• 한국산림과학회지
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• 제105권3호
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• pp.330-335
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• 2016

본 연구는 중부지방소나무 등 주요 5개 수종에 대하여 상업적으로 이용가능한 재적율인 조재율을 구하기 위하여 수행되었다. 본 연구에 이용한 자료는 최소 1,300여본 이상의 전국적인 조사자료를 이용하였으며, 적용한 추정식은 임목재적 중 목질부 재적을 나타내는 목질부 재적율 추정식과 목질부 재적에 대한 이용재적을 나타내는 원목이용율 추정식이었으며, 이 두가지 추정식의 곱으로 조재율을 도출하였다. 흉고직경에 의한 목질부 재적율(W)은 $W=\frac{a_1}{1+a_2/D}+\frac{b_1}{1+b_2/D}$의 모형을 이용하였으며, 이 식의 적합도는 수종별로 99% 이상이었고 기타 검정통계량도 식의 적합성을 충분히 설명하고 있었다. 목질부 재적에 대한 원목이용율(M)은 $M=e^{a_1\(\frac{d}{D}\)^{a_2}}-(b_0+b_1D+b_2D^2+b_3D^3)$ 모형을 적용시켜 적합도는 수종별로 96% 이상이었다. 이 두가지 추정식을 이용하여 5개 수종별로 상업적 재적이용율인 조재율을 산정하고 조재율표를 작성하였다. 분석결과, 조재율은 침엽수와 활엽수 임상별로는 거의 차이가 없는 것으로 나타났으나, 기존 침엽수, 활엽수 조재율과의 차이는 있는 것으로 나타났다.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• 한국정밀공학회지
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• 제29권9호
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• 한국물환경학회지
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• 제23권3호
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• pp.385-390
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• 2007

Reliable flow measurement for dry season is very important to set up the in-stream flow exactly and total maximum daily load control program in the basin. Especially, in the points which tidal current effects are dominant because reliability of the low measurement decrease. The reliable measuring methods are needed. In this study, we analysis the water surface elevation difference of water surface elevation. Quantity relationship to consider tidal currents in these regions. It is known that tidal current effects from Nakdong river barrage are dominant in Samrangjin measuring station. We developed multiple regression equation with water surface elevation, quantity, and difference of water surface elevation and compared these results water measured rating curve. All of these regression equation including linear regression equation and log regression equation fits better measured data them existing water surface elevation quantity line and Among three equations, the log regression equation is best to represent the measured the rating curve in Samrangjin point. The log regression equation is useful method to obtain the quantity in the regions which tidal currents are dominant.

• 한국항공우주학회지
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• 제48권7호
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• pp.529-536
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• 2020

한국형발사체 3단은 추력기 자세제어시스템에 의해 3단 엔진 점화 시점부터 위성 분리, 위성과 충돌을 막기 위한 회피기동까지 롤 및 3축 자세제어가 수행된다. 추력기 자세제어시스템은 추력기를 작동시킬 때 추진제를 소모하므로, 적정 추진제 충전은 임무 성공에 있어 중요하다. 그러므로 한국형발사체의 비행 중 추력기 자세제어시스템의 추진제 소모량이 얼마인지 추정할 수 있는 수단이 필요하다. 본 연구에서는 추력기 자세제어시스템에서 획득할 수 있는 압력, 온도 데이터를 바탕으로 추진제 소모량을 추정할 수 있는 에너지 관계식을 개발하였다. 개발된 관계식을 검증하기 위해 On-board 시스템과 유사한 시스템을 구성하여 시험을 했고, 추진제 소모량 추정식과 증류수를 사용한 시험 결과를 비교분석하였다. 또한 오차 분석을 통해 예측 결과의 신뢰성을 판단하였다. 마지막으로 시스템 수준 운용시험의 추진제 소모 결과도 나타내었다.

• Journal of Forest and Environmental Science
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• 제24권3호
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• pp.155-158
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• 2008

Site index is the essential tool for forest management to estimate the productivity of forest land Generally, site index equation is developed and used by relationship between stand age and dominant tree heights. However, there is a limit to use the site index equation in the application of variable ages, environmental influence, and estimation of site index for unstocked land. Therefore, it was attempted to develop a new site index equations based on various environmental factors including site and topographical variables. This study was conducted to develop regional site index equations based on the relationship between site index and soil factors for Pinus densiflora. Environmental factors that obtained from GIS application, were selected by stepwise-regression. Site index Equation was estimated by multiple regression from selected factors. Four environmental factors were selected in the final site index equations by stepwise regression. It was observed that coefficients of determination for site index equations were ranged from 0.34 which seem to be relatively low but good enough for estimation of forest stand productivity. The site index equations developed in this study were also verified to be useful by three evaluation statistics such as model's estimation bias, model's precision and mean square error type of measure.

• 문화기술의 융합
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• 제4권4호
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• pp.301-308
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• 2018

본 연구는 노년기 거주형태의 변화 궤적에 따른 삶의 만족도와의 관계를 종단데이터의 분석을 통해 살펴보고자 하였다. 이를 위해 본 연구는 국민노후보장패널 1-4차년도(2005-2011) 자료를 활용, 1-4차년도 조사당시 거주형태를 측정, 두 시점간 거주형태 변화 유형을 16개 유형으로 구분, 일반화추정방정식모형(Generalized Estimation Equation; GEE)을 적용해 삶의 만족도 차이를 분석하였다. 연구 결과 노년기 거주형태 변화는 삶의 만족도와 관련이 있었다. 전반적으로 마지막 조사시점에서 부부상태를 유지했던 집단의 삶의 만족도 수준이 높았다. 또한 노년기 자녀와의 동거여부는 삶의 만족도에 직접적으로 중요한 요인이 아닌 것으로 나타났다. 본 조사결과 자녀와의 동거는 부부가 함께 동거였을 경우에만 삶의 만족도 수준이 높았을 뿐 홀로 자녀와 동거하는 가구의 경우 독거를 지속한 가구보다도 오히려 삶의 만족도 수준이 낮은 것으로 나타났다. 노년기 거주형태 변화의 궤적과 대표적 심리적 복지 개념인 삶의 만족도의 관계를 분석한 본 연구는 노년기 거주형태 변화 차이가 삶의 만족도에 미치는 영향력을 종단자료 분석을 통해 실증적으로 제시했다는 점에서 의의를 찾을 수 있다.

• 천문학회지
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• 제28권1호
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• pp.67-70
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• 1995

In contrast to conventional belief that extended inflation ends when the Universe percolates, we find inflation may continue at least many Hubble times even after the Universe percolates. What is observed is that inflation will not stop unless the global equation of state changes from inflationary one into radiation one. Thus the energy density of shorter wavelength gravitational waves induced by bubble collision at near the end of inflation should be at least Order $(10^2)\~O(10^3)$ times greater than previous estimation of Turner and Wilcek(TW).

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1995년도 추계학술대회 논문집
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• pp.135-138
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• 1995

This paper presents a method to calculate the escape frequency factor and its verification from TSC(Thermally Stimulated Current) equation and cures. To apply calculation method of ν using asymptotic estimation, it utilized two sets of TSC data with 1K interval. This method enables one to get the exact value of ν and activation energy at the same time by using computer programming. So, it regards their calculation method as a useful process to obtain the value of physical behavior.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.22-25
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• 2005

In the paper, algorithms for disturbance observers are newly presented in the time-domain. Attention is paid to observing a ramp disturbance by introducing an integral term to the output equation of a constant disturbance observer. In order to reduce the sensitivity to the measurement noise, the disturbance observer is combined with the state observer. It will be shown that the estimation dynamics can be arbitrarily chosen by assigning the eigenvalues of a characteristic equation. Also, we provide the analysis of observer behaviors subject to non-ramp-style disturbances. Finally, we propose the generalized disturbance observer that accurately estimates disturbances of higher order in time series expansion.