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A Study on Modeling of Mobile Robot Using Basic Homogeneous Transformation(BHT) (Basic Homogeneous Transformation(BHT)을 이용한 이동로봇 기구학 모델링에 대한 연구)

  • 류신형;이기철;이성렬;박민용
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.265-265
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    • 2000
  • In this paper the systematic modeling method of general wheeled mobile robot is proposed. First we show how to describe kinematics properties of wheeled mobile robot in the method formulating constraint equations using Basic Homogeneous Transform(BHT) which is used mainly the kinematics modeling of manipulator, and, under assumption it's provided part of nullvector in given constraint equations, find kinematics model of mobile robot related to actuators in real robot.

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Effects of PETTLEP Model-based Image Training on Nursing Student' Confidence and Competency in Core Basic Nursing Skills,Participation in Self-Practice (PETTLEP 모델 기반 심상훈련 적용이 간호대학생의 핵심기본간호술 수행자신감 및 수행능력, 자율실습 참여도에 미치는 효과)

  • Gu, Hee-Seon
    • Journal of the Korean Applied Science and Technology
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    • v.38 no.4
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    • pp.1056-1069
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    • 2021
  • This study is a similar experimental study before and after the inequality control group to investigate the effect of PETTLEP model-based image training on fundamental nursing practice education on the confidence and competence ability of core basic nursing skills, and participation in autonomous practice. Data were collected by randomly assigning 74 students who understood the purpose of the study and voluntarily agreed to participate in the study among second-year students of the Department of Nursing at U University located in K Province, randomly assigned to an experimental group and a control group. For the collected data, frequency and percentage were used for general characteristics of subjects using SPSS Statistics 23.0 program, skewness and kurtosis were used for normality test, and the dependent variable test for measuring the effect of experimental treatment was analyzed by paired t-test. As a result of the study, PETTLEP model-based image training showed confidence in core basic nursing skills(t=4.18, p<.001) and competence (knowledge(t=2.241, p=.032), nursing skills(t=8.402, p<.001)), there were statistically significant differences in self-practice participation(t=6.822, p<.001). Based on the results of this study, the PETTLEP model-based image training provided Based on the results of this study, it was confirmed that PETTLEP model-based image training can be a teaching and learning method applicable to basic nursing education. In addition, PETTLEP model-based image training is expected to be utilized as a learning method to improve the competence of core basic nursing skills, which are recognized as difficult due to their high level of difficulty.

A Study on Operational Efficiency Improvement of Perpendicular Layout Container Terminal via introducing Interchange Transport Model (수직형 자동화 컨테이너 터미널 운영 효율성 제고를 위한 인터체인지 이송 모델 도입 방안 연구)

  • Jang, Jae-Hwan;Lee, Jung-Yoon
    • Journal of Navigation and Port Research
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    • v.44 no.3
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    • pp.181-186
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    • 2020
  • Until now, the development of design and operation model for automated container terminals has been mainly performed based on the western ports model, specializing in basic loading, and discharging operations. In the case of the Busan port, terminal operators provide basic stevedoring, as well as an additional logistics service known as 'On Dock Service' not suitable for the currently commercialized automated container terminal model. This study diagnosed the current Busan port's throughput structure and terminal operational characteristic, and proposed a modified perpendicular layout container terminal transport model named 'Interchange Transport Model' for effective management of empty container and operation costs. Although the 'Interchange Transport Model' requires an additional number of transport equipment (AGV), concerning operational efficiency and cost saving, a simulation showed 22% reduction of TAT and 9.4% reduction of annual terminal operational costs in comparison to the basic perpendicular layout model.

Comparative Analysis of Body Composition and Basic Physical Strength between Model Majored Female College Students and General Female College Students (모델전공 여대생과 일반 여대생의 신체조성 및 기초체력 비교분석)

  • Kim, Won-Hyun;Kim, Seung-Suk
    • Journal of Digital Convergence
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    • v.12 no.10
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    • pp.597-604
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    • 2014
  • This research aimed at comparative analysis of body composition and basic physical strength of model majored female college students and general female college students. The research object was composed of 15 model majored female college students of D University, who learned the purpose of this research enough and wrote the consent form of voluntary participation and 15 general female college students, who have no medical history and currently no special disease, and no experience in regular exercise. They underwent body composition inspection, left right grasping power which is the basic physical strength, back muscle strength, flexibility, rapidity, muscle endurance, and the researcher performed descriptive statistics to calculate the average standard deviation, and analyzed to verify difference between groups by using independent t-test. With statistical significance level p<.05, the results are as follows. model majored female college students and general female college students showed meaningful difference between groups in weight, skeletal muscles, body fat volume, BMI and left right grasping power, back muscle strength, rapidity(p<.05). between groups in flexibility and muscle endurance(p>.05).

Comparative Analysis on the Performance of NHPP Software Reliability Model with Exponential Distribution Characteristics (지수분포 특성을 갖는 NHPP 소프트웨어 신뢰성 모형의 성능 비교 분석)

  • Park, Seung-Kyu
    • The Journal of the Korea institute of electronic communication sciences
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    • v.17 no.4
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    • pp.641-648
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    • 2022
  • In this study, the performance of the NHPP software reliability model with exponential distribution (Exponential Basic, Inverse Exponential, Lindley, Rayleigh) characteristics was comparatively analyzed, and based on this, the optimal reliability model was also presented. To analyze the software failure phenomenon, the failure time data collected during system operation was used, and the parameter estimation was solved by applying the maximum likelihood estimation method (MLE). Through various comparative analysis (mean square error analysis, true value predictive power analysis of average value function, strength function evaluation, and reliability evaluation applied with mission time), it was found that the Lindley model was an efficient model with the best performance. Through this study, the reliability performance of the distribution with the characteristic of the exponential form, which has no existing research case, was newly identified, and through this, basic design data that software developers could use in the initial stage can be presented.

Structural Equation Model of Clinical Nurses' Willingness to Perform Basic Life Support (BLS) in South Korea (임상간호사의 기본소생술 수행의지에 관한 구조방정식 모형 분석)

  • Uhm, Dong-Choon;Hwang, Ji-Young;Jun, Myung-he;Kim, Dong-ok
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.17 no.2
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    • pp.290-298
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    • 2016
  • This study was conducted to develop a model that explains the factors influencing the clinical nurses' willingness to perform Basic Life Support and to verify the appropriateness of the model. The participants were 550 clinical nurses working at a university hospital in Korea. The data were collected from self-reported questionnaires from October 2012 to February 2013. A total of 520 questionnaires were analyzed using the SPSS/WIN 20.0 and Amos version 18.0 software packages. The results indicated that the clinical nurses' knowledge of basic life support had a direct impact and their clinical experience had an indirect impact on their willingness to perform basic life support at the scene. These variables together explained 19.5% of the variance in the nurses' willingness to perform Basic Life Support. The clinical experience was correlated significantly with knowledge (r=.61, p<.001). To increase the clinical nurses' performance of Basic Life Support, knowledge and clinical experience should be reinforced by continuous in-service education on Basic Life Support, considering the disease status of hospitalized patients.

A study on the user satisfaction evaluation model of the smart learning system - Focusing on www.basic-edu.net usability evaluation results - (스마트러닝 시스템의 이용만족도 평가모형 연구 - www.basic-edu.net 사용성 평가 결과를 중심으로 -)

  • Park In-chan;Huh Hyeong-sun;Jeon Gwan-cheol;Ahn Jin-ho
    • Journal of Service Research and Studies
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    • v.11 no.4
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    • pp.67-76
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    • 2021
  • The importance of smart learning is increasing as the speed of development of non-face-to-face services increases due to the influence of COVID-19. This study is the user satisfaction evaluation model that utilizes the causal relationship between variables used for evaluation, focusing on the usability evaluation results of the learning disability intervention service (www.basic-edu.net) according to the need to evaluate the use satisfaction of the smart learning system. To this end, theoretical studies were conducted on smart learning and learning disability intervention services, www.basic-edu.net, usability evaluation of learning disability intervention systems, and use satisfaction evaluation models. And based on the results, a hypothesis was presented on the user satisfaction evaluation model of the smart learning system. The experimental method allowed 40 students and parents across the country to use the www.basic-edu.net service and was evaluated for its usability. In addition, using this data, the hypothesis was verified using regression analysis based on four variables: ease of use, interest, self-learning, and satisfaction with use. As a result of the hypothesis verification, it was found that the causal relationship of all hypotheses from H1 to H4 was significant.

DEVELOPMENT OF EULERIAN-GRANULAR MODEL FOR NUMERICAL SIMULATION MODEL OF PARTICULATE FLOW (Eulerian-Granular method를 사용한 고체 입자 유동 모델 개발)

  • Lee, T.G.;Shin, S.W.
    • Journal of computational fluids engineering
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    • v.20 no.2
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    • pp.46-51
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    • 2015
  • In this paper, we have developed numerical model for particulated flow through narrow slit using Eulerian-Granular method. Commercial software (FLUENT) was utilized as simulation tool and main focus was to identify the effect from various numerical options for modeling of solid particles as continuos phase in granular flow. Gidaspow model was chosen as basic model for solid viscosity and drag model. And lun-et-al model was used as solid pressure and radial distribution model, respectively. Several other model options in FLUENT were tested considering the cross related effect. Mass flow rate of the particulate through the slit was measured to compare. Due to the high volume density of the stacked particulates above the slit, effect from various numerical options were not significant. The numerical results from basic model were also compared with experimental results and showed very good agreement. The effects from the characteristics of particles such as diameter, angle of internal friction, and collision coefficient were also analyzed for future design of velocity resistance layer in solar thermal absorber. Angle of internal friction was found to be the dominat variable for the particle mass flow rate considerably. More defined 3D model along with energy equation for complete solar thermal absorber design is currently underway.

3D material model for nonlinear basic creep of concrete

  • Bockhold, Jorg
    • Computers and Concrete
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    • v.4 no.2
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    • pp.101-117
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    • 2007
  • A new model predicting the nonlinear basic creep behaviour of concrete structures subjected to high multi-axial stresses is proposed. It combines a model based on the thermodynamic framework of the elasto-plastic continuum damage theory for time-independent material behaviour and a rheological model describing phenomenologically the long-term delayed deformation. Strength increase due to ageing is regarded. The general 3D solution for the creep theory is derived from a rate-type form of the uniaxial formulation by the assumption of associated creep flow and a theorem of energy equivalence. The model is able to reproduce linear primary creep as well as secondary and tertiary creep stages under high compressive stresses. For concrete in tension a simple viscoelastic formulation is applied. The material law is then incorporated into a finite element solution procedure for analysis of reinforced concrete structures. Numerical examples of uniaxial creep tests and concrete members show excellent agreement with experimental results.