• Advances in robotics research
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• v.2 no.1
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• pp.99-112
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• 2018

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

• Journal of Korean Port Research
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• v.12 no.1
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• pp.131-143
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• 1998

This paper presents derivation of stage-discharge curve for Yangsan river. To derivate of stage-discharge lationship is one of the essential research areas in the water resource field. It provides reliable data a long term planning and hydrologic quantity on water resource development by quantitative analysis. The rating curve derivated through 15 discharge-observation on Yangsan river basin in 1997 has been estimated Q=1283.0262-1553.3158H+477.2702H2. According to the rating curve, the highest water level 2.6m, the limited water-level should be bound to the maximum of 2.6m. Before this research, stage-discharge curve of Yangsan river has not been developed, and only 15 discharge observation(hydrometry) has been carried out though this research. Therefore it seems necessary to collect observation data through a long term process to obtain a reliable rating curve equation.

• Journal of Korean Elementary Science Education
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• v.33 no.2
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• pp.286-305
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• 2014

We explored the possibilities of science field experience in Jongmyo Shrine in this study. To understand the educational value of self-leading science activities in Jongmyo Shrine, one of the World Heritage, we developed science program and applied it to the elementary students participating in a gifted education center. We collected and analyzed various data of opinionnaire survey before and after the program, field activity sheets, field observation, and individual- and group interview. The results showed the lack of students' spatial ability and proposed educational interests in science education. Also, a lot of students felt the difficulty in applying school science knowledge into the real life context. Students found the meaning of science learning through cooperative activities in the historically meaningful place. A proper use of smart device in science field experience was recommended. We found that activities with too much smart device might impede various scientific process skills.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.1
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• pp.44.2-44.2
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• 2019

Turbulent motions perturb magnetic field lines and produce magnetic fluctuations. The perturbations leave imprints of turbulence statistics on magnetic field. Observation of synchrotron radiation is one of the easiest ways to study turbulent magnetic field. First, we obtained the spatial spectrum of synchrotron polarization so that shows how the spectrum is affected by Faraday rotation and how to recover the statistics of underlying turbulence magnetic field. Since polarized synchrotron intensity arising from magnetized turbulence are anisotropic along the direction of mean magnetic field. Secondly, we studied quadrupole ratio to quantitatively describe the degree of anisotropy introduced by magnetic field at multi-wavelengths. This work demonstrated that the spectrum and quadrupole ratio of synchrotron polarization can be very informative tools to get detailed information about the statistical properties of MHD turbulence from radio observations of diffuse synchrotron polarization.

• Journal of Electrical Engineering and Technology
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• v.13 no.4
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• pp.1697-1704
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• 2018

As a key component of lighting location system (LLS) for lightning warning, the atmospheric electric field measuring is required to have high accuracy. The Conventional methods of the existent electric field measurement meter can only detect the vertical component of the atmospheric electric field, which cannot acquire the realistic electric field in the thunderstorm. This paper proposed a three dimensional (3D) electric field system for atmospheric electric field measurement, which is capable of three orthogonal directions in X, Y, Z, measuring. By analyzing the relationship between the electric field and the relative permittivity of ground surface, the permittivity is calculated, and an efficiency 3D measurement model is derived. On this basis, a three-dimensional electric field sensor and a permittivity sensor are adopted to detect the spatial electric field. Moreover, the elevation and azimuth of the detected target are calculated, which reveal the location information of the target. Experimental results show that the proposed 3D electric field meter has satisfactory sensitivity to the three components of electric field. Additionally, several observation results in the fair and thunderstorm weather have been presented.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.09b
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• pp.1303-1304
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• 2005

The sea water and the soil of surface zone in lagoon have many physical relations between each other by both physical phenomena such as tidal motion and wave action, and activity of a creature which lives in soil zone. The soil zone has an activity of filtering the sea water at lowering tide and also the organic materials in sea water are supplied into the soil. And small creatures such as small crab eat organic materials. Usually the surface zone of lagoon becomes under the sea water in two times of a day and also is coming in two times under the sunshine and it becomes dries up conditions. Authors made the field observation at Sanbannse lagoon in Tokyo bay in several times between 2002 to 2004. The observation has been done in a half period of tide in October and November 2002 and also full tide observation is made in July 2, 2003 in summer and November 26, 2003 in autumn. In 2004, three times observations of full tide has been made in three times as June 22, July 20 and December 14. This report is the summary of results on these observations focusing on the soil surface zone and sea water at under ground and wave breaking zone.

• Journal of Environmental Science International
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• v.27 no.11
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• pp.1141-1154
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• 2018

Numerical experiments were carried out to investigate the effect of data assimilation of observational data on weather and PM (particulate matter) prediction. Observational data applied to numerical experiment are aircraft observation, satellite observation, upper level observation, and AWS (automatic weather system) data. In the case of grid nudging, the prediction performance of the meteorological field is largely improved compared with the case without data assimilations because the overall pressure distribution can be changed. So grid nudging effect can be significant when synoptic weather pattern strongly affects Korean Peninsula. Predictability of meteorological factors can be expected to improve through a number of observational data assimilation, but data assimilation by single data often occurred to be less predictive than without data assimilation. Variation of air pressure due to observation nudging with high prediction efficiency can improve prediction accuracy of whole model domain. However, in areas with complex terrain such as the eastern part of the Korean peninsula, the improvement due to grid nudging were only limited. In such cases, it would be more effective to aggregate assimilated data.

• Journal of the Semiconductor & Display Technology
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• v.15 no.2
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• pp.26-31
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• 2016

The Townsend to glow discharge mode transition was investigated in the dielectric barrier discharge (DBD) helium plasma source which was powered by 20 kHz / $4.5 kV_{rms}$ high voltage at atmospheric pressure. The spatial profile of the electric field strength at each modes was measured by using the intensity ratio method of two helium emission lines (667.8 nm ($3^1D{\rightarrow}2^1P$) and 728.1 nm ($3^1S{\rightarrow}2^1P$)) and the Stark effect. ICCD images were analyzed with consideration for the electric field property. The Townsend discharge (TD) mode at the initial stage of breakdown has the light emission region located in the vicinity of the anode. The electric field of the light emitting region is close to the applied field in the system. Immediately, the light emitting region moves to the cathode and the discharge transits to the glow discharge (GD) mode. This mode transition can be understood with the ionization wave propagation. The electric field of the emitting region of GD near cathode is higher than that of TD near anode because of the cathode fall formation. This observation may apply to designing a DBD process system and to analysis of the process treatment results.

• Korean Journal of Childcare and Education
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• v.3 no.2
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• pp.48-67
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• 2007

In the case of students hoping to be a nursery school and kindergarten teacher in future, the educational experience which can not learning in the class work was help to increase their understand for the instruction methods in nursery school sport and them to have a instruction mind as a nurser school teacher by direct and concrete. In the aspects, the observation program on an actual spot is a important plan to be a extend of course work and one of alternation programs in child education. This study was emphasized that the observation program is necessary and useful procedure for students who will be prepared a practical training course for 4 weeks and that help to understand the change of their recognition before the observation and after. Also the analytical work was prepared to use usefully for a teacher aspirants to acquire an effective educational method on the actual teaching class. The result shows that the observation program for practical training on an actual sport would give the practical major knowledge to students in course work of a child education school. The educational program which was consisted with the observation and the training course work on the actual sport would be necessary prepared in a regular curriculum for the most of teacher aspirants This systematically analysis explains that the educational program like an observation on actual sport offer to the student as one of course works and it will be sufficiently prepared for promotion of their understand and experience about the child education.

• Acta Via Serica
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• v.8 no.2
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• pp.25-52
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• 2023

The astronomic observatory of Graw Village is located on Mount Dari Lolikan, facing the village. Graw is located in the foothills of Mount Ser-i-Rash, 25 km northeast of Erbil Governorate, Iraq. This study attempts to clarify the foundations of this observatory, its components, as well as the founder and the date of its establishment. The study made efforts to clarify the benefits of this calendar to local residents in their daily lives. The database for this study is based on direct observation of the observatory station. The observation included the recording date and position of sunset and the appearance of stars throughout the year. Observation and documentation for both sunset and stars were performed over several years due to weather conditions since observation was not possible on foggy and rainy days and nights. Each observation took five to ten minutes depending on the clarity of the sky. The observatory consists of a group of stone cones. Each cone was built by stones in a specific location after careful and long observation of the sunset. Efforts were made to observe the disappearance and reappearance of the stars based on the change in the position of the Earth in relation to the sun. Graw's calendar helped to recognize important times of the year, such as the winter and summer forties, which were very important, especially when snow covered the roads, transportation stopped, crops spoiled, and pets stayed in their barn. The most important features of the winter forties are the memories, experiences, and minds of the villagers' ancestors. The forties were associated with the arrival of cold and heavier rain throughout the year, which is consistent with modern science, as the angle at which the Earth rotates increases the number and activity of weather depressions that affect the study area during this period. This observatory has a close connection with the daily life of the villagers, especially in the past centuries. It helped the people of the area in their appointments to carry out their work in the field of agriculture. The observatory was also of great importance in the field of education in the past centuries, especially in traditional religious schools. It also appears from this research that the calendar has ancient roots, which extend back thousands of years, as evidenced by the Ezidis who follow an ancient religion whose roots extend back thousands of years and who fast during both the winter and summer forties annually, with the participation of people in various regions of the world. It is not known who made this astronomic observatory but most of the oral information that has been passed down to us by word of mouth agrees on both Mullah Abdullah Al-Kurdi and Mullah Omar. Likely, this astronomic observatory was built around the late 17^th and early 18^th centuries.