• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.951-957
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• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

• Advances in concrete construction
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• 제12권6호
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• pp.517-525
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• 2021

More underground structures are increasingly being constructed such as box culverts for electric power transmission, and the life extension of these structures is very important. It is well known that the steel embedded in concrete is usually invulnerable to corrosion because the high alkalinity of the pore solution in concrete generates a thin protective oxide layer on the surface of the steel. Recent observations in the field and experimental evidence have shown that even steel in concrete can be corroded through the carbonation reaction of cover concrete. Carbonation-induced corrosion in concrete may often occur in a high carbon dioxide environment. In this study, the risk of carbonation of underground box culverts in Korea was evaluated by measuring the car¬bonation rate and concrete cover depth in the field. Then, the carbonation-free service life for the cover depth of the steel was calcu¬lated with in situ information and Monte Carlo simulation. Additionally, an accelerated carbonation test for a cracked beam specimen was performed, and the effect of a crack on the service life of a box culvert was numerically investigated with Monte Carlo simulation based on experimental results.

• Bulletin of the Korean Chemical Society
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• 제35권3호
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• pp.908-912
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• 2014

Microgratings whose diffracted field at a fixed angle generate IR spectra of $SF_6$ or $NH_3$ were fabricated by MEMS techniques for the purpose of IR correlation spectroscopy. Each micrograting was composed of 1441 reflecting lines in the area of $19.2{\times}19.2mm^2$. The depth profile of the line elements was determined with a gradient searching method that was described in our previous publication (J. Mod. Opt. 2013, 60, 324-330), and was discretized into 16 levels between 0 and $6.90{\mu}m$. The diffraction field from a given depth profile was calculated with Fraunhofer equation. The fabricated microgratings showed errors in the depth and the width within acceptable ranges. As the result, the diffracted IR spectrum of each micrograting matched well with its target reference spectrum within spectral resolution of our optical setup.

• 대한방사선치료학회지
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• 제14권1호
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• pp.79-84
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• 2002

1.목적 : 작고 불규칙한 모양의 전자선 조사면에서 선원의 출력에 영향을 미치는 요인은 선형가속기의 collimation system, insert block diameter, energy 등이다. 때문에 이러한 조사면의 선량계산으로 LBR을 이용할 수 있는데 LBR(lateral build-up ratio)이란 동일한 incident fluence와 profile에 대해 circular field와 broad field의 선량비로서 나타낼 수 있다. 얻어진 LBR data는 elementary pencil beam 모형을 근거해 깊이와 에너지에 따른 함수(${\sigma}$)로 표현할 수 있다. 여기에서 얻어진 수식을 기초로 해서 만들어진 factor값이 작고 부정형의 전자선 조사면의 선량계산 유용성을 알아보고자 한다. 2.재료 및 방법: 심부선량은 water phantom에서 ion chamber로 측정하였다. Cerrobend와 electron applicator 에 따른 incident fluence의 변화를 알아보기 위해 Chamber를 0.5mm깊이에 놓고 측정하였다. 그리고 에너지와 electron applicator 크기에 따라 insert block diameter를 2-15cm로 변화시키며 심부선량을 측정하였고 이 값을 0.5mm 깊이에서 normalization 하였다. 이렇게 normalization 한 그래프로부터 LBR과 함수 (${\sigma}$)를 얻어했다. 3.결과 : 0.5mm 깊이에서 normalization한 심부선량-그래프로부터 LBR data와 그로부터 얻어낸 (${\sigma}$)함수 값을 기초로 하여 elementary pencil beam 모형의 깊이에 빠른 선량변화의 수식을 얻어낼 수 있었다. 4.결론 : 부정형 전자선 조사면에 대해 MU당 심부선량은 작은 circular field에서 측정된 LBR값, reference applicator와 insert block diameter 에 따른 incident fluence factor 그리고 reference broad field에서의 심부선량등 세 가지 data로 부터 계산할 수 있다. 이 방법을 이용하면 어떤 모양의 전자선 조사면에 대해서도 심부선량의 계산에 유용하다고 할 수 있다.

• 한국자기학회지
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• 제5권5호
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• pp.892-899
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• 1995

유한 요소법을 사용하여 선형 이동 자기장을 이용하는 원통형 전자기 펌프 내에서 발 생하는 전자기력을 모사할 수 있는 프로그램을 개발하였다. 이 프로그램을 사용한 수치실험을 통하여 펌프에서 발생하는 전자기력은 입력 전류의 주파수, 이송 대상 용해 금속의 성질에 의존하는 것을 알 수 있었다. 또한 최대의 전자기력을 낼 수 있는 코일 의 최적 길이가 존재하고 있으며, 그 최적 길이는 표피층 두께(skin depth)가 클 때에 는 용해 금속의 반경에 의해서 결정되며, 표피층 두께가 작을 때에는 표피층 두께에 의해서 결정된다.

• 한국농공학회:학술대회논문집
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• 한국농공학회 2001년도 학술발표회 발표논문집
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• pp.99-105
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• 2001

The purpose of this study is to investigate the effects of pending depth treatment on water balance in paddy fields. The pending depth treatments were very shallow, shallow and deep. The experimental plots were three $80m{\times}25m$ rectangular plots. Daily values of rainfall amount, pending depth, irrigation water, drainage water, evapotranspiration, infiltration, and piezometeric head were measured in the field. The pending depth was continuously observered by water level logger during the growing season. The ET was measured in 1m diameter PVC lysimeters. Irrigation water volume was measured by 75m pipe flow meter and the drainage water volume was measured by 25mm and 75mm pipe flow meters and a recording Parshall fulume. PVC pipe piezometers with 12mm diameter were used. The results of the water balance showed that irrigation water of 881.1mm, 735.4mm, and 532.6mm in very shallow, shallow, and deep pending, respectively. The effective rainfall was 182.6mm(44.6%), 254.7mm(62.2%), and 188.6mm(46.0%) in very shallow, shallow, and deep pending, respectively. The results show that the shallow pending depth looks the best of the three treatments.

• Nuclear Engineering and Technology
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• 제52권8호
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• pp.1669-1676
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• 2020

The IAEA held the IAEA Robotics Challenge 2017 (IRC2017) to protect workers during inspections of spent nuclear fuel and to improve work efficiency and accuracy rates. To this end, we developed an unmanned surface vehicle (USV) system called the spent fuel check vehicle (SCV). The SCV extracts and tracks the target through image processing, and it is necessary to find suitable parameters for the SNF storage environment in advance. This preliminary work takes time. It is also difficult to prepare the environment in which the work will proceed. In addition, if the preliminary work does not proceed as planned, the system will not move at the proper speed and will become unstable, with yawing and overshoot. To solve this problem, we developed a controller with a camera that can extract the depth at which the target is stored and allow distance-adaptive control. This controller is able to attenuate system instability factors such as yawing and overshoot better than existing controllers by continuously changing system operation parameters according to the depth. In addition, the time required for preliminary work during inspections can be shortened.

• 대한방사선치료학회지
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• 제16권1호
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• pp.1-9
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• 2004

목적 : 본 연구의 목적은 소조사면의 선량특성을 측정하며 콜리메이터의 위치에 따른 반음영의 변화와 중심선량의 분포양상을 측정하며 측외측정선량점의 변화에 따른 선량분포의 특성을 측정하여 최근 대두되고 있는 소조사면 방사선치료에 유용한 정보를 제공하는데 그 목적이 있다. 대상 및 방법 : 지멘스의 Primart 선형가속기의 6MV에너지를 이용하였으며 측정은 Farmer chamber와 Pinpoint chamber를 이용하여 심부선량율과 beam profile, 중심출력선량의 변화를 측정하였다. 중심선속의 변화에 따른 에너지의 특성과 반음영의 변화를 외측으로 2cm 간격으로 측정하였다. 측정은 $1{\times}1cm,\;3{\times}3cm,\;5{\times}5cm,\;10{\times}10cm$에서 측정하였으며 결과는 표준조건하의 측정값과 비교, 분석하였다. 결과 : Farmer chamber와 Pinpoint chamber를 이용해 $1{\times}1cm$, 10cm깊이에서 측정한 결과 두 측정기간에 소조사면에서는 $30\%$ 이상의 차이를 보였으며 조사면의 크기가 증가함에 따라 두 측정기간의 차이는 급격히 감소했다. 측외측정점의 변화에 따른 선량분포는 큰 차이가 없었으나 조사야의 크기가 감소함에 따라 $1{\times}1cm$에서는 약 $13\%$의 차이를 보여 조사야 크기에 따른 변화가 큰 것으로 측정되었다. 전체조사면에서 반음영이 차지하는 비율도 조사면이 적어짐에 따라 높게 나타났으며 $1{\times}1cm$의 조사면에서는 약 $50\%$가 반음영이 점유하는 것으로 측정되었다. 결론 : 세기조절방사선 치료를 위해서는 각기 다른 에너지 분포를 갖는 여러 각도에서 다수의 조사면를 필요로 하며 여러 복잡한 인자들이 관여하게 된다. 여러 인자들 중에서도 콜리메이터의 형태 및 위치에 따른 출력선량의 변화 양상을 정확히 측정하는 것은 매우 중요하다. 실험결과에서도 알 수 있듯이 측정깊이와 조사면의 크기 및 측정기의 종류에 따른 측정값의 변화가 매우 크게 나타나므로 양질의 세기조절방사선 치료를 제공하기 위해서는 특히 소조사면의 선량분포에 대한 특성을 정확히 측정하는 것이 매우 중요하다.

• The Korean Journal of Ecology
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• 제10권3호
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• pp.151-159
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• 1987

Relationships between soil factors and the growth of annual ring of Pinus densiflora grown on stony mountain were investigated at two sites of the different parent rocks: the one was formed by granite at Mt. Gwanag, Seoul and the other feldspar porphyry at Mt. Bipa, Daegu. The growth of annual ring was influenced by the physical factors of soil, such as soil depth, field caacity and water content of soil, rather than by the KDICical factors, such as total nitrogen, potassium, and calcium of soil. Of the soil factors affecting the growth of annual ring, soil depth, field capacity, water content of soil and organic matter closely interrelated with each other. All of these factors influenced water content of soil which might affect the water potential of Pinus densiflora leaves. In fact, the leaf water potential, affecting as the main factor for the growth of annual ring, of the pine grown in a deep soil was higher than that of the pine in a shallow soil.

• Ocean and Polar Research
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• 제25권4호
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• pp.437-446
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• 2003

Field measurements of directional waves were carried out during the summer of 2002 at two coastal sites in water of finite depth. A couple of general purpose instruments were used employing acoustic Doppler technology. The aim of the study was to investigate the spatial behavior of the directional movement of waves as they come ashore. In total,74 tests were carried out during which sea states of low to moderate intensity were recorded. A great number of these runs displayed bimodal characteristics of the spreading function at high frequencies. It was found that in general, the frequency-integrated directional width tends to broaden as the water shoals and when refraction effects are negligible. This is attributed to wave-wave interactions that become pronounced in shallow water. The same directional width showed, also, a tendency to increase with increasing peak frequency of the sea state spectrum. The behavior of the kurtosis of the spreading function was also examined. It was found that for higher frequencies this index tends to increase in wave spectra above a certain sea severity threshold.