• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.122-122
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• 2001

In this research, an Electronic White Board Control System is developed that stores and prints the data written on the white board. This control system is constructed using an embedded single board PC, whose function is the acquisition(from CCD image sensor system), processing and storing of the data on the screen. The properties of this system are as follows: 1. The system is able to move the screen on the right and left. 2. The system is able to output the data written on the screen to a connected printer. 3. The system is controlled by an external remote PC connected to the system by serial line as well as by the keys on the control panel. The data written on the screen can be sent to the external PC and then can be modified and stored...

• Fashion & Textile Research Journal
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• v.10 no.2
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• pp.228-235
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• 2008

The purpose of this study is to examine the functionality with material-improved working uniform(protocol, P) and current working uniform(control, C). Movement functionality evaluation of material-improved working uniform was carried out through sensory evaluation of working uniform. And Oxygen uptake was explored to different working uniform(P, C) in relation to a physiological functionality measurement. The results have been shown as follows: It was found that the workers feel uncomfortable with the parts of the wrist, the back width, the shoulder seam and the side in the current working uniform when they move their arms up and down, but the inconvenience has been reduced in the material-improved working uniform. And It was found that the workers feel uncomfortable with the parts of the back width, the wrist and the side seam of the jacket, and the waist, the hips and the thigh of the trousers in the current working uniform when they move their waist, but the inconvenience has been reduced in the material-improved working uniform. In the current working uniform, it was also found that they feel uncomfortable with the parts of the horse riding position in which they stand straight in their slightly bended knees, with the parts of the hips, the side seam, the thigh and the knees when they crouch down, and with the parts of the hips and the thigh when they put one of their legs onto a higher place. However, the inconvenience was reduced in the material-improved working uniform. Oxygen uptake, which was measured to assess physiological dressing functionality, was found to be higher when people work in an uncomfortable uniform than when they work in a uniform of better functionality by an increase in metabolic rate, which can be a cause of workers' inefficiency of fatigue.

• Journal of Korea Trade
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• v.24 no.2
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• pp.53-67
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• 2020

Purpose - The purpose of this paper is to study strategic trade policies under international process research and development (R&D) competition with or without market leaders for free trade and a subsidy regime and compare the effects of R&D subsidies and export subsidies on the equilibrium levels of firm profit and social welfare. Design/methodology - For the analysis, we use previous work by Haaland and Kind (2008) and construct a differentiated goods duopoly model, wherein two firms compete via quantity in a third-country market for free trade and the subsidy regime. We consider simultaneous-move quantity competition when the two firms choose their quantities simultaneously and sequential-move quantity competition when they choose their quantities sequentially. The results are compared to those of Balboa, Daughety and Reinganum (2004), who studied export subsidies. Findings - The following are the findings. First, the results of firm preference orderings regarding firm position from Dowrick (1986) and Balboa, Daughety and Reinganum (2004) may not hold in our model when the firms' strategies are strategic substitutes under free trade. Second, the preference rankings under Cournot competition for free trade and a subsidy regime are the same as those in the strategic trade policy of export subsidy. Third, except for the cases of too close substitutes and complements, the results of firm and government preferences regarding firm position are different from those of Balboa, Daughety and Reinganum (2004) in that Stackelberg leadership in a subsidy regime is advantageous when the goods are substitutes but is disadvantageous when the goods are complements. Moreover, the equilibrium level of firm profit is the highest in the Cournot-Nash play when the goods are substitutes in a subsidy regime. Fourth, except for the cases of too close substitutes and complements, the results of firms' and their respective governments' trade regime preferences are similar to those of Balboa, Daughety and Reinganum (2004) in that a Stackelberg leader firm and government prefer free trade if the goods are substitutes and prefer a subsidy regime if the goods are complements. Furthermore, a Stackelberg follower firm and government strongly prefer a subsidy regime to free trade. Originality/value - By analyzing the effects of R&D subsidies and export subsidies in international markets, we can find similarities and differences between them in international markets.

• Fire Science and Engineering
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• v.28 no.1
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• pp.31-36
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• 2014

Recently, the safety assessments with using the various evacuation programs are performed for improving the performance of fire and evacuation safety in the building. Generally, the evacuation programs can simulate the human behavior in fire situation by applying the variation of the movement speed and Fractional Effective Dose (FED) index in the smoke. However, if the simulation is performed without optional setting around the fire, the agents do not avoid the fire and they move through the fire. Therefore in this study, we define the radiative repulsion force which exists between the fire and the agents. Moreover, we modify the Helbing's movement model by adding the radiative repulsion force. As a result of the modified movement model, all agents move around the fire and they do not enter the upper bound area of radiative heat flux, $2.4kW/m^2$. From these results, we verified the reliability of the modified movement model.

• (The) Research of the performance art and culture
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• no.33
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• pp.33-58
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• 2016

This thesis studied about the expression of the conflict in DongraeYaroo. Study perspective was time and passion. Time refers to a change in the time to move to the current from the past. As in the study was the change in the phase and values of the characters occurred. Passion is an act which is scheduled departing from the spirit moves the body. And the emotions move the human heart. And it was associated with the inner values that determine the ethical life. DongraeYaroo should ever criticize feudal era and values through the conflict with the changes in time. Through conflict with the realism tendencies and passions were melodramatic tendencies. DongraeYaroo is a folk masques of realism and melodramatic nature complex. DongraeYaroo has a part that is causing the conflict with the contents of the passion associated with the character's sexual desire is elsewhere. There are also distorted passions and inde normal expression of tragic passion passions that lead to death.

• The Journal of Korean Society for School & Community Health Education
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• v.18 no.2
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• pp.55-70
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• 2017

Objectives: The purpose of this study was to identify the factors associated with stage of change for drinking cessation among adolescents on the basis of the Transtheoretical Model. Methods: The data was collected from 343 high school students in Kimhae-city, who have experienced any kind of alcohol in their lifetime. For data analysis, descriptive statistics and Logistic regression were performed using the SPSS WIN 18. 0 program. Results: The stage of change was as follows: 24.2% in the precontemplation stage, 8.7% in the contemplation stage, 10.8% in the preparation stage, 39.7% in the action stage and 16.6% in maintenance stage. The predictive factors to move from the precontemplation stage to the contemplation/preparation stage were dramatic relief (OR=1.36, 95% CI:1.13-1.63) and self-efficacy (OR=1.05, 95% CI:1.01-1.09). The predictive factors to move from the contemplation/preparation stage to the action/maintenance stage were female (OR=0.50, 95% CI:0.27-0.94), the number of friend who have drunk (OR=0.84, 95% CI:0.77-0.91) and self-efficacy (OR=1.04, 95% CI: 1.00-1.07). Conclusions: To stop adolescent drinking, this study suggests the intervention program needs to be considered the individual's stage of change of drinking. The intervention program to enhance dramatic relief and self-efficacy is needed to adolescents in the precontemplation stage. It is crucial to develop strategies to raise self-efficacy for adolescents in the contemplation/preparation stage, which also respect their gender and peer groups.

• The Korean Journal of Community Living Science
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• v.15 no.4
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• pp.137-148
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• 2004

Due to the changes of modern society, alternative types of nuclear family so called as commuting family have appeared. Also, with the increase of women's economic participation and their needs of self-actualization, dual-career commuting family have increased. The purpose of this study was to investigate whether there is any difference between the traditional commuting family and dual-career commuting family in terms of family relation, types of child-care and social support. Also, this study qualitatively analysed parenting-guilty of the mothers of commuting family. One eight seven mothers of three to eight year-old participated the survey. The main results were as follows : (1) In case of traditional commuting family, children cohabit with the mother and usually fathers move between two houses. But among the dual-career commuting family, there are some children who cohabit with the father and some mothers who move. Dual-career commuting family relied on the more types of child-care than traditional commuting family. (2) While traditional commuting family get more support for child-rearing from the husband's family of origin than dual-career commuting family, wife's family of origin provide more support to the dual-career commuting family. The more support the husband's family of origin provide, the more stress both types of commuting family experience. However, there was no significant relationship between the support from the wife's family of origin or friends and the stress of the mothers of both types of commuting family. (3) Mothers of two types of commuting families were different regarding the motives of parenting-guilty Difficulty of caring the children for their job as well as father-absentness makes mothers of dual-career commuting family feel parenting-guilty more.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.8 no.5
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• pp.961-967
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• 2007

Automatic water feeding system for chickens is the one of the most important devices at poultry farms. Chickens drink water directly from a water feeder nipple of the automatic water feeder. Check valve inside the water feeder nipple is open when they drink water and is closed otherwise. There are two types of nipples. One is the piston nipple, and the other is the ball nipple. Because the nipple stick in the ball nipple can move freely, the sloping mechanism of the ball nipple works well. but it has complicated mechanism. On the other hand, the piston nipple has very simple structure, but its movement is limited so it can move only up-and-down. To overcome those limitation, the piston nipple with sphere valve seat face (sphere face piston nipple) has been developed and is just distributed at domestic markets. The experimental performance test of the commercialized sphere piston nipple has been conducted, and compared with the performance of the ball nipple and the piston nipple which are domestic products. As the result, sphere piston nipple shows excellent performance compared to that of the piston nipple but its performance is similar to ball type nipple.

• Korean Journal of Materials Research
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• v.26 no.7
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• pp.370-375
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• 2016

Tensile tests and creep tests were carried out at high temperatures on an Al-$Al_4C_3$ alloy prepared by mechanical alloying technique. The material contains about 2.0% carbon and 0.9% oxygen in mass percent, and the volume fractions of $Al_4C_3$ and $Al_2O_3$ particles are estimated at 7.4 and 1.4%, respectively, from the chemical composition. Minimum creep rate decreased steeply near two critical stresses, ${\sigma}_{cl}$ (the lower critical stress) and ${\sigma}_{cu}$ (the upper critical stress), with decreasing applied stress at temperatures below 723 K. Instantaneous plastic strain was observed in creep tests above a critical stress, ${\sigma}_{ci}$, at each test temperature. ${\sigma}_{cu}$ and ${\sigma}_{ci}$ were fairly close to the 0.2% proof stress obtained by tensile tests at each test temperature. It is thought that ${\sigma}_{cl}$ and ${\sigma}_{cu}$ correspond to the microscopic yield stress and the macroscopic yield stress, respectively. The lower critical stress corresponds to the local yield stress needed for dislocations to move in the soft region within subgrains. The creep strain in the low stress range below 723 K arises mainly from the local deformation of the soft region. The upper critical stress is equivalent to the macroscopic yield stress necessary for dislocations within subgrains or in subboundaries; this stress can extensively move beyond subboundaries under a stress above the critical point to yield a macroscopic deformation. At higher temperatures above 773 K, the influence of the diffusional creep increases and the stress exponent of the creep rate decreases.