국항공우주학회지 Vol.45 No.9

달 착륙선의 항법 시스템은 자율 정밀 항법 성능을 확보하기 위해 관성측정기와 별추적기, 고도계, 속도계, 지형상대항법 카메라 등 다양한 항법용 전장부품으로 구성되는데 착륙선의 착륙 시나리오와 임무 요구 성능에 따라 적합한 성능의 항법용 전장부품 선정이 필요하다. 본 논문에서는 달 착륙선에 요구되는 항법용 전장부품의 사양을 공분산해석을 통해 분석하였다. 77차 상태변수로 구성되는 기준 시스템 오차모델과 센서의 측정모델을 정의하고 착륙선의 임무 요구 성능은 90m(3σ) 착륙 위치 정확도를 요구하는 정밀탐사 임무와 6km(3σ)의 착륙 오차가 허용되는 영역탐사 임무로 구분하였다. 자율항법 시작 시점에 따라 PDI(Powered descent initiation)와 DOI(Deorbit initiation) 시나리오로 나누고 항법용 전장부품 조합과 착륙 시나리오에 따른 성능 분석을 통해 가상의 임무 요구 성능을 만족하기 위한 항법 시스템의 요구사양을 도출하였다. The navigation system of lunar lander are composed of various navigation sensors which have a complementary characteristics such as inertial measurement unit, star tracker, altimeter, velocimeter, and camera for terrain relative navigation to achieve the precision and autonomous navigation capability. The required performance of sensors has to be determined according to the landing scenario and mission requirement. In this paper, the specifications of navigation sensors are investigated through covariance analysis. The reference error model with 77 state vector and measurement model are derived for covariance analysis. The mission requirement is categorized as precision exploration with 90m(3σ) landing accuracy and area exploration with 6km(3σ), and the landing scenario is divided into PDI(Powered descent initiation) and DOI(Deorbit initiation) scenario according to the beginning of autonomous navigation. The required specifications of the navigation sensors are derived by analyzing the performance according to the sensor combination and landing scenario.

임플란트 보철 교합의 임상적 고려 사항

박영범(Young-Bum Park) 대한치과의사협회 2015 대한치과의사협회지 Vol.53 No.6

The appropriate occlusion is one of the most important factors for the long term success of implant and its restorations. The purpose of this review is to investigate and define occlusal considerations to reduce failure of implant prostheses. The physiological movement of implants is markedly lower than that of natural teeth and they also lack in occlusal sensitivity. Proper occlusal pattern may be assigned to compensate for the biological disadvantages and occlusal contacts must be formed where the cantilever effect is minimized. Moreover, the long term success of implants after osseointegration can be assured by reducing early occlusal loading to avoid implant overloading and selecting appropriate occlusion material. Occlusal overload was brought by the number and location of occlusal contacts, which are under the clinician’s control. The concept of implant occlusion is based on the concepts derived from traditional prosthetics. Moreover, there are few evidence on the concept or design of implant occlusion. Several occlusal design was recommended for implant prosthesis. Mutually protected occlusion, group function occlusion and bilateral balance occlusion was recommended for the specific types of implant restorations. This article reviews proper design of occlusion for implant restoration and offers occlusion strategy clinically.