• 로봇학회논문지
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• 제6권4호
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• pp.334-343
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• 2011

This paper presents a new approach for mobile robot heading detection using MEMS Gyro north finding method in the indoor environment. Based on this, the robot heading angle measurement scheme is proposed; improved north finding theory and algorithm are also explained. Several approaches are applied to confirm system's precision and effectiveness. In order to find out the heading angle, a single axis MEMS gyroscope to sense the angle between the robot heading direction and the north is used. To reach enough estimation accuracy and reduce detection time, the least square method (LSM) for the signal fitting and parameter estimation is applied. Through a turn-table, we setup a carouseling system to decrease the substantial bias effect on gyroscope's heading angle. For the evaluation of the proposed method, this system is implemented to the Pioneer robot platform. The performance and heading error are analyzed after the test. From the simulation and experimental results, system's accuracy, usefulness and adaptability are shown.

• 인터넷정보학회논문지
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• 제2권5호
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• pp.49-58
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• 2001

Mobile positioning measurement is the most important technology for Location Based Services in the cellular networks. Generally, we are expecting to use GPS to guarantee high accuracy of the mobile position, A CDMA network-based technique for the Mobile Station position calculation needs to be implemented in the cdma2000 network whether the handsets have GPS or not, The most reliable methods of the network-based location technologies are based on the estimation of time of signal traveling between MS and B18 in a network whose coordinates are identified, Other signal parameters such as the power of the received signal and the signal arrival direction cannot be used as main data for a location system because adoption of only the signal parameters will not meet the FCC requirements, In practice, the estimates of the time of signal propagation between MS and BTS always have errors resulting from low-resolution power of measurements and multi path signal propagation, This paper describes the combined network-based location technology in the cdma2000 1× necessary to meet US FCC requirements. The issues of a calibration table and statistic processing based on the pilot strength as well as combined network-based location technologies(TOA/ TDOA) will help to achieve higher location accuracy than specified in the US FCC Rule.

• Coupled systems mechanics
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• 제1권4호
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• pp.311-324
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• 2012

Previous investigations have demonstrated that strong earthquakes can cause severe damage or collapse to storage tanks. Theoretical studies by other researchers have shown that allowing the tank to uplift generally reduces the base shear and the base moment. This paper provides the necessary experimental confirmation of some of the numerical finding by other researchers. This paper reports on a series of experiments of a model tank containing water using a shake table. A comparison of the seismic behaviour of a fixed base system (tank with anchorage) and a system free to uplift (tank without anchorage) is considered. The six ground motions are scaled to the design spectrum provided by New Zealand Standard 1170.5 (2004) and a range of aspect ratios (height/radius) is considered. Measurements were made of the impulsive acceleration, the horizontal displacement of the top of the tank and uplift of the base plate. A preliminary comparison between the experimental results and the recommendations provided by the liquid storage tank design recommendations of the New Zealand Society for Earthquake Engineering is included. The measurement of anchorage forces required to avoid uplift under varying conditions will be discussed.

• International Journal of Aeronautical and Space Sciences
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• 제18권1호
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• pp.165-173
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• 2017

The aeromechanics predictions of HART I rotor obtained using a computational structural dynamics (CSD) code are evaluated against the wind tunnel test data. The flight regimes include low speed descending flight at an advance ratio of ${\mu}=0.151$ and cruise condition at ${\mu}=0.229$. A lifting-line based unsteady airfoil theory with C81 table look-up is used to calculate the aerodynamic loads acting on the blade. Either rolled-up free wake or multiple-trailer wake with consolidation (MTC) model is employed for the free vortex wake representation. The measured blade properties accomplished recently are used to analyze the rotor for the up-to-date computations. The comparison results on airloads and structural loads of the rotor show good agreements for descent flight and fair for cruise flight condition. It is observed that MTC model generally improves the correlation against the measured data. The structural loads predictions for all measurement locations of HART I rotor are investigated. The dominant harmonic response of the structural loads is clearly captured with MTC model.

• 한국정밀공학회지
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• 제15권2호
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• pp.114-123
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• 1998

In the end milling process, the information of the surface errors plays an important role in adaptive control systems for precision machining. As the measuring accuracy of the surface errors directly matches the control's, it is an important factor for evaluating the performance of the system. In order to obtain the surface errors, the prediction using the cutting force, torque, motor power etc. is frequently practiced owing to the easiness in measurement. In the implementation of the prediction, the information on the cutting depths make it concrete and precise. Actually the axial depth of cut limits the range of the calculation. In general, it is not easy to know the cutting depths due to irregular shape of workpieces, inaccurate positioning of them on the table of machine tool, and machining error in the previous cutting. In addition to, even if cutting depths are informed, it is difficult to match the individual position of the cutter on the varying shape of the work material. This work suggests an algorithm estimating the cutting depths based on cutting force and makes it precise to predict the surface error. The proposed algorithm can be applied in more extensive cutting situations, such as presence of the tool wear, change of the work material hardness, etc.

• Journal of Mechanical Science and Technology
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• 제19권4호
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• pp.968-975
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• 2005

The shearing process for the sheet metal is normally used in the precision elements such as semi-conductor components. In these precision elements, the burr formation brings a bad effect on the system assembly and demands the additional de-burring process, so this imposes high cost on manufacturing. In this paper, we have developed the in-situ auto-aligning precision meso-punching system to investigate the burr formation mechanism and ultimately minimize burr. Firstly, we introduced the punch-die contact sensing method to align the punch and the die at initial state prior to the punching process. Secondly, by using the low-price semi-con­ductor laser, burr formed on the edges is measured intermittently during the punching process. We could, finally, make burr on the sheet metal uniformized and minimized by controlling of the precision X - Y table, $1\;{\mu}m$ resolution, and measuring burr height by semiconductor laser. Experimental results show the validity of our system for pursuing the burr-free punched elements.

• Journal of the Korean Data and Information Science Society
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• 제24권6호
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• pp.1465-1475
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• 2013

The chi-square type test statistic is the most commonly used test in terms of measuring testing goodness-of-fit for multinomial logistic regression model, which has its grouped data (binomial data) and ungrouped (binary) data classified by a covariate pattern. Chi-square type statistic is not a satisfactory gauge, however, because the ungrouped Pearson chi-square statistic does not adhere well to the chi-square statistic and the ungrouped Pearson chi-square statistic is also not a satisfactory form of measurement in itself. Currently, goodness-of-fit in the ordinal setting is often assessed using the Pearson chi-square statistic and deviance tests. These tests involve creating a contingency table in which rows consist of all possible cross-classifications of the model covariates, and columns consist of the levels of the ordinal response. I examined goodness-of-fit tests for a proportional odds logistic regression model-the most commonly used regression model for an ordinal response variable. Using a simulation study, I investigated the distribution and power properties of this test and compared these with those of three other goodness-of-fit tests. The new test had lower power than the existing tests; however, it was able to detect a greater number of the different types of lack of fit considered in this study. I illustrated the ability of the tests to detect lack of fit using a study of aftercare decisions for psychiatrically hospitalized adolescents.

• 한국환경과학회지
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• 제4권5호
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• pp.41-41
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• 1995

In order to discuss the differences among the SMP(Surface Moisture Availability Parameter), by previous researchers on the basis of their own theoretical and empirical background, we assessed the SMP according to the soil types and volumetric soil water contents. The results are as follows. There are differences among all the five SMAPs. There''s a tendency that the larger grain size, the higher value of parameters. And they divided into two groups for their value: one group has parameters with exponential function and the other with cosine and linear function. The maximum difference between the two groups appears when the volumetric soil water contents are 0.07$m^3m^{-3}$ for sand, 0.l1$m^3m^{-3}$ for loam, 0.12 for clay, and 0.13$m^3m^{-3}$ for silt loam. So, these differences must be considered when we estimate the surface evaporation rate. From field data, the paddy field soil around Junam reservoir is classified as a silt has high wetness, 0.56. So, the parameter obtained from the field measurement is much higher than that of Clapp and Hornberger(1978)''s Table. This study treated the SMP for a certain point of time in winter season. But if we measured the soil water contents continuously, we could obtain better time-dependent parameter.

• 한국환경과학회지
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• 제4권5호
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• pp.427-435
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• 1995

In order to discuss the differences among the SMP(Surface Moisture Availability Parameter), by previous researchers on the basis of their own theoretical and empirical background, we assessed the SMP according to the soil types and volumetric soil water contents. The results are as follows. There are differences among all the five SMAPs. There's a tendency that the larger grain size, the higher value of parameters. And they divided into two groups for their value: one group has parameters with exponential function and the other with cosine and linear function. The maximum difference between the two groups appears when the volumetric soil water contents are 0.07m3m-3 for sand, 0.l1m3m-3 for loam, 0.12 for clay, and 0.13m3m-3 for silt loam. So, these differences must be considered when we estimate the surface evaporation rate. From field data, the paddy field soil around Junam reservoir is classified as a silt has high wetness, 0.56. So, the parameter obtained from the field measurement is much higher than that of Clapp and Hornberger(1978)'s Table. This study treated the SMP for a certain point of time in winter season. But if we measured the soil water contents continuously, we could obtain better time-dependent parameter. Key words : SMAP(Surface Moisture Availability Parameter), Paddy field, Volumetric soil water content, Evaporation, Capillary potential.

• 한국환경과학회지
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• 제18권10호
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• pp.1079-1088
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• 2009

The statistics of monitoring on soil quality is a report statistics which is made on the basis of Article 15, Environment Strategy Basic Law and Article 5, Soil Environment Conservation Law. This study was conducted according to quality assessment of Korea National Statistical Office. The assessment of quality infrastructure advised that the authority bring up and increase completely responsible officer and secure the budget. The assessment of user satisfaction and reflection of request propose that the statistics is focused on soil background concentration, decrease soil sampling points and extend survey period. The assessment of error management system per processes of detailed preparation suggest change of the statistics objective, a reduction of sampling points and improvement of survey period and soil measurement properties. Accuracy assessment of data proposed cuts of sampling points, accessibility increment and build up of management system linking subordinates and Ministry of Environment. The substantiality assessment of data service demonstrated information environment improvement for users including reference expression and records of statistics table and figure contents.