• Nuclear Engineering and Technology
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• 제4권4호
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• pp.280-293
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• 1972

원자로(TRIGA MARK-II)노심의 특정위치에서 0.5 Mev 이상의 고속중성자 스펙트럼을 발단검출기(Threshold detector)를 사용하여 실험적으로 측정하였다. 발단검출기의 실험적인 방사화자료로서 결정되는 일련의 적분방정식에 대한 근사해를 얻기 위하여 최소자승법의 개념을 이용한 급수전개법을 사용하였다. 상이한 가중함수 (weighting function)를 사용하므로서 해답에 미치는 영향을 각측정에서 분석 검토하였다. 이방법의 사용에 관련되는 수치계산을 수행하기 위하여 UNIVAC 1106전자계산기를 위한 계산코드를 준비하였다. 본 연구에서 얻은 미분적 고속중성자 스펙트럼은 독립적으로 다군 수송이론에 의하여 얻은 결과와 잘 일치하였다.

• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• 한국항공우주학회지
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• 제37권3호
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• pp.283-292
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• 2009

공력면의 전개 거동을 지배하는 미분방정식을 적분 형태를 바꾸어 전개 가능한 조건을 유도하여 전개에 필요한 힌지 토크를 추산할 수 있는 방정식을 얻었다. 방정식의 해는 주어진 전개 조건과 공력 조건에 대해 전개가 가능하기 위하여 전개 장치에 저장되어야 할 최소의 전개 에너지이며 방정식을 풀기위하여 공력과 중력, 마찰력 등 공력면에 작용하는 모멘트의 적분을 계산하여야 한다. 공력 롤 감쇠와 마찰력과 같은 비가역적 현상에 대한 적분을 수행하기 위하여 몇가지 가정과 모델링이 필요하였으며 특히 공력 롤 감쇠의 적분을 위하여 전개 각속도를 전개각만의 함수로 표현되도록 모델링하였고 이는 전개 과정에서 나타날 수 있는 최대 각속도와 형태를 가정함으로써 가능하였다. 방정식 풀이와 전개 각속도의 모델을 위하여 전개 에너지를 대표하는 이상 전개 각속도를 정의하였으며 최소의 전개 에너지를 구하는 방정식은 이상 전개 각속도에 대한 이차 방정식으로 표현된다. 제안된 추산법을 검증하기 위하여 여러 가지 전개 조건과 공력 조건에 대하여 최소 전개에너지를 추산하고 기 개발된 전개 거동 모사 프로그램을 이용하여 여러 형태의 전개 토크 형태에 대하여 추산 결과의 타당성을 비교 검토하였다.

• 전기학회논문지P
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• 제55권3호
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• pp.141-145
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• 2006

The line current problem(2-dimensional space : point source) is not easy to analyze the magnetic field using the standard finite element method(FEM), such as overhead trolley line or transmission line. To supplement such a defect this paper is proposed the coupling scheme of analytical solution and FEM. In analysis of the magnetic field using the standard FEM. If the current region is a relatively small compared to the whole region. Therefore the current region must be finely divided using a large number of elements. And the large number of elements increase the number of unknown variables and the use of computer memories. In this paper, an analytical solution is suggested to supplement this weak points. When source is line current and the part of interest is far from line current, the analytical solution can be coupling with FEM at the boundary. Analytical solution can be described by the multiplication of two functions. One is power function of radius, the other is a trigonometric function of angle in the cylindrical coordinate system. There are integral constants of two types which can be established by fourier series expansion. Also fourier series is represented as the factor to apply the continuity of the magnetic vector potential and magnetic field intensity with tangential component at the boundary. To verify the proposed algorithm, we chose simplified model existing magnetic material in FE region. The results are compared with standard FE solution. And it is good agreed by increasing harmonic order.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.900-907
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• 2014

This paper proposes a MPC (Model Predictive Control) method for the torque and flux controls of induction motor. The proposed MPC method selects the optimized voltage vector for the matrix converter control using the predictive modeling equation of the induction motor and cost function. Hence, the reference voltage vector that minimizes the cost function of the torque and flux error within the control period is selected and applied to the actual system. As a result, it is possible to perform the torque and flux control of induction motor using only the MPC controller without a PI (Proportional-Integral) or hysteresis controller. Even though the proposed control algorithm is more complicated and has lots of computations compared with the conventional MPC, it can perform torque ripple reduction by synthesizing voltage vectors of various magnitude. This feature provides the reduction of amount of calculations and the improvement of the control performance through the adjustment of the number of the unit vectors n. The proposed control method is validated through the PSIM simulation.

• 지구물리와물리탐사
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• 제11권1호
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• pp.68-77
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• 2008

2.5차원 전자탐사 적분방정식의 확장된 Born 근사해 또는 국소 비선형 근사에 기초하여 루프-루프 전자탐사 역산 알고리듬이 개발되었다 송수신 배열은 수평 동일면(HCP) 또는 수직 동일면(VCP) 방식이고, 다중 주파수 및 다중 송수신 간격을 포함할 수 있으며 PC에서 작동된다. 안정적이고 고해상도를 유지하는 역산이 가능하도록 변수분해 행렬과 Backus-Gilbert 분산 함수 분석을 통해 감도 분포의 함수로서의 공간적으로 변화하는 최적 Lagrange 곱수 결정 알고리듬을 포함하였다. HCP와 VCP 배열 자료가 지하 전기비저항 구조에 따라 서로 다른 감도를 가짐에 따라 동시 역산에서 안정성과 해상도에 영향을 미치게 되므로, 계산값과 측정값 차의 분산에 따라 가중치를 적용하는 방식을 도입하였다. 모델링 코드의 정확성은 통상적으로 루프-루프 전자탐사에서 사용하는 주파수 및 송수신 간격 범위에서 유한차분법에 의해 계산된 결과와의 비교를 통하여 증명되었다. 개발된 역산 알고리듬은 먼저 반무한 공간내 전도체 및 저항체가 포함된 모델에 대한 계산자료에 적용되어 성능이 입증되었다. 현장자료에 적용하고 그 결과 영상을 전기비저항 탐사자료에 대한 역산 결과와 비교하여, 의미있는 지하구조의 영상을 얻을 수 있음을 확인하였다.

• 한국항해항만학회지
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• 제39권6호
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• pp.457-463
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• 2015

가스터빈 기관은 우주항공, 발전 플랜트뿐만 아니라 해상운송 분야에 사용되는 원동기로서 매우 중요한 역할을 하고 있다. 그러나 그 구조가 복잡하고 연소과정에서 시간지연 요소가 포함되어 있어 가스터빈 기관을 잘 제어할려면 정교한 수학적 모델링이 필요하다. 본 논문에서는 가스터빈 기관의 주요 구성품인 가스발생기, PLA 액추에이터, 미터링 밸브에 대한 모델링 기법을 설명한다. 또한, 가스터빈 기관의 시운전 데이터를 기초로 몇 가지 정상상태 때의 동작점에서 서브모델을 구하고, 각 서브모델에 대해 비선형 비례적분미분 제어기를 설계하여 기관의 속도를 제어하는 방법을 제안한다. 제안하는 비선형 제어기는 비선형 함수로 구현되는 3가지 이득을 사용한다. 비선형 제어기의 파라미터는 제어시스템의 목적함수를 최소화하는 관점에서 실수코딩 유전자알고리즘으로 동조한다. 제안한 방법은 가스터빈 기관에 적용하고 시뮬레이션을 실시하여 그 유효성을 확인한다.

• 가정간호학회지
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• 제11권1호
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• pp.5-13
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• 2004

The home health care industry has grown rapidly and can be expected to continue to grow in the foreseeable future. Home health care refers to the practice of nursing applied to clients with a health condition in the clients place of residence. clients and their designated care givers are the focus at home health nursing practice. The goal of care is to initiate. manage and evaluate the resources needed to promote the clients optimal level of well-being and function. Nursing activities necessary to achieve this goal may warrant preventive maintenance and restorative emphases to prevent potential problems from developing. Many project program were suggested home health care model for Korea's health care system and policy direction for expansion and establishment of home health care .But the aim of this paper is to provide on overview for theoretical frame work in home health care. Theories and conceptual frameworks or models are important nursing because they define and guide the boundaries of professional practice and identify key nurse-patient-caregiver relationships that emerge with caring. Following is the research with an investigation of the literature review in the University of Arizona international medline database, In conclusion, are as followers: First, many nursing theorists have had a tremendous impact on nursing practice. the following highlights those nursing theorists that are particularly helpful in understanding home health care. 1. Florence Nightingale : Our earliest theoretical legacy. Nightingale's believes are reflected in basic infection control practice such as hand washing and infectious waste disposal and are key nursing interventions in home care. 2. Martha Roger's :Science of unitary human beings theory. Rorger's believed that the focus of shared. non invasive healing modelities is the human environmental field rather than direct physical care. These modelities continue to evolve as our awareness (reflecting greater diversity, faster rhythms, motions, and ways of knowing) transcends time and space, allowing individuals to get in touch with their integral nature of unbroken wholeness. On people as ever changing energy fields have special relevance in home care especially with hospice and palliative care applications. 3. Madeline Leininger's; Transcultural nursing theory. Home care nurses move through a variety of communities and often care for patients from different cultural back grounds. Therefore Leininger's work has a good that with home care because home care nursing practice is very culturally focused. 4. Dorothea Orem's : Self care deficit theory. Orem's theory views care as something to be performed by both nurses and patients. The role of the nurse is to provide education and support that help patients acquire the necessary activities to perform self-care. Orem's theory is foundational to have care because it begins to truly acknowledge the role of the patient in managing his or her own health. which is referred to as self-care. 5. Margaret Neuman's; Health as expending consciousness theory. Neuman believes that health compasses disease and reflects an underlying pattern of person-environment interaction. A key application of 'Neuman's work to home care is for nurses to understand that health and illness do not necessarily exist at opposite ends of a continuum. 6. Jean Watson's: Theory of human caring. Watson's theory of human caring in nursing proposes human caring as the moral ideal of nursing. Nurses participate human caring to protect, enhance and preserve humanity by assisting individuals to fing meaning in illness. pain and existence and to help others gain self knowledge. self control. and self healing such thinking lends richness to theory development. as well as clinical practice in home care. Second, Robin Rice : Dynamic self determination for self care. (A theoretical framework for home care) Dynamical self determination for self care can be useful to home care nurses in a variety of ways. As research tool it can be reflected in the interview process when the home visit. The home care nurse's role is that of facilitator of patient self-determination for self care through numerous strategies. including patient education and case management.