• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1999.05a
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• pp.183-192
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• 1999

The derivative equation measured of a ${\Delta}MV=Kp*{(EVn-EVn-1)+\frac{1}{Ki/S}* EVn+(Kd/S)*(2PVn-1-PVn-PVn-1)}$ is used on the machine apparatus of industrial field, but this par doesn\`t able to educate now, because we didn\`t have the implementation device of PID module, so the principle implementation system of the PID Module is manufactured and developed. Through this system, the implementation system of PID Module is practiced with that the SV and the set of P, I, D is set on the derivative equation measured of PID. A things to be known of this experiment result is flow. 1)PID module is known that had to be used with the module of A/D and D/A. 2) In process of PV is approached to the SV to follow Kp, Ti and Td to cause a constant of set value on the $MVp=Kp*EV, MV=\frac{1}{Ki}{\int}EVdt, MVd=Td\frac{d}{dt}EV$, the variable rate of E and Kp, Td, Ti in that table 1 is analysed, is same as flow. (1)If Kp is high, PV is near fast to the SV, but Kp is small, PV is near slowly to the SV. (2)If Ki is shot, PV is close fast to the SV, but Ti is high, PV is close slowly to the SV (3)If Td is high, the variable rate of E press hardly when because it doesn\`t increase, but Td is small, the variable rate of E press not hardly, upper with 1), 2), PID module is supposed that be able to do the A/S and an implementation of that apparatus, and getting a success of aim that an engineer want, on control of temperature, tension, velocity, amount of flow, power of wind end so on, to get the principle of automatic implementation in industrial field with cooperation of A/D and D/A module.

• Korean Journal of Construction Engineering and Management
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• v.17 no.4
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• pp.103-115
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• 2016

The 106 buildings of 200 meters' height or greater were completed around the world in 2015 (CTBUH, The Council on Tall Buildings and Urban Habitat). They beat every previous year on record, including the previous record high of 99 completions in 2014. This brings the total number of 200-meter-plus buildings in the world to 1,040, exceeding 1,000 for the first time in history and marking a 392% increase from the year 2000, when only 265 existed. South Korea recorded three completions during 2015 - improving slightly over 2014, in which it had one. This study focused on the fact that high-rise building development project risks have not reduced in Korea in spite of numerous studies and measures. And it attempted to examine whether existing studies and measures have been presented on the basis of the accurate analysis of existing studies and measures and classify and analyze the characteristics of each phase' s risk factors in the hope that its results would be one reference point as to the measure to prevent high-rise building development project risks in the future. A high-rise building development project is the high risk project as compared with the low-rise project. Because a high-rise development project takes long and is very sensitive to the changing environment. Therefore, in order to succeed the project it becomes necessary to effectively manage the risk involved in the process of the high-rise building development project. The result of this study can be used as the guideline to make the risk management system for the high-rise development project.

• Korean Journal of Construction Engineering and Management
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• v.17 no.5
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• pp.120-129
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• 2016

The user cost is an important analysis item which should be considered together with life-cycle of facility, administrator cost and discount rate in LCCA for efficient asset management of SOC facilities. Especially, a significant delay cost occurs often for users in the road field due to a work zone for cleaning and maintenance, and in such case, the administrator should consider the administrator cost as well as the user cost for more rational decision making. However, the user cost has not been considered in most decision making steps until recently and relevant studies also have not been carried out actively. In this study, the methodology to estimate the user cost and delay cost required in the decision making step using the traffic flow model and the direct benefit estimation model in the traffic facility investment evaluation guideline is suggested. And, the traffic flow model was estimated on 4 national highway sections where maintenance was actually carried out in 2014 using VISSIM and, the user cost and the delay cost were estimated based on the suggested methodology. The analysis result showed that the average user cost of $17,569,000KRW/km{\times}day$ occurred on Section A with approximately 30,000 AADT before a work zone occurred, and in case the first lane was blocked for maintenance, the delay cost of $10,193,000KRW/km{\times}day$ (158%) on average occurred additionally. The delay cost of $1,507,000KRW/km{\times}day$ (115%) and $1,985,000KRW/km{\times}day$ (119%) occurred on Sections B and D with approximately 20,000 AADT respectively and the delay cost of $262,000KRW/km{\times}day$ (105%) occurred on Section C with approximately 10,000 AADT. This result of this study was estimated based on the simulation of traffic flow model so that there is a limitation in its actual application. A study ot develop a highly appropriate model using actual observation data and improve the possibility to apply it through the verification using the simulation will be necessary in future.

• Korean Journal of Construction Engineering and Management
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• v.18 no.3
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• pp.12-21
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• 2017

From 1960, the government decided to build apartment houses on a large scale in order to resolve the rising housing problems. However, the maintenance issues that have arisen from the deterioration of housing has not received adequate attention. The policy focuses only on the supply of housing. By passing new laws, the durable period during which buildings allowed reconstruction was increased, and long term maintenance plans were treated as important issues. The government was then obligated to establish certain long term maintenance plans and costs by legislating a Housing Act and requiring it be adjusted every three years. However, when planning long-term repair costs, doing so without considering the time value of money would become a problem. In addition, if differences between the planned repair costs and actual costs occur, it becomes necessary to adjust the long-term repair costs but, as of yet, the criteria to adjust such things does not exist. For these reasons, if there is lack of money to execute large-scale repair work, a building is unlikely to respond to deterioration of housing; on the other hand, an unnecessary reserve or pool of money can lead to conflict among residents. Therefore, this paper will propose estimation and adjustment models considering the time value of money for long term maintenance costs of apartment houses.

• The Journal of Dong Guk Oriental Medicine
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• v.8 no.1
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• pp.77-91
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• 1999

After allergic contact dermatitis elicitated by Dinitrochlorobenzene(DNCB) treatment, ICR female mice administered Yunkyopaedocksangamibang(YPGM) extract were observed to investigate the effect of YPGM on allergic contact dermatitis. This study investigated that contact hypersensitivity assay, abdominal skin morphologic changes including mast cells. At contact hypersensitivity assay, the right ear swelling in YPGM group were probability decreased than DNCB group. At observation of abdominal skin morphologic change, the infiltration of lymphocyte, lymphocyte insertion to epithelium, enlarged capillary, angiogenesis, and damages of epithelium as cytoplasmic vacuolation and enlarge of inter cellular space in YPGM were diminished than DNCB group. The number of mast cell was increased both DNCB and YPGM group. The shape of mast cell in DNCB group was mainly appeared degranulated type, but granulated type in YPGM group. The number of serotonin positive cell was increased both DNCB and YPGM group. The shape of serotonin positive cell in DNCB group was mainly appeared degranulated type, but granulated type in YPGM group. As results indicated that the YPGM extract administration work on the mitigation of skin damages in mouse with allergic contact dermatitis.

• 한국벤처창업학회:학술대회논문집
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• 2010.08a
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• pp.139-160
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• 2010

On July 21st in 2005, People's Bank of China (PBOC) turned the currency peg against the U.S. dollar into managed currency system based on a basket of unnamed currencies under China's exchanged rate regime. This change means that China's enterprises are not free from currency fluctuations. The purpose of this study is to analyze the relations between Renminbi fluctuations in the floating exchange rate and financial results of venture companies. The process and outcomes of this study are as follows, First, in order to measure the financial results of venture companies, I choose venture companies in Shandong Province listed on the Shanghai Stock Exchange (SSE) at random and several quarter financial sheets according to safety ratios, profitability ratios, growth ratios, activity ratios. Second, I arrange the daily Renminbi exchange rate data announced from July 21st, 2005 to December 31st, 2008 by PBOC into the quarterly data. Third, in order to confirm the relations between Renminbi fluctuations and financial results of venture companies, I carry out Pearson's correlation analysis. As a result, the revaluation of the Chinese Renminbi has weakly negative effects on debt ratio, total assets turnover ratio and equity turnover ratio in statistics. But the revaluation of the Chinese Renminbi is not related to other financial index in statistics. The result of this study is that the revaluation of the Chinese Renminbi has little influence on the export and import of Chinese venture companies and certifies the fact that Chinese venture companies have much foreign currency assets. In addition to avoid the currency exposure risk, this study shows the effective method about currency exposure risk which adjusts proportion of Renminbi to foreign currency.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.1
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• pp.203-215
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• 2017

Recently, interest in Pedestrian Navigation Service (PNS) is being increased due to the diffusion of smart phone and the improvement of location determination technology and it is efficient to use landmarks in route guidance for pedestrians due to the characteristics of pedestrians' movement and success rate of path finding. Accordingly, researches on extracting landmarks have been progressed. However, preceding researches have a limit that they only considered the difference between buildings and did not consider visual attention of maps in display of PNS. This study improves this problem by defining building attributes as local variable and global variable. Local variables reflect the saliency of buildings by representing the difference between buildings and global variables reflects the visual attention by representing the inherent characteristics of buildings. Also, this study considers the connectivity of network and solves the overlapping problem of landmark candidate groups by network voronoi diagram. To extract landmarks, we defined building attribute data based on preceding researches. Next, we selected a choice point for pedestrians in pedestrian network data, and determined landmark candidate groups at each choice point. Building attribute data were calculated in the extracted landmark candidate groups and finally landmarks were extracted by principal component analysis. We applied the proposed method to a part of Gwanak-gu, Seoul and this study evaluated the extracted landmarks by making a comparison with labels and landmarks used by portal sites such as the NAVER and the DAUM. In conclusion, 132 landmarks (60.3%) among 219 landmarks of the NAVER and the DAUM were extracted by the proposed method and we confirmed that 228 landmarks which there are not labels or landmarks in the NAVER and the DAUM were helpful to determine a change of direction in path finding of local level.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.1
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• pp.9-17
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• 2017

Characteristics of aerodynamic damping ratios of a helical $180^{\circ}$ model which shows better aerodynamic behavior in both along-wind and across-wind responses on a super tall building was investigated by an aeroelastic model test. The aerodynamic damping ratio was evaluated from the wind-induced responses of the model by using Random Decrement (RD) technique. Further, various triggering levels in evaluation of aerodynamic damping ratios using RD technique were also examined. As a result, it was found that when at least 2000 segments were used for evaluating aerodynamic damping ratio for ensemble averaging, the aerodynamic damping ratio can be obtained more consistently with lower irregular fluctuations. This is good agreement with those of previous studies. Another notable observation was that for square and helical $180^{\circ}$ models, the aerodynamic damping ratios in along-wind direction showed similar linear trends with reduced wind speeds regarding of building shapes. On the other hand, for the helical $180^{\circ}$ model, the aerodynamic damping ratio in across-wind direction showed quite different trends with those of the square model. In addition, the aerodynamic damping ratios of the helical $180^{\circ}$ model showed very similar trends with respect to the change of wind direction, and showed gradually increasing trends having small fluctuations with reduced wind speeds. Another observation was that in definition of triggering levels in RD technique on aerodynamic damping ratios, it may be possible to adopt the triggering levels of "standard deviation" or "${\sqrt{2}}$ times of the standard deviation" of the response time history if RD functions have a large number of triggering points. Further, these triggering levels may result in similar values and distributions with reduced wind speeds and either may be acceptable.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.1
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• pp.239-246
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• 2017

There are various transversal structures (small dams or drop structures) in median and small streams in Korea. Most of them are concrete structures and it is so hard to exclude low-level water. Unless drainage valves and/or gates would not be installed near bottom of bed, sediment from upstream should be deposited and also contaminants attached to the sediments would devastatingly threaten the water quality and ecosystem. One of countermeasures for such problem is the bypass pipe installed underneath the transversal structure. However, there is still issued whether it would be workable if the gravels and/or stones would roll into and be not excluded. Therefore, in this study, the conditions to exclude the rip stone which enter into the bypass pipe was reviewed. Based on sediment transport phenomenon, the behavior of stones was investigated with the concepts from the critical shear stress of sediment and d'Alembert principle. As final results, the basis condition (${\tau}_c{^*}$) was derived using the Lagrangian description since the stones are in the moving state, not in the stationary state. From hydraulic experiments the relative velocity could be obtained. In order to minimize the scale effect, the extra wide channel of 5.0 m wide and 1.0 m high was constructed and the experimental stones were fully spherical ones. Experimental results showed that the ratio of flow velocity to spherical particle velocity was measured between 0.5 and 0.7, and this result was substituted into the suggested equation to identify the critical condition wether the stones were excluded. Regimes about the exclusion of stone in bypass pipe were divided into three types according to particle Reynolds number ($Re_p$) and dimensionless critical shear force (${\tau}_c{^*}$) - exclusion section, probabilistic exclusion section, no exclusion section. Results from this study would be useful and essential information for bypass pipe design in transveral structures.