• 제어로봇시스템학회논문지
• /
• 제20권1호
• /
• pp.48-57
• /
• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• 대한공간정보학회지
• /
• 제24권2호
• /
• pp.47-54
• /
• 2016

This study aims to analyze the accuracy for feasibility study of Network-RTK(VRS) surveying inside and outside of Korean CORS network. The southwest coast of Korea where some part of mainland and islands are outside of CORS network is chosen as the test area. To evaluate the accuracy of VRS surveying at surveying points, several Unified Control Points (UCPs) inside and outside of Korean CORS network were selected as the points in the test area. The feasibility of VRS surveying was analyzed by investigating the errors related to the location of points inside and outside of CORS network and the difference of 3-dimensional coordinates observed on different date. As the results of this study, the orthometric height errors of points outside of CORS network based on KNGeoid14 were improved about 5.0 cm in RMSE in comparison with KNGeoid13. The height errors of VRS surveying were considered to be less relevant to the results from PDOP and number of satellites (GPS and GLONASS). However, the orthometric errors caused by the geoidal height of KNGeoid and the ellipsoidal height of VRS surveying at points located outside of CORS network need to be addressed carefully for control surveying. When a point surveyed twice on different date, the difference of the ellipsoidal height of the point outside of CORS network was larger than that of the point inside of CORS network.

• Journal of Korean Biological Nursing Science
• /
• 제26권1호
• /
• pp.16-25
• /
• 2024

Purpose: This study aimed to investigate the effect of a video-based enteral nutrition education program using QR codes on the perception, knowledge, and performance of enteral nutrition for intensive care unit (ICU) nurses. Methods: This was a quasi-experimental study with a nonequivalent control group pre- and post-test design. The participants were nurses working at six ICUs within a single university hospital, with 55 nurses in the experimental group and 55 nurses in the control group. The video-based enteral nutrition education program using QR codes was repeated three times to the experimental group. Results: There was a statistically significant pre-post difference in perceptions between the two groups (Z = -4.04, p < .001) with 2.00 points (± 5.57) for the control group and 7.89 points (± 7.95) for the experimental group, in knowledge (Z = -7.48, p < .001) with 0.02 points (± 1.91) for the control and 4.18 points (± 2.33) for the experimental, and in performance (Z = -2.20, p = .028) with 0.06 points (± 3.96) for the control and 2.00 points (± 5.14) for the experimental. Conclusion: The video-based enteral nutrition education program using QR codes was effective in improving the perceptions, knowledge, and performance of enteral nutrition among ICU nurses. This enteral nutrition education program using QR codes in clinical education can contribute to evidence-based nursing practice by improving perceptions and knowledge of enteral nutrition.

• 한국측량학회지
• /
• 제32권5호
• /
• pp.539-550
• /
• 2014

고해상도 위성영상은 정밀한 DEM과 지형도를 제작하기 위해서 지상기준점으로 기하학적인 처리와 보정이 이루어져야만 한다. 우리나라에는 국토지리정보원에 의해 수천 개의 국가 통합기준점이 국토 전역에 걸쳐 설치되고 분포되어 있다. 따라서 통합기준점은 국토지리정보원의 국가기준점발급시스템에서 쉽게 검색되고 다운로드 받을 수 있다. 본 연구는 웹 포털사이트의 스카이뷰와 로드뷰를 이용하여 영상에서 통합기준점 검색과 식별 방법을 제시하였다. 그리고 고해상도 위성영상의 RPC 보정을 위한 통합기준점 효용성을 분석하기 위해, 한 개 통합기준점(영상의 단순 이동 보정용 기준점으로 활용함) 만으로 KOMPSAT-3 영상의 제공 RPC를 보정하였다. 그 결과, RPC 보정후의 위치결정 오차는 거의 한 화소와 1m 내외를 보였다. 이 실험을 통해, 위성 또는 항공영상에 의한 매핑 작업을 통합기준점이 지상 기준점 측량을 대체할 수 있을 것이다.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.812-817
• /
• 2002

This paper presents a development of high accuracy aligner and describes a method to find the orientation of a substantially circular disk shaped wafer with at least one flat region on an edge thereof. In the developed system, the wafer is spun one 360 degree turn on a chuck and the edge position is measured by a linear array to obtain a set of data points at various wafer orientation. The rotation axis may differ from wafer center by an unknown eccentricity. The flat angle is found by fitting a cosine curve to the actual data to obtain a deviation. The maximum deviation is then corrected for errors due to a finite number of data points and wafer eccentricity by calculating an adjustment angle from data points on the wafer fiat. After determining the flat angle the wafer is spun to the desired orientation. The wafer eccentricity can be calculated from four of the data points located away from the flat edge region. and the wafer is then centered.

• Journal of Electrical Engineering and Technology
• /
• 제6권5호
• /
• pp.626-633
• /
• 2011

This paper presents a novel maximum efficiency control scheme for convergence improvement in stator-flux-oriented induction motor drives. Three input powers are calculated at three different flux levels, respectively. A quadratic curve is obtained using the quadratic interpolation method using the three points. The flux level at the lowest point of the interpolated curve is calculated, which is not the real minimum input power of the motor, but an estimated one. Hence, the quadratic interpolations are repeated with three new points chosen using the selection method for new points for refitting until the convergence criteria are satisfied. The proposed method is verified by simulation results.

• Spatial Information Research
• /
• 제18권1호
• /
• pp.39-48
• /
• 2010

최근 세계 여러 나라들은 해양개발이 활성화됨에 따라 자국의 해양영토 확보에 총력을 기울이고 있으며, 인접국가간 분쟁이 잦아지면서 해양영토의 중요성은 급격히 부각되고 있다 특히 삼면이 바다로 이루어진 우리나라의 경우 주변국들과 분쟁의 소지를 많이 내포함에 따라 우리나라의 해양영토 확보를 위한 노력이 매우 필요하다. 따라서 본 연구에서는 국가의 해양영토의 국가관할권을 결정하는 영해기준점의 실태 조사 및 분석을 통하여 영해기준점의 재질, 매설 지역 선정 및 측량절차 간소화, 조위관측 및 멀티빔 음향측심기를 이용한 정확한 위치 선정 등의 정비방안을 제시했으며, 국가 기준점으로서 영해기준점의 등급향상 방안을 제시함으로써 2등 국가기준점으로 자리매김할 수 있는 근거를 마련하였다. 또한 타 국가기준점과의 상호 연계 및 영해기준점 관리의 효율성 및 효용성을 극대화하기 위하여 영해기준점과 영해보조기준점 DB 표준방안을 제시하였다. 마지막으로 현 영해기준점관련 작업규정의 검토를 통하여 조사 및 유지관리에 관한 개선된 작업규정과 영해기준점의 홍보 및 대외협력 방안을 제시함으로써 향후 주변국가와의 영토분쟁 시 우위를 선점할 수 있는 해양영토의 기준 및 해양영토 확장을 위한 기반을 마련하고자 하였다.

• Physical Therapy Rehabilitation Science
• /
• 제11권2호
• /
• pp.207-214
• /
• 2022

Objective: This study is an experimental study to investigate the effect of group rehabilitation gymnastics on stroke patients. Design: A randomized controlled trial. Methods: From August 1, 2017, to February 30, 2018, 49 subjects hospitalized after being diagnosed with a stroke at K Rehabilitation Hospital had at least 8 weeks (more than 3 times a week) in the group rehabilitation exercise experimental group (25 patients), and the control group (24 patients) did not attend. Data analysis was performed using paired t-test for dependent variables before and after the experiment using SPSS 25. Results: In the experimental group, daily activities were statistically significantly increased from 59.04±25.19 points before treatment to 66.96±24.35 points after treatment (t=2.24, p=0.035). Lung capacity also significantly increased from 280.00±86.99 points to 334.40±93.23 points (t=4.21, p<0.001), and hospital reuse intention also significantly increased from 8.04±1.57 points to 8.88±1.16 points (t=2.67, p=0.013). In the case of the control group, although the MBI, lung capacity, stress, hospital reuse intention, and hospital use satisfaction increased after the experiment compared to before the experiment, there was no significant difference. Conclusions: In conclusion, group rehabilitation gymnastics for stroke patients is effective for daily living movements, lung capacity, and hospital re-use intention. Therefore, if it is continuously applied to stroke patients, it can be used as an intervention to improve the quality of nursing by enhancing physical function.

• Child Health Nursing Research
• /
• 제22권2호
• /
• pp.97-106
• /
• 2016

Purpose: The purpose of this study was to identify the relationship between mother child-rearing attitude, language control styles and preschool child's social competence, and also, to provide a basis for development of a program to promote preschool child's social competence. Methods: The present study was a descriptive research. Participants in this study were a convenience sample of 300 preschool children and their mothers. For the final analysis 264 questionnaires were used after eliminating questionnaires with incomplete responses. Data were analyzed using the SPSS 18.0 program. Results: The mean score for mother's child-rearing attitude was $3.31{\pm}0.25$ out of 5 points, for hierarchical language control styles ($2.76{\pm}0.62$), commanding ($1.95{\pm}0.58$), and humanistic ($2.48{\pm}0.62$) out of 5 points, and for child's social competence, $3.50{\pm}0.34$ out of 5 points. Negative correlations were found between commanding language control styles and child's social competence (r=-.34, p<.001), and between commanding language control style and mother's child-rearing attitude (r=-.50, p<.001). Conclusion: The results demonstrate the importance of the quality of mother's child-rearing attitude and language control styles for child's social competence. It is suggested that promotion programs to enhance preschool child's social competence should be developed in conjunction with the parenting related environment.

• 한국정보통신학회논문지
• /
• 제20권4호
• /
• pp.698-706
• /
• 2016

이동로봇을 원하는 위치로 최단시간 안에 이동시키기 위해 최적제어문제를 풀어야 하지만 비선형시스템이므로 해석적 접근이 매우 어렵다. 본 논문에서 유전알고리즘을 사용하여 이동로봇의 최적제어이득을 구한다. 로봇 방정식이 비선형식이므로 초기치에 따라 최적제어이득은 다르게 결정된다. 따라서 초기치 범위를 적절한 개수의 격자점으로 이산화시킨 뒤 해당 격자점에서 유전알고리즘으로 최적제어이득을 구한다. 일반적인 초기치에 대한 제어이득은 신경회로망으로 구하며 해당 격자점의 초기치와 그에 대한 최적제어이득을 신경회로망 학습데이터로 사용하고 학습시킨다. 이산화된 격자점이 아닌 다른 초기치에 대한 제어이득은 신경회로망으로부터 구한다. 마지막으로 본 논문의 제어방법의 유용성을 시뮬레이션 연구로 확인하고자 한다.