• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2019년도 학술발표회
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• pp.16-16
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• 2019

기후변화 시나리오 및 계절예측 자료를 포함한 기후정보를 수자원 분야에 활용하기 위해서는 기후정보의 시 공간적인 상세화(donwscaling)을 필요로 한다. 상세화의 경우 역학적 상세화와 통계학적 상세화로 구분될 수 있으며, 통계학적 상세화를 위해서는 대상 지역의 기후특성을 대표할 수 있는 장기 관측 자료의 확보가 중요하다. 국내의 경우에는 자동기상관측장비(Automatic Weather System, AWS)와 종관기상관측장비(Automatic Synoptic Observation System, ASOS)로 부터 수집된 기상관측자료를 사용할 수 있으나 기후변화 시나리오의 통계적 상세화를 위해서는 30년 이상의 자료 기간을 포함하는 ASOS 자료가 적합하다. 하지만 개발도상국과 같이 기상관측기반이 열악한 지역에서는 잦은 결측 등으로 인하여 품질이 좋은 관측자료의 획득이 어려운 상황이다. 따라서 본 연구에서는 측이 포함된 장기 기상관측 자료로부터 대상 지역의 기후특성을 재현할 수 있도록 기본적인 QC(Quality Control)을 거쳐 결측 자료를 보완할 수 있는 기법 및 R 기반패키지를 개발하여 적용성을 평가하였다. 개발된 기법의 적용성 평가를 위해서 기상청에서 QC를 통해 제공하고 있는 60개 ASOS 지점의 관측자료 중 강수량과 기온 변수를 사용하였다. 최대 50%까지의 현실적인 결측 패턴을 임의로 생성하기 위해 실제 개발도상국 관측자료의 일단위 결측 패턴을 이용하였다. 자료의 QC는 관측일 누락/중복 및 문자형 관측값 등 기본적인 오류 검사, 기온의 경우 물리적 허용 범위에 대한 검사, 최고기온과 최저기온의 비교 및 계측기 오작동에 의한 동일한 값의 반복 등을 포함한 내적 일치성 검사를 우선적으로 수행한다. 이후 결측값에 대해서 인근 기상관측소와의 상관성 분석 결과를 기반으로 결측값을 채우고, 최종적으로는 다양한 위성자료 및 재분석 자료 중에서 일단위 기후특성의 재현성 평가를 통해 선정된 격자형 자료와의 상관성 분석 결과를 기반으로 결측값을 보정하였다. 기온의 경우는 결측률이 높더라도 월평균 기후특성에 큰 영향을 미치지 않았지만 강수의 경우에는 5% 이상의 결측이 발생하는 경우 월평균 강수량에 영향을 미쳐 지역의 강수량을 과소 추정하는 결과를 보였다. 개발된 QC 기법을 강수 자료에 적용한 결과 월평균 기후특성을 잘 복원하는 결과를 보였지만, 일단위 강우 사상의 재현에 있어서는 미흡한 결과를 보였다.

• 한국토양비료학회지
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• 제47권6호
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• pp.425-431
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• 2014

Most fields in highland areas are covered with rye or hairy vetch for conservation during a fallow. However, using cover crops needs an effort to sow, and this makes top soil more vulnerable to loss due to surface disturbances. The aims of this study were to develop an automatic seeding-regulator device using a low-price, extensive-use GPS sensors and a DC motors and to evaluate a working efficiency of it after adaptation to partial tillage machine for reducing seeding effort. The amount of runoff water and soil loss was evaluated with partial tillage and simultaneous-seeding after harvesting soybean, in 17% slope lysimeters. In results, the seeding amount with the machine speed was stable between $0.5{\sim}0.8m\;s^{-1}$ of working sections. The automatic control device of seeding-rate could be enough to solve the slip problems of power selecting supply system or five four-wheel drive device. In partial tillage and simultaneous seeding, runoff water was 11.6% ($1.8m^3ha^{-1}$) of the scatter-seeding control ($15.5m^3ha^{-1}$) and soil loss was 13.2% ($7kg\;ha^{-1}$) of the scatter-seeding control ($53kg\;ha^{-1}$). These results suggest that partial tillage and simultaneous-seeding methods are very effective in decreasing work effort and soil loss of sloped land.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.167-170
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• 2015

본 논문에서는 바쁜 현대인들뿐만 아니라 노인 및 어린이들이 보다 편안하고 효율적으로 애완동물을 기를 수 있도록 하기 위한 애완동물 배뇨 훈련 및 먹이 자동 공급을 위한 시스템을 제안한다. 이 시스템은 블루투스를 이용해 스마트폰 어플리케이션으로 조작할 수 있도록 하며, 나아가 Wifi를 통해 인터넷에 접속하여 어디서든 조작할 수 있도록 한다. 본 논문의 시스템은 배뇨판과 먹이 공급기로 나뉘어져있다. 배뇨판은 배뇨 인식을 위한 수압 센서와 음성출력을 위한 녹음기 모듈, 스피커로 구성되고 후면부는 먹이 자동 공급을 위한 두 개의 서보 모터와 원격 통신을 위한 블루투스 센서로 구성된다. 배뇨판과 먹이 공급기 모두 아두이노 보드와 C언어 기반의 아두이노 스케치 프로그램으로 제작하였으며 먹이 공급기는 블루투스 통신을 지원하는 라이브러리로 통신할 수 있게 하였다. 구현된 시스템은 애완동물의 종류 및 크기에 관계없이 자동 수위조절과 먹이양이 조절되는 특징을 가진다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.79-82
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• 2003

An aquaculture system for feeding the caged fishes in the open water is suggested for ocean application. Survival and operation conditions are defined at the conceptual design. Wave and current drag forces are discussed to determine the proper dimension of the aquaculture system and the related mooring system. Second order wave drift force at the survival condition is the dominant force, which be reduced by minimizing the superstructure open to the surface. Automation in feeding, sorting, cleaning is introduced to use the ongoing technology for quality product. The suggested system has advantage compared to onshore culturing, but not to shallow water culturing system. There is room for real application in future by the countries, such as Korea and Japan, which are in short of fish supply and have willingness to venture towards the ocean aquaculture.

• 한국터널지하공간학회 논문집
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• 제21권6호
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• pp.837-847
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• 2019

국내 장대 지하도로는 선진화 교통망 구현을 위해 대도시를 중심으로 추진되고 있다. 폐합되고 장대화된 지하도로의 화재안전성 확보를 위해 많은 방재시설이 적용되며, 1등급 터널에서는 물분무 설비를 이용하여 초기 화재 진압을 위한 설비로 적용되지만 2~4등급 터널에서는 초기 화재진압을 위한 방재시설 대응 및 화재진압 주체가 불분명하여 화재확산에 따른 추가적인 인적/물적 피해가 불가피하다. 따라서 본 연구에서는 1등급 물분무 설비와 같이 초기화재 진압이 가능하도록 옥내소화전 소화용수를 이용하여 관리실에서 CCTV로 모니터링 하고 자동 제어를 통하여 화재지점에 직접 분사하는 원격 자동소화설비 시스템을 개발하였으며, Test Bed를 통하여 실용화를 위한 통하여 성능개선방안을 연구하였다.

• 한국농공학회논문집
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• 제65권5호
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• pp.51-68
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• 2023

Due to the recent integrated water management policy, it is important to identify a reliable supply amount for establishing an agricultural water supply plan. In order to identify the amount of agricultural water supply, it is essential to calculate the discharge by measuring the water level and flow velocity of reservoirs and canal agricultural water, and quality control to ensure reliability must be preceded. Unlike agricultural reservoirs, canal agricultural water are more sensitive to the surrounding environment and reservoir irrigation methods (continuous, intermittent irrigation, etc.), making it difficult to estimate general water level patterns and at the same time a lot of erroneous data. The Korea Rural Community Corporation is applying a filter technique as a quality control method capable of processing large quantities and real-time processing of canal agricultural water level data, and applicability evaluation is needed. In this study, the types of errors generated by the automatic water level measurement system were first determined. In addition, by using the manual quality control data, a technique with high applicability is derived by comparing and analyzing data calibrated with Gaussian, Savitzky-Golay, Hampel, and Median filter techniques, RMSE, and NSE, and the optimal parameters of the technique range was derived. As a result, the applicability of the Median filter was evaluated the highest, and the optimal parameters were derived in the range of 120min to 240min. Through the results of this study, it is judged that it can be used for quantitative evaluation to establish an agricultural water supply plan.

• 한국생물환경조절학회:학술대회논문집
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• 한국생물환경조절학회 1996년도 국제심포지움 21세기 첨단식물생산시스템의 실용화
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• pp.91-115
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• 1996

최근 우리나라 농업은 계속되는 농촌노동력의 감소 및 노령화ㆍ부녀화와 WTO체제 출범에 따른 농축산물 수입개방 둥 대내외적으로 매우 어려운 처지에 놓여있다. 이러한 농업여건변화에 따라 우리농업을 경쟁력 있는 강한 체질의 산업으로 육성하여 국제경쟁력을 키우고 국민소득 증대에 따른 고품질 농축산물 수요증가에 적절히 대응하기 위하여 품질이 좋은 농축산물을 값싸게 생산 공급할 수 있는 자본기술집약적 농업의 필요성이 점차 높아지고 있다. (중략)

• 한국잠사곤충학회지
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• 제17권1호
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• pp.1-26
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• 1975

These studies were attempted to find out the optimum silk reeling system by use of automatic silk reeling machine to increase raw silk yield and reeling efficiency with various silk reelable cocoons. The obtained results are as follows; 1. The mean silk reelability ratio(X)of the Korean cocoons during the last ten years was 61 per cent, beside 64.7 per cent in autumn cocoon and 57.3 per cent in spring cocoon. However, the ratio variation of autumn cocoons was larger than that of spring cocoons. 2. A positive correlation between cocoon filament breaks during its process and silk reelability levels was shown to be significant. The cocoons of both poor and good reelability evidenced "J" shape distribution on the filament break graph by the order of reeling cocoon end. Many bave breaks were found at the inner shell of the cocoons, or in case of poor reelability cocoons. 3. The morphology of broken cocoon ends during the process was classified into A, B, C, D, E and F types, The occurrence of B type was majority, but that of F type was minority among them. 4. In case of the cocoon cooking, H-type ion-exchanged soft water was better for good reelability cocoons, Na and H-type ion exchanged neutral soft water for those of fair reelability, and alkaline (Na-type) soft water for those of poor reelability, respectively. 5. The modification of cooking water by mixing the above different types of water (50％ Na-type and 50％ H-type passed by standard natural water; 75％ Na-type and 25％ H-type passed by hard natural water; 25％ Na-type and 75％ H-type passed by soluble natural water) made higher yield of raw silk with tess breaks of thread. 6, In case cocoon ends groping water included sodium hexametaphosphate as much as 800 ppm. the groping efficiency and raw silk yield of cocoon was improved. The effect was pronounced in case of poor reelability cordons. 7. The most reasonable cocoon cooking and silk reeling condition for automatic silk reeling process were observed to be rather incomplete cook with good reelability cocoons and optimum cook with poor reelability cocoons succeeded by the reeling bath temperature of 45$^{\circ}C$, 8. The reasonable silk reeling velocities were observed to be about 150m per min. for good reelability cocoons, 120m per min. for fair reelability ones and 90 to 120m per min. for poor reelability ones. 9. In order to improve the raw silk yield of cocoons and reeling efficiency, the cocoon stand-by-ratio for reeling should be kept at the level of 40 per cent for good reelability cocoons or at 60 per cent for poor reelability ones beside necessary end found cocoon condition.

• 한국농공학회논문집
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• 제64권3호
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• pp.9-24
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• 2022

Currently, a vast amount of hydrologic data is accumulated in real-time through automatic water level measuring instruments in agricultural reservoirs. At the same time, false and missing data points are also increasing. The applicability and reliability of quality control of hydrological data must be secured for efficient agricultural water management through calculation of water supply and disaster management. Considering the characteristics of irregularities in hydrological data caused by irrigation water usage and rainfall pattern, the Korea Rural Community Corporation is currently applying the Hampel filter as a water level data quality management method. This method uses window size as a key parameter, and if window size is large, distortion of data may occur and if window size is small, many outliers are not removed which reduces the reliability of the corrected data. Thus, selection of the optimal window size for individual reservoir is required. To ensure reliability, we compared and analyzed the RMSE (Root Mean Square Error) and NSE (Nash-Sutcliffe model efficiency coefficient) of the corrected data and the daily water level of the RIMS (Rural Infrastructure Management System) data, and the automatic outlier detection standards used by the Ministry of Environment. To select the optimal window size, we used the classification performance evaluation index of the error matrix and the rainfall data of the irrigation period, showing the optimal values at 3 h. The efficient reservoir automatic calibration technique can reduce manpower and time required for manual calibration, and is expected to improve the reliability of water level data and the value of water resources.