• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Archives of design research
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• no.18
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• pp.165-174
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• 1996

In the I950s the German firm Braun began to pursue a policy of uncompromising modem design for products aimed at the upper reaches of the market. Dr. Fritz Eichler as a head of design with Hans Gugelot and Otl Aicher in the Graduate School VIm developed the guide line of Braun Design strategy as the foundation of the corporate identity programme. In 1955 Dieter Rams joined the staff, and was largely responsible for establishing the formal characteristics of Braun Design and its further development. In the mid-1950s complete product programme of the firm Braun began to be re-designed, and these undoubtedly hit the market. New design line of the firm Braun, was an exclusive avantgarde movement at that time, which became to be the epitome of the idea of an objectifiable "Good Form". By the result in the 60s and 70s, when Braun product program was completely re-designed to the new line, Braun Design had a decisive influence on the design scene of the world. Braun Design is essentially functional and concrete, which depends on perfect fulfillment of purpose, precision, safety, durability, the quality of the product and, more recently, environmental compatibility is similarly balanced and unified approach, eliminating every unnecessary detail and concentrating on ordering essential elements. elements.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.554-560
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• 2020

In the manufacturing process of flat panel displays, a high-precision planar motion stage is used to position a specimen. Stages of this type typically use frictionless linear motors and air bearings, and laser interferometers. Real-time dynamic correction of the yaw motion error is very important because the inevitable yaw motion error of the stage means a change in the specimen orientation. Gantry control is generally used to compensate for yaw motion errors. Flexure units that allow rotational motion are applied to the stage to apply this method to a stage using an air-bearing guide. This paper proposes a method to improve the constant speed motion performance of a H-type XY stage equipped with air bearing and flexure units. When applying the gantry control to the stage, including the flexure units, the cause of the mutual ripple generated from the linear motors is analyzed, and adaptive learning control is proposed to compensate for the mutual ripple. A simulation was performed to verify the proposed method. The speed ripple was reduced to approximately the 22 % level. The ripple reduction was verified by simulating the stage state where yaw motion error occurs.

• Tribology and Lubricants
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• v.12 no.1
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• pp.1-5
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• 1996

자성유체는 자연에서 추출한 것이 아니라 자화성(Magnetizability)과 유도성(Flowability)을 동시에 갖도록 합성한 특수액체이다. 자성유체는 1960년대 중반에 미국의 NASA에서 처음 개발된 이후로 윤활, 밀봉, 감쇄, 의료 등의 분야에서 응용연구가 많이 진행되었기 때문에 고도의 정밀도를 요하는 항공, 우주산업, 컴퓨터와 반도체 분야 등에서 실용화가 크게 진전되고 있다. 특수물질일 자성유체는 전기적으로 도체인 10nm 정도의 미세한 자기입자(Magnetic particles)에 코팅을 한 후, 이것을 물, 탄화수소, 플루오르카본, 에스터 등의 매개유체(Carrier Fluids)에 혼합시켜서 콜로이드 상태로 사용하게 된다. 자성유체는 미세한 자기입자들이 매개유체내에서 서로 충돌하면서 반발력을 발생시켜서 상호간에 늘 콜로이드 상태를 유지하고 있으며, 이 특수유체가 자기장의 영향을 받게 되면 점도가 증가하면서 특이한 성질을 갖게 된다. 상대 접촉 운동면에 경계마찰이나 혼합마찰을 하게 되면 윤활상태는 비교적 나쁘다. 이러한 마찰지역에 콜로이드상의 자성유체 윤활제를 공급하면 기존의 윤활제에 비하여 대단히 효과적으로 윤활을 할 수 있게 된다. 그러나 자성유체 윤활제가 마찰부위에 원활하게 공급하기 위해서는 미끄럼 마찰부에서 자기장을 잘 형성시킬 수 있는 도체이어야 하기 때문에 특별한 윤활 시스템 설계가 제시되어야 한다. 자성유체 윤활제는 합성으로 제조된 특수물질로 여러가지 장점을 갖고는 있으나 기존 윤활유와의 적합성, 마찰열, 밀봉압력 등의 조건에서 제한적으로 사용될 수 밖에 없으므로 항공, 우주 산업이나 석유 화학분야와 같이 특수 환경에서만 사용되고, 또한 기존의 광유계 윤활제에 비하여 대단히 고가하는 문제점을 갖고 있다. 그러나 윤활 마찰면의 다양화와 가혹한 사용조건은 자성유체 윤활제의 연구개발 필요성을 크게 증대시키고 있다.xed Effects Model)을 결정하고, 각각에 해당하는 통계모형을 구축하였다. 이 결과 (1) 업종 및 기업규모별로 그룹간에 유의한 특성이 발견되었으며, (2) R&D 및 광고투자는 기업의 시장성과를 설명하는 중요한 변수이나, (3) R&D 투자의 경우는 광고에 비해 불확실성이 존재하는 것으로 나타났고, (4) 수리모형에서 도출된 한계원리가 통계모형에서도 유효한 것으로 드러났다.등을 토대로 한 10대 산업을 육성하기 위하여 과학기술부는 기술수요조사를 바탕으로 49개 주요기술을 도출하여, 과학기술 일류 국가 실현, 국민소득 2만불 달성이라는 국가적 슬로건을 내걸고 “차세대 성장동력” 창출을 위한 범정부차원의 기획과 연구비의 집중투자를 추진하고 있다.달성하기 위해서는 종합류류 전산망의 시급한 구축과 함께 화물차의 적재율을 높이고 공차율을 낮출 수 있는 운송체계의 수립이 필요한 것으로 판단된다. 그라나 이러한 화물전용차선의 효과는 단기적인 치유책일 수밖에 없기 때문에 물류유통 시설의 확충을 위한 사회간접자본의 구축을 서둘러 시행하여야 할 것이다.으로 처리한 Machine oil, Phenthoate EC 및 Trichlorfon WP는 비교적 약효가 낮았다.>$^{\circ}$E/$\leq$30$^{\circ}$NW 단열군이 연구지역 내에서 지하수 유동성이 가장 높은 단열군으로 추정된다. 이러한 사실은 3개 시추공을 대상으로 실시한 시추공 내 물리검층과 정압주입시험에서도 확인된다.. It was resulted from increase of weight of single cocoon. "Manta"2.5ppm produced 22.2kg of cocoon. It is equal to 9% increase in index, as compared to that of control. In case

• Current Research on Agriculture and Life Sciences
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• v.31 no.2
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• pp.131-138
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• 2013

The precision aerial application of small farms, such as paddy, upland and orchard fields using agricultural unmanned helicopters became a new paradigm. The objective of this study was to evaluate the performance of a GPS module and algorithm, controlling drift of agricultural helicopter by the crosswind and maintaining the position for emergency landing. Purpose of the drift control, of which an algorithm works while hovering is related with the emergency sequence that coping with abnormal conditions of rotorcraft system. However, the inertial attitude control cannot detect a drifting motion of fuselage moving at the constant velocity, thus the crosswind takes the helicopter away from the landing position. Performance of the drift control module, based on the GPS that a hovering position did not deviate within 5m in diameter, were tested and evaluated. Initially, the reaction against a disturbing gust wind was sensitive, soon the helicopter maintained its locking position and azimuth within 5m in diameter. It was, however, difficult for the helicopter to recognize the swaying and nodding, the some deviation was expected due to the discrepancy characteristics of the GPS signal. The performance of the drift control proved the effectiveness of the module to maintain the position against an unintended drift during the emergency landing or hovering.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.527-536
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• 2018

This study examined the success factors of six sigma innovation in small- and medium-sized venture companies. The findings are summarized as follows. The importance of 20 items in a total of 4 factors showed that corporate vision was number one in the manager's support, followed by program composition, passionate support, high performance guarantee, and quality activity continuity. This suggests that all members can operate the program by the structured system with a sense of united goal under the company-offered vision as a community when the goal, idea or vision of six sigma activities are shared to members of the entire organization. In addition, high success can be achieved when supported by company-wide enthusiasm and high compensation for sharers' innovative efforts of six sigma at the same time. Small- and medium-sized venture companies should develop brisk six sigma activities of advanced precision parts in such an environment that the technology competition is becoming increasingly fierce. The six sigma movement should be developed as a niche strategy for small organizations with united vision sharing by company-wide operational commitment and high self-esteem for the organizational characteristics of small- and medium-sized venture companies run by key minority organizations and members.

• Journal of the Korean Geophysical Society
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• v.1 no.1
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• pp.31-40
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• 1998

Gravimetric and magnetic surveys were conducted in order to reveal near-surface structures such as basements, faults, and fracture zones in an area near Angang, where the Yangsan fault is believed to pass through. Along two lines approximately perpendicular to the strike of the major fault, gravity and magnetic data were measured at 67 stations with a 15 m interval and at 296 stations with a 3 m interval, respectively. Average depth to the magnetic basement is estimated using the spectral analysis method to be 8.5 and 10.0 m along lines located to the east and the west of the Hyeongsan river, respectively. Average value of reduced gravity on the east line is higher than that on the west by the amount of 1.71 mGal, which indicates that the basement rocks are more severely fractured in the western part. Forward gravity modeling along the east line indicates that a fracture zone extends westward from a fault located 210 m west of the eastern end. Density and depth to the bottom of the fracture zone are estimated to be 2.44 g/cm3 and 70 m, respectively. The gravity model study also indicates presence of a small graben, 190 m wide and 3.5 m deep on an average, on the basement surface. The earth surface above the graben is approximately 44 cm lower than the nearby surface. This indicates that the graben might have been formed by recent fault movements.

• Journal of Advanced Navigation Technology
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• v.18 no.6
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• pp.619-624
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• 2014

Nowadays there are various smart devices and development with the development of smart phones and that can be attached to the human body wearable computing device has been in the spotlight. In this paper, we proceeded developing wearable devices in watch type which can detect user's movement and developing a system which connects the wearable devices to smart TVs, or smart phones so that users can save and manage their physical information in those devices. Health care wearable devices already existing save information by connecting their systems to smart phones. And, smart TV health applications usually include motion detecting systems using cameras. However, there is a limit when connecting smart phone systems to different devices from various companies. Also, in case of smart TV, because some devices may not have cameras, there can be a limit for users who wants to connect their devices to smart TVs. Wearable device and user information collected by using the smart phone and when it is possible to exercise and manage anywhere. This information can also be confirmed by the smart TV applications. By using this system will be able to take advantage of the study of the behavior of the future work of the user more accurately be measured in recognition technology and other devices.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.4
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• pp.257-266
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• 2001

It was set up MCS and MS of ship's distance measuring system in land and ship respectively and ship's track including dropped and hove up anchor was tracked by mean of measurement for ship's position, relative bearing and distance from MCS to MS. Results analyzed for possibility of real time anchoring watch and effectiveness of measuring position are as follow; (1) The elapsed time from dropped anchor to hove up anchor is 4 minutes and the elapsed time to start recording ship's track after set up anchoring state is 10 minutes approximately. (2) Shape of hull's swing during anchoring is mostly 8 figue-like or rarely peanut-like shape. (3) Mean anchoring position during whole measuring time was shifted 49m north and 89m eastly. (4) Ship's track were moved counter-clockwise for $8.1^\circ$ range from relative bearing $186.1^\circ$ to $194.2^\circ$ ellipse-like tracks with the major axis 63m and the minor axis 53m. (5) High frequency of ship's position distribution was shown at relative bearing $187^\circ$ and distance 558m while low frequency was shown at relative bearing $194^\circ$ and distance 556m. (6) The designed ship's distance measuring system by PRTK-GPS was fit very well for anchoring watch as secured necessary area demanded for dragging anchor as well as anchoring by means of real time measurement both in distance and bearing.

• Journal of Korean Society of Forest Science
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• v.85 no.4
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• pp.571-576
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• 1996

The geological and hydrological survey was carried out in Hyuseok-dong landslide area(10 ha), Youngchoon-myeon, Danyang-gun, Choongcheongbuk-do. The results showed that the bed rocks in this area consisted of shale, sandstone and limestone, and the piles of stones debris were also scattered around the hill above the study area. Soil texture was sandy loam, and bulk density of the soil in the lower part of the area was higher than that of the upper part, but void ratio of the soil in the lower part was lower than that of the upper part. Subsurface water was springing out to the surface in many places in this area. In this area, the storms over 70mm/day were frequent during the summer period from June through September. It was concluded that the occurrence of landslide had a close relationship with the geological characteristics, hydrological conditions and the rainfall distribution.