• 한국환경과학회지
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• 제9권5호
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• pp.385-388
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• 2000

Visibility reduction is a barometer of air pollution which people can notice easily. First of all we need to measure quantified visibility continuously in order to examine visibility reduction. Prevailing visibility is not practical to measure visibility depending on observer's expertness. Scattering visibility using Forward Scattering Meter(Belfort Visibility Sensor 6230) has been measured at Kwangan-Dong in Pusan and analysed since July 1998. According to the analysis the correlation coefficient(R) between prevailing visibility and scattering visibility was 0.7235. The visibility appeared that each frequency of poor visibility(under 6km) and good visibility(over 25km) was 10.6%, 9.7% on summertime in Pusan and the visibility range from 10km to 20km ranked high frequency as a half of whole ranges. The order of correlation coefficients between visibility an air pollutants are ranking CO. PM10 and NO2 that values are 0.5878, 0.5369,l 0.5284 respectively. In meteorolgical factor the case of poor visibility presented more weakly wind speed and higher relative humidity than the case of good visibility. The correlation coefficient between calculated visibility of multiple linear regression model and observed visibility was 0.7215. But the trend of calculated and observed visibility variation was similar with the exception of several good visibility cases.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.562-569
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• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• 한국정밀공학회지
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• 제23권4호
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• pp.183-190
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• 2006

Digital 3D Real Object Duplication System (RODS) consists of 3D Scanner and Solid Freeform Fabrication System (SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and an industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer (SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. In case of industrial type SFFS, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Dual-Laser Sintering (SDLS) process and 3-axis Dynamic Focusing Scanner for scanning large area instead of the existing f lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, and scan spacing. Now, this study is in progress to evaluate the effect of experimental parameters on the sintering process.

• Journal of Power Electronics
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• 제12권6호
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• pp.1003-1010
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• 2012

Recent power electronics and variable-frequency motor drive technologies have been applied to air conditioners to improve efficiency and power density. However, the mechanical vibrations and acoustic noise resulting from the compressor still remain as a serious problem. This paper presents the development and implementation of an online disturbance state-filter for the suppression of multiple unknown and time-varying vibrations of air conditioning systems. The proposed design has a form of the state-filter based on a Luenburger-style closed-loop speed observer. An active vibration decoupling strategy with an estimated disturbance is provided, which manipulates a motor torque command. Since the proposed estimation does not require any additional transducers or hardware for obtaining real-time information upon disturbances, it is suitable for retrofitting industrial air conditioners.

• 한국지능시스템학회논문지
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• 제16권2호
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• pp.215-221
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• 2006

본 논문은 휴머노이드 로봇에 내재되어 있는 다양한 비선형성을 제어하기 위한 비선형 제어기를 제안에 관한 것이다. 기본적으로 휴머노이드 로봇은 기구적으로 불안정성을 내포하고 있고 기어나 모터 드라이버 등에서 다양한 비선형성을 가지고 있다. 이렇게 로봇 안에 존재하는 백래쉬(Backlash)나 포화(Saturation)와 같은 다양한 종류의 비선형성을 제어하는데 있어서 기존의 퍼지 알고리즘, 외란 관측기, 지능 학습망과 같은 제어 기법으로는 다수의 비선형성을 제어하는 데에는 한계를 지닐 수밖에 없다. 이에 본 논문에서는 스위칭 PE를 이용하여 모터 드라이버에 존재하는 포화에 의한 비선형성을 제거 하였으며 백래쉬에 의해 생기는 비선형성의 영향을 제어하기 위해 듀얼 피드백을 이용하였다. 그리고 시스템의 정확한 데이터를 얻기 위해 제어 알고리즘을 적용하기 이전에 모터 시스템에 대해 유전 알고리즘을 이용하여 시스템 식별을 수행하여 모터 시스템을 정확하게 유도하였으며, 시뮬레이션 과정을 통해 최적의 스위칭 PID 제어 이득값을 얻었다. 이렇게 얻어진 모터 식별값과 스위칭 PE제어 이득값을 시뮬레이션과 제안된 로봇인 ISHURO를 이용한 실험을 통해 이를 검증하였다.

• 한국전자통신학회논문지
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• 제17권1호
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• pp.59-70
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• 2022

본 논문에서는 쿼드로터의 모터 하나가 완전히 고장이 발생한 경우 쿼드로터의 위치 제어를 위한 능동 결함 허용 제어 방법을 제안한다. 소각의 가정 없이 라그랑지 방정식을 사용하여 쿼드로터의 동적 방정식을 구한다. 제안한 방법에서는 모터의 결함 검출을 위해 고장 검출 및 진단(FDD) 모듈과 고장 검출 및 분리(FDI) 모듈로 구성되는 고장 검출모듈을 설계한다. FDD 모듈에서는 구해진 동력학에 기반하여 쿼드로터의 상태를 관측하는 비선형 관측기를 설계한다. 관측된 쿼드로터의 상태들를 이용하여, 유수 신호를 설계하고 결함을 검출하기 위한 유수 신호의 적절한 문턱 값을 설정한다. 또한 설계된 추가 조건을 사용하여 결함 위치를 알아내기 위한 FDI 모듈을 설계한다. 모터의 결함을 검출한 후 쿼드로터가 원하는 경로로 비행하기 위해 다중 슬라이딩 표면 제어 기법에 기반한 결함 허용 제어기를 설계한다. 마지막으로, 모의실험을 통해 제안한 능동 결함 허용 제어 방법이 효용성을 검증한다.

• 한국실내디자인학회논문집
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• 제23권6호
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• pp.22-32
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• 2014

Development of digital technology, which is individualizing and differentiating the world, makes time and space facilitate multi-layering in the contemporary society. It gives a large influence on the contemporary architecture that inducing the visual and spatial experience. Also, It generates new images through the skin of architecture, which implies the contingent and fluid characteristics. These phenomenon show that various parameters are working on the architectural skin simultaneously. Such complexity make the structure of open space and diversity that are homogenized and synchronized. Like this, the architectural skin implies 'multiplicity': qualitative difference which is enable to change and create new images. This characteristic generates instant images changing variously and semantics constantly by the function of skin as a filter. Also, the architectural skin integrates or relocates of relationships between the various information and elements appearing in contemporary society in order to escape the customary relationship between internal and external. Furthermore, the inside and outside of the mixture as a collection of sense has been recognized as one image. This image of mixture consists of one unified continuous integration and extend the meaning of a fluid interface not just surface of the building. The skin of the contemporary architecture is very technical, so its meaning and role is expanded as a complex that exchange interaction. This means that the skin itself has functional elements of the integrated multiple skin to assist. Also it can form a multi-layered relationship and act as a wide range of interfaces depending on the perception of the observer. Therefore the multiplicity of the architectural skin indicates the importance as a boundary that generate images of new life through the sensory perception and implicit force. And it shows potential as the intermediary to try to communicate.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.732-737
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• 2005

Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

• Journal of Korean Neurosurgical Society
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• 제52권3호
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• pp.215-220
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• 2012

Objective : There were previous reports of redundant nerve roots (RNRs) focused on their clinical significance and pathogenesis. In this study, we investigated the significant radiologic findings that correlate with RNRs occurrence. These relations would provide an advanced clue for clinical significance and pathogenesis of RNRs. Methods : Retrospective research was performed with data from 126 patients who underwent surgery for central lumbar spinal stenosis (LSS). Finally, 106 patients with common denominators (inter-observer accuracy : 84%) were included on this study. We divided the patients into two groups by MRI, patients with RNRs and those with no RNRs (NRNRs). Comparative analyses were performed with clinical and radiologic parameters. Results : RNRs were found in 45 patients (42%) with central LSS. There were no statistically significant differences between the two groups in severity of symptoms. On the other hand, we found statistically significant differences in duration of symptom and number of level included (p<0.05). In the maximal stenotic level, ligamentum flavum (LF) thickness, LF cross-sectional area (CSA), dural sac CSA, and segmental angulation are significantly different in RNRs group compared to NRNRs group (p<0.05). Conclusion : RNRs patients showed clinically longer duration of symptoms and multiple levels included. We also confirmed that wide segmental angulation and LF hypertrophy play a major role of the development of RNRs in central LSS. Together, our results suggest that wide motion in long period contribute to LF hypertrophy, and it might be the key factor of RNRs formation in central LSS.

• 한국안전학회지
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• 제33권1호
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• pp.109-117
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• 2018

This study examined the effect of Behavior Based Safety(BBS) program on safe behaviors of bus drivers and passengers. Four male bus drivers working at a H transportation company situated in Seoul participated in this study. BBS program consisted of education, prompts, and self-monitoring with goal setting. Dependent variables were the percentage of two safe driving behaviors of bus drivers (departure after stopping for 3 seconds, announcement for holding bus handles) and the percentage of one safe behavior of passengers getting on the busses those drivers drove (holding bus handles). A primary observer and two trained assistant observers measured two safe behaviors of the bus drivers with behavior checklists by riding on the busses and the passengers' safe behavior was observed by CCTV installed on each bus. An ABC multiple baseline design across participants was adopted. After baseline(A), education and prompts(B) and self-monitoring with goal setting(C) were introduced sequentially to each participant. The results showed that BBS program was effective to increase both bus drivers' and passengers' safe behaviors. Especially self-monitoring with goal setting was more effective in improving safe behaviors of bus drivers than education/prompts. These results suggest that education/prompts and self-monitoring with goal setting would be an alternative treatment technique to improve safety for lone workers such as bus drivers.