• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.7
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• pp.1694-1704
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• 2015

In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC+ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.

• The Korean Journal of Applied Statistics
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• v.20 no.3
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• pp.423-440
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• 2007

Although various models have been developed to establish the enterprise credit scoring, no model has utilized the enterprise human resource so far. The purpose of this study was to build an enterprise credit scoring model using enterprise human resource factors. The data to measure the enterprise credit score were made by the first-year research material of HCCP was used to investigate the enterprise human resource and 2004 Credit Rating Score generated from KIS-Credit Scoring Model. The independent variables were chosen among questionnaires of HCCP based on Mclagan(1989)'s HR wheel model, and the credit score of Korean Information Service was used for the dependent variables. The statistical method used for data analysis was logistic regression. As a result of constructing a model, 22 variables were selected. To see these specifically by each large area, 6 variables in human resource development(HRD) area, 15 in human resource management(HRM) area, and 1 in the other area were chosen. As a consequence of 10 fold cross validation, misclassification rate and G-mean were 30.81 and 68.27 respectively. Decile having the highest response rate was bigger than the one having the lowest response rate by 6.08 times, and had a tendency to decrease. Therefore, the result of study showed that the proposed model was appropriate to measure enterprise credit score using enterprise human resource variables.

• Proceedings of the Korea Water Resources Association Conference
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• 2017.05a
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• pp.495-495
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• 2017

도시화는 불투수면의 증가를 야기 시켜 물순환 왜곡, 다양한 오염 물질의 유입으로 인한 비점오염물질 유출, 인공 배출열의 증가로 인한 도시열섬효과 등 다양한 문제를 유발한다. 이러한 수리수문학적 및 환경생태학적 문제를 저감하기 위하여 도시지역과 같은 개발 사업에서는 수환경을 가능한 자연 상태로 복원하는 저영향개발(Low Impact Development, LID)기법이 중요한 대안으로 제시되고 있다. LID기법 중 하나인 옥상녹화는 에너지 이용을 최소한으로 한 자연 녹음의 효과적인 이용을 도모하여 환경공생도시 조성과 식물을 매개로한 자연 순환 과정을 도시구조에 도입하여 순환 시스템 재생이 가능 하도록한다. 노지녹화는 두꺼운 자연 토양을 이용하는 반면 옥상녹화는 적재하중의 제약(옥상의 적재하중 조건은 $150{\sim}180kgf/m^2$이다. 비중이 1.6~1.8인 토양을 20cm 객토한 경우, 약 $320kgf/m^2 $이상의 적재하중이 되기에 식재기반의 경량화는 중요한 사안이다.)으로 인해 용적밀도가 작은 인공경량토양 또는 개량토양을 이용하며, 토양 두께도 얇게 설정된다. 또한 토양의 두께는 식물의 크기와 종류 및 토양의 조성에 따라 다르기에 적재하중 조건을 고려한 적절한 토양과 식재 식물의 크기와 종류 결정은 중요하다. 이에 본 연구에서는 옥상녹화식생에 대한 평가와 이에 대한 시험 프로세스가 가능한 실험 장치를 개발하였다. 옥상녹화 효율성 검증실험장비는 1m*1m*0.6m 아크릴 재질의 녹화셀로 경사조절이 가능하도록 설계하여 경사변화에 따른 유출, 침투, 증발산량의 탄성도 모의 평가를 할 수 있다. 또한 4점식 형태의 로드셀을 이용하여 녹화셀에서 발생하는 증발산량을 측정하고 관측된 증발산량은 RS-232c 이상의 통신프로토콜을 사용하여 주기적인 관측치의 송수신이 가능하며 주기적 자료송수신 외에도 옥상 녹화셀의 측면에 하중 표시기를 설치하여 관측이 가능하다. 또한 저면에 바퀴설치를 통하여 이동 실험이 용이하며 현재 부산대학교 양산캠퍼스 한국 GI&LID 실증단지 연구센터 내 옥상녹화 실험장에 옥상녹화 효율성 검증 실험 장비를 설치하여 자연 혹은 인공강우를 통한 유출, 침투, 증발산량의 시험계측을 실시중이다. 이러한 옥상녹화 효율성 검증실험장비는 최대 하중 2,000kg, 측정해상도 0.02kg 이상을 허용하는 로드셀과 녹화셀을 이용하여 하중을 고려한 식생의 종류에 따른 평가가 가능하므로 최적 식재기반 단면구조 개발에 이용될 수 있을 것이다. 또한 토양 함수량 변화 측정으로 옥상녹화에 이용되는 다양한 종류의 식물의 염분에 대한 저항성과 식물의 성장능력을 평가하여 녹화공간에 따른 옥상녹화에 사용할 식생을 결정할 수 있다.

• Journal of the Korean Institute of Gas
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• v.22 no.6
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• pp.59-64
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• 2018

As part of measures to reduce fine dust, the government is promoting a project to convert the fuel of Yard Tractors(YT, tractors operated at ports), from diesel to LNG (Liquefied Natural Gas). While a port having a small number of yard tractors, it is not proper to construct a stationary LNG fueling station and supply LNG to YT due to a problem of BOG (Boil off gas) generation. Therefore, it is necessary to make a regulation and a standard on mobile LNG YT refueling station installation and inspection as an alternative. In this study, we have investigated domestic and foreign mobile LNG refueling cases and refueling standards, including the USA and Europe. In addition, we have suggested the risk reduction method according to the cause after investigation of the cause of LNG accidents. And last, based on the proposed risk reduction measures, we have proposed an amendment to the Regulation of the Urban Gas Business Law in Korea. The proposed mobile LNG YT refueling amendment of the Regulation includes ; maintenance of the safety distance from the protection facility, installation of an interlock device to prevent refueling in places other than the authorized place, installation of the identification system through biometrics, separation of the tank lorry and tow vehicle before refueling, checking the wheel fixed status of tank lorry before refueling, construction of the impounding area, safety measures before, during and after refueling, etc. The safety standards proposed in this study could be used as a reference in establishing standards for mobile LNG vehicle refueling in the near future.

• The Journal of the Korea Contents Association
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• v.19 no.7
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• pp.138-148
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• 2019

Although social relation factors are confirmed to be closely associated with the depression level of the elderly through the preceding studies, there has been no specific study on subfactors of social relation that influence the trajectory of depression level. Considering such limitation, this study aims to analyze influencing subfactors of social relation on the trajectory of depression of the elderly. The 3rd, 4th, 5th, and 6th-year data of the Korean Longitudinal Survey of Ageing (KLoSA), which were provided by the Korea Employment Information Service (KEIS), were used in this study and 2,484 people aged 65 and over who responded to all the four-session surveys were used as final analysis subjects. In the result of the longitudinal study on depression level of the elderly aged 65 and over, the individual depression level was confirmed become lowered over time, showing a positive change. Also, the conditional model of Latent Growth Modeling (LGM) was applied to identify specific social network factors that influence the longitudinal change of depression level of the elderly. In the result of the analysis, it was found that initial value of depression of the elderly was influenced by whether they have a spouse or not, number of household member, meeting with close people, whether they do economic activity or not, whether they have a religion or not, etc. and the rate of change in depression of the elderly was influenced by number of household member, meeting with close people, expectation about life, etc. Through above results, this study suggests a need for specific programs and supports to continuously lower the depression level of the elderly.

• The Journal of the Korea Contents Association
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• v.19 no.1
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• pp.339-349
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• 2019

The purpose of this study is to analyze the influential factors on the change in life satisfaction of elderly households. In this study, single and couple elderly households were defined as elderly households and the 2nd, 3rd, and 4th data of the Korean Longitudinal Survey of Ageing (KLoSA) provided by the Korea Employment Information Service (KEIS) were used. And 677 respondents aged 65 and over who had replied to all 3 sessions were included in the final subjects. multinomial logistic regression analysis was conducted to examine the influential factors on life satisfaction by the type of elderly households according to consumption pattern and the result showed that there were common influential factors such as house owning status and subjective health status and the factors that influence specific types such as expectancy of standard of living. In addition, in the longitudinal analysis of life satisfaction of elderly households, individual satisfaction level was confirmed to reduce with time and the factors that influence the longitudinal change in the level of life satisfaction of elderly households was analyzed through the conditional model of a latent growth model. The analysis results showed that household type, house owning status, and subjective health status influenced the initial value of life satisfaction of elderly households while household type and expectancy of living standard influenced the change rate of life satisfaction of elderly households. Based on the results of this study, the followings are suggested. There is a need to improve the life satisfaction of old age by increasing the opportunity for self-realization of elderly households and also policy approach should be made selectively taking various types into consideration.

• Journal of Practical Engineering Education
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• v.10 no.1
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• pp.17-24
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• 2018

Through the design and production of works for the third semester as a major unit, It is proposed the process of satisfying the graduation standards with the design and production process of the drone which can be applied to various mobile environments. Using the shape of Ring Propeller, it is made to be able to play both the role of generating lift as a propeller and the role of a wheel that touches the ground through the surface of the rim. In addition, the Servo Motor is used to convert the drive shaft of the motor to the correct angle according to the command. Then, based on the idea, the 3D printing is implemented to confirm the result of the configuration, and the circuit for driving the propulsion is designed and manufactured. As a result, the conversion of the desired propulsion system during air navigation and operation failed due to the weight increase of the propellant. It is confirmed that the size of the thrust and the tolerance limit of the ring propeller are the errors. Through these processes, it has been recognized to have experience of creative thinking and cooperation through engineering approach and comprehensive design, and confirmed to satisfy the graduation criteria by writing an engineering paper on the result.

• Journal of Korean Society of Forest Science
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• v.100 no.2
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• pp.154-164
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• 2011

This study was conducted to develop the semi-crawler type mini-forwarder that can be operated comfortable small-scale logging operation in the steep terrain and also used at a variety of operations such as the civil work in erosion control and forest-road. Considering the minimum turning radius and the width of forest operation road, the total length, width and loading capacity of the semi-crawler type mini-forwarder is 5,750 mm, 1,900 mm and $2.5m^{3}$, respectively. The maximum engine power is 96ps at 3600 rpm. Selected hydraulic pumps are consists of two main pumps and two sub-main pumps. Main hydraulic pumps are utilized to running motor of the front wheel and rear crawler. Sub-main pumps are utilized to the actuation parts such as steering, crane, out-rigger and dump cylinder. The transmission was adapted as the HST (Hydro-Static Transmission) system. The driving parts are designed and manufactured as the front wheel type and the rear crawler type. The steering type was manufactured as the ackerman type. Driving control parts type was designed and manufactured as driver's seat type of normal cars. It is also attached on auxiliary equipments such as winch, log grapple and out-rigger. The traveling speed of the semi-crawler type mini-forwarder in forest road was 5.3 km/hr to 7.7 km/hr.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.64-75
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• 2021

On the moon as well as the earth, one of the easiest ways to understand geological formation history of any region is to observe the stratigraphy if it is available, the order in which the strata build up. By analyzing stratigraphy, it is possible to infer what geological events have occurred in the past. Mare Nubium also has an unique normal fault called Rupes Recta that shows stratigraphy. However, a rover moving with wheels is incompetent to explore the cliff since the Rupes Recta has an inclination of 10° - 30°. Therefore, a quadruped walking robot must be employed for stable expedition. To exploration a fault with a four-legged walking robot, it is necessary to design an expedition route by taking account of whether the stratigraphy is well displayed, whether the slope of the terrain is moderate, and whether there are obstacles and rough texture in the terrain based on the remote sensing data from the previous lunar missions. For the payloads required for fault surface exploration we propose an optical camera to grasp the actual appearance, a spectrometer to analyze the composition, and a drill to obtain samples that are not exposed outward.