• 한국항해항만학회지
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• 제42권2호
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• 분석과학
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• 제12권4호
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• pp.290-298
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• 1999

임피던스 위상각 적정법을 산화환원적정, 산염기적정, 착화적정 그리고 침전적정에 적용하여 정확한 종말점 검출법을 연구하였다. 일정한 교류전류가 두 백금전극사이를 통과하도록 하였고 그중 하나는 $0.1cm^2$ 또는 $0.026cm^2$의 표면적을 가진 초소형 분극전극이었고 다른 하나는 $1cm^2$의 표면적을 비분극전극을 사용하였다. 과망간산칼륨에 의한 옥살산의 산화환원적정에서 임피던스 위상각 적정법을 적용하였을때 $50{\mu}A$, 0.0005 M 이상의 농도에서 뚜렷한 종말점을 얻었고, 50 Hz 근방의 주파수 영역에서 가장 확실한 종말점을 얻을 수 있었다. NaOH에 의한 인산의 산염기 적정에서 0.001 M 수산화나트륨에 의한 0.001 M 인산의 적정시 임피던스 위상각 적정법을 적용하여 $50{\mu}A$, 주파수 25-97 Hz의 넓은 주파수 영역에서 뚜렷한 제1당량점을 얻었다. 이는 전도도의 반대 개념으로서의 임피던스의 변화량이 종말점을 기점으로 변곡하고 이에따라 위상각이 변화하는데 원인됨을 알았다. 또한 제2당량점에서는 임피던스 위상각 적정법으로 뚜렷한 종말점을 얻지 못하였다. 이는 $Na_2HPO_4$의 가수분해를 막기 위하여 적정시 과량으로 첨가되는 NaCl에 의한 방해로 생각된다. 0.1 M EDTA에 의한 0.01 M 황산구리의 착화적정시에는 위상각 측정으로 적정종말점을 찾기 보다는 "다른위상" 임피던스 Z"을 측정하여 종말점을 알아내는 것이 유리함을 알았다. $AgNO_3$에 의한 $Cl^-$의 침전적정에 있어 $100{\mu}A$, 0.1 M 농도에서 임피던스 위상각 적정법을 적용하여 명확한 종말점을 얻었고, 15-30Hz 범위에서 가장 안정적인 뚜렷한 변화를 볼 수 있었다. 그러나 0.01 M 농도에서는 임피던스 위상각의 뚜렷한 변화를 볼 수 없었다. 본 연구에서 임피던스 위상각 적정법을 산화환원적정, 산염기적정, 착화적정 그리고 침전적정시의 종말점 검출을 위해 사용하였을 때 대부분 성공적이었으며 이는 적정시 종말점을 정확히 측정하는 목적에 활용 할수 있음을 보여주는 것이다.

• Korean Journal of Acupuncture
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• 제27권1호
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• pp.151-158
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• 2010

Objectives and Methods: The present study was performed to investigate acupuncture point location of SI11 through reviewing literatures. Results: 1. The first description of the location of SI11 appeared in "ChimGuGabEulGyong(ZhenjiuJiayiJing)", however the point description was not precise. 2. The first proportional measurement for SI11 showed up after Ching dynasty, which describes "SI11 is the point obliquely superiour 1.7 B-cun and transeversly interior to SI9" however this does not match the present WHO's standard location of SI11. 3. The WHO standard location of SI11 is in the scapular region, in the depression between the upper one third and lower two thirds of the line connecting the midpoint of the spine of the scapula with the inferior angle of the scapula, but there is no evidence to support this in classical literatures. 4. Based on myology and theories of meridian, we suggest that it is more reasonable to locate SI11 at the point in the depression between the upper two third and lower one thirds, not the upper one third and lower two thirds, of the line connecting the midpoint of the spine of the scapula with the inferior angle of the scapula. Conclusions: More studies are needed for the more reliable standard location of SI11.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.948-953
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• 2004

For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1105-1109
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• 1995

A CCD-camera, which is structured with vision system, was used to realize automatic seam-tracking system and 3-D information which is needed to generate torch path, was obtained by using laser-slip beam. To extract laser strip and obtain welding-specific point, Adaptive Hough-transformation was used. Although the basic Hough transformation takes too much time to process image on line, it has a tendency to be robust to the noises as like spatter. For that reson, it was complemented with Adaptive Hough transformation to have an on-line processing ability for scanning a welding-specific point. the dead zone,where the sensing of weld line is impossible, is eliminated by rotating the camera with its rotating axis centered at welding torch. The camera angle is controlled so as to get the minimum image data for the sensing of weld line, hence the image processing time is reduced. The fuzzy controller is adapted to control the camera angle.

• Journal of Biosystems Engineering
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• 제23권3호
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• pp.291-304
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• 1998

A control algorithm fir the unmanned vehicles was developed using image information received through a CCD camera that acquires more powerful information over the wide range of wave-length comparing with other sensors and was applied to a speed-sprayer. The algorithm consisted of straight mode for passing along with middle of two tree-rows and turning mode for changing from a row to another row. In case of turning mode, two marks of colored papers were employed to indicate turning point and to decide turning direction for various orchard situations. The method of analysis and image would be differed according to camera's tilt-angle and position that is set on the speed-sprayer. Hence, it analyzed the point of difference by making camera's up and downward tilt-angle.

• 한국주거학회논문집
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• 제14권5호
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• pp.37-46
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• 2003

The quantitative analysis of view tells how surroundings and sky are showed, and requires understanding of visual perception and three dimensional information of buildings. The visual perception and the existing projection methods for view analysis are examined. The results of this study are as follows: The visual perception on the size is determined by the visual angle, which can be described as a solid angle. The analysis of view by planar projection can be narrow-sighted according to the size of the window and the location of the viewpoint, which will cause the obstacles in the normal direction of the window interfere the view. For the analysis of view by fisheye projection, the area around the focus point is calculated wider than other areas, and so the view ratio depends on the position of the focus point. When analyzing sky view by dividing the sky vault into the differential area, the distortion by projection can be minimized.

• 대한기계학회논문집
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• 제19권7호
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• pp.1597-1603
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• 1995

A prediction model on forward slip has been developed for presetting rolling speed of each finish mill stand in the continuous hot strip roduction. Those factors such as neutral point, friction coefficient, volume fractions undergoing width spread, shape of deformation zone at each side of entry and delivery of the rolls were taken into account. To reduce the speed unbalance between adjacent stands a refining method of adjusting friction coefficient has also been developed. On-line application of the model showed a good agreement in rolling speeds between the predictions and the actual measurements, and gave an outstanding improvement in the travelling stability of strip passing through the finishing mill train.

• Journal of Advanced Marine Engineering and Technology
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• 제22권2호
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• pp.200-209
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• 1998

Experiments have been conducted to determine heat transfer characteristics for a two-dimen-sional turbulent wall attaching offset jet at different oblique angles to a flat surface. The local Nusselt number distributions were measured using liquid crystal as a temperature sensor. Wall static pressure coefficient profiles were measured at the Reynolds number Re 53200(based on the nozzle width, D) the offset ratio H/D from 2.5 to 10 and the oblique angle a from $0^{\circ}$, to $40^{\circ}$ It is observed that the maximum Nusselt number point occurs slightly upstream of time-averaged reattachment point for all oblique angles. The correlations between the maximum Nusselt number and Reynolds number offset ration and oblique angle are presented.

• 한국공간구조학회논문집
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• 제3권3호
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• pp.95-103
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• 2003

Frame is one of the most commonly used structural systems for the resistance of applied loads. Many researchers have recently conducted their studies to investigate the effect of several parameters such as the connection flexibility, boundary condition of each support, beam-to-column stiffness ratio. These parameters play important roles on the characteristic behavior of frames. A simplified spring model is proposed to obtain the story drifts of frames with various beam-to-column connection stiffnesses in this research. A point bracing system with adequate spring stiffness is also suggested to establish the relationship between the applied load and the resisting translational spring stiffness within the limit state of story drift.