• 한국농공학회논문집
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• 제61권6호
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• pp.93-101
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• 2019

This study aims to analyze the influences of applications of two different evapotranspiration (ET) estimation methods on the irrigation water requirements (IWR) for paddy rice and water supply reliability of agricultural reservoirs. The modified Penman (MP), traditional method, and the Penman-Monteith (PM), the new adopted method, were applied on 149 reservoirs located in Honam province for this study. The weather date was used from 1987 to 2016, and analysed the trends of temperature and rainfall during rice growing season between past and current 10 years respectively. The increased average temperature and rainfall were observed from the current 10 years compared to the past years. This phenomena impacts on the results of ET and IWR estimations with decreased IWR obtained from high rainfall regions and increased ET obtained high temperature regions. For the comparisons of application results of two ET approaches, the PM method showed lower ET and IWR, and hence more reliable storage capacity of the reservoirs respect to water supply to paddy fields. The results also showed that the influences of different ET methods applications on the water supply reliability of reservoirs are negligible for the cases of over 3.7 watershed ratio and 670 mm unit reservoir storage, while significant variations of the results obtain from the applications between two ET approaches for the opposite cases. Further studies are necessary to consider various field conditions for practical applications of the PM method estimating ET in the fields of paddy farming.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.162.2-162
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• 2001

This paper presents the stability analysis of a biped robot IWR-III. We use a foot-rotation indicator(FRI) concept to reveal the degree of stability. The foot rotation can be a barometer of postural instability, which should be carefully treated in implementing a dynamically stable walk and avoided altogether in performing a statically stable walk. The conventionally mentioned zero moment point(ZMP) criterion may not be sufficient to express the stability of a biped robot. ZMP equation needs an assumption that the supporting foot is fixed firmly to the ground during the walking. Therefore, applying the FRI concept is more desirable when a biped robot is falling down ...

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• 한국지리정보학회지
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• 제23권4호
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• pp.120-139
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• 2020

본 연구에서는 CLUE-s(Conversion of Land Use and its Effects at Small regional extent)와 RCP(Representative Concentration Pathway) 4.5 및 8.5 HadGEM3-RA(Hadley Centre Global Environmental Model version 3 Regional Atmosphere)시나리오를 사용하여 미래 농지이용 변화와 기후변화가 관개 필요수량에 미치는 영향을 평가하였다. 논산시(55,517.9ha)의 농지이용 항목으로 논, 밭, 시설재배지를 고려하고 DIROM (Daily Irrigation Reservoir Operation Model)을 이용해 탑정저수지 수혜구역(5,713.3ha)에 대한 관개 필요수량(Irrigation Water Requirement, IWR)을 추정하였다. CLUE-s를 이용한 미래 농지이용 변화를 모의하기 위해 환경부의 2007년, 2013년, 2019년의 토지피복도 6개 항목(수역, 시가지, 논, 밭, 산림, 시설재배지)을 적용하였다. 그 결과, 2100년은 2013년에 비해 논과 밭이 5.0%, 7.6% 감소했으며, 시설재배지는 24.7% 증가하는 것으로 전망되었다. 미래의 농지이용과 기후변화를 모두 고려한 경우의 RCP 4.5 및 RCP 8.5 모두 2090s(2090~2099) IWR은 미래 기후변화만 고려한 경우에 비해 논과 밭에서는 각각 2.1%, 1.0% 감소하고 시설재배지에서는 11.4% 증가하는 것으로 전망되었다.

• 한국의류학회지
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• 제31권12호
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• pp.1700-1709
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• 2007

본 연구의 목적은 계절별 의복을 착용하고 쾌적한 상태를 유지하는 동안 불감체중손실과 온열 생리적 요소들간의 관련성을 살펴보는 것이다. 이를 위해 한국의 계절별 실내 환경이 인공기후실에 조성되었고 (봄/가을 환경 기온 평균 22.5, 여름 24.7, 겨울 16.8), 설문조사를 바탕으로 총 26 종의 계절별 한벌의복이 선정되었다(봄/가을 옷 8종, 여름 옷 7종, 겨울 옷 11종). 다섯 명의 젊은 여성이 피험자로 참여하였으며, 결과는 다음과 같다: 1) 불감체중손실(IL)은 봄/가을 의복을 착용한 경우 $19{\pm}5g{\cdot}m^{-2}{\cdot}hr$, 여름 옷 $21{\pm}5g{\cdot}m^{-2}{\cdot}hr$, 겨울 옷 $18{\pm}6g{\cdot}m^{-2}{\cdot}hr$으로, 겨울 환경보다 여름 환경에서 더 컸다(p<.001). 2) 호흡기를 통한 불감수분손실(IWR)은 불감체중손실과 반대의 경향을 보여 주어, 겨울옷을 입은 경우 $6{\pm}1g{\cdot}m^{-2}{\cdot}hr$, 여름 옷을 입은 경우 $5{\pm}1g{\cdot}m^{-2}{\cdot}hr$ 였다(p<.001). 3) 불감수분손실 (IW)에서 호흡기를 통한 불감수분손실이 차지하는 비중은 여름 옷을 착용한 경우 평균 28%, 겨울 의복의 경우 38%였다(p<.001). 4) 쾌적한 상태에서, 산열량 중 불감수분손실이 차지하는 비율은 봄/가을 의복을 착용한 경우 25%, 여름옷의 경우 27%, 겨울옷의 경우 23%였다. 5) 불감체중손실과 의복의 보온력 간, 그리고 불감체중손실과 피복면적 간에는 모두 약한 역상관 관계가 관찰되었다. 6) 불감체중손실은 기온, 기습, 에너지 대사, 환기량, 평균피부온도, 의복내 습도 등의 요소와 유의한 상관을 보였으나, 상관계수들은 모두 0.5 이하였다. 결론적으로, 불감체중손실과 온열 생리 요인들 간에는 약한 상관이 존재했으나, 피험자들이 온열 쾌적을 유지하는 경우 착용한 의복 종류 및 노출 기온에 상관없이 불감체중손실량은 좁은 범위를 유지했다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.2-105
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• 2002

$\textbullet$ Statically stable walk with COG(center of gravity) $\textbullet$ Dynamically stable walk with ZMP(zero moment point) $\textbullet$ Dynamically adaptational stable walk with FRI(foot ratation indicator) $\textbullet$ Simplified inverted pendulum model approach $\textbullet$ Analysis posture of biped's foot as passive joint $\textbullet$ Stability compensation method of FRI against falling down $\textbullet$ Simulation of ZMP and FRI to real biped robot IWR-III

• 한국농공학회논문집
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• 제62권2호
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• pp.53-62
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• 2020

The purpose of this study is to estimate the channel water loss of agricultural water supply in the command areas belong to Yechon irrigation channel of Gyeongcheon reservoir located Mungyeong-si, which area experienced a severe drought in 2015. The channel water loss was estimated by comparison of the irrigation water requirements (IWR) and agricultural water supply of the field data from 2012 to 2015. Further analysis was conducted to define the conveyance loss estimated based on the leakage holes and illegal pumping spots investigated through the field survey, and the distribution loss obtained by subtracting conveyance loss from the channel water loss. The annual rainfall decreased gradually, but the contribution of effective rainfall, available rain water to crop, increased to IWR during the study period. These phenomena resulted in the increase of agricultural water supply, and hence made greater the channel water loss simultaneously. The average channel water losses estimated as 36.8 % with 7.1 % of the conveyance loss and 29.7 % of distribution loss respectively. The distribution loss seems to be related to total number of rainy days, and irrigation schedules, while the conveyance loss was caused by irrigation channel aging conditions and illegal intake problems. In order to achieve sustainable agricultural water resources, the channel water loss needs to be reduced through the restoration of aged irrigation facilities and effective water managements in the fields.

• 한국농공학회논문집
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• 제60권5호
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• pp.69-80
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• 2018

This study investigated climate change influences over crop water requirement (CWR) and irrigation water requirement (IWR) of the wheat-rice cropping system of Upper Chenab Canal (UCC) command in Punjab Province, Pakistan. PRECIS simulated delta-change climate projections under the A1B scenario were used to project future climate during two-time slices: 2030s (2021-2050) and 2060s (2051-2080) against baseline climatology (1980-2010). CROPWAT model was used to simulate future CWRs and IWRs of the crops. Projections suggested that future climate of the study area would be much hotter than the baseline period with minor rainfall increments. The probable temperature rise increased CWRs and IWRs for both the crops. Wheat CWR was more sensitive to climate-induced temperature variations than rice. However, projected winter/wheat seasonal rainfall increments were satisfactorily higher to compensate for the elevated wheat CWRs; but predicted increments in summer/rice seasonal rainfalls were not enough to complement change rate of the rice CWRs. Thus, predicted wheat IWRs displayed a marginal and rice IWRs displayed a substantial rise. This suggested that future wheat production might withstand the climatic influences by end of the 2030s, but would not sustain the 2060s climatic conditions; whereas, the rice might not be able to bear the future climate-change impacts even by end of the 2030s. In conclusion, the temperature during the winter season and rainfall during the summer season were important climate variables controlling water requirements and crop production in the study area.