• 제목/요약/키워드: Power Line Route

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Nomoto모델을 이용한 선박의 선형 모델 분석 및 퍼지제어기 설계 (The linear model analysis and Fuzzy controller design of the ship using the Nomoto model)

  • 임대영;김영철;정길도
    • 한국산학기술학회논문지
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    • 제12권2호
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    • pp.821-828
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    • 2011
  • 본 논문은 자동항로 추적(Track keeping control), 자동조타(Automatic steering), 자동 접이안(Automatic mooring control) 등으로 구성된 자동운항 시스템 중 자동조타장치의 성능 개선 알고리즘 개발에 대해 다루고 있다. 자동조타는 풍력 또는 조력 등의 영향으로부터 선박의 설정 항로와 실제 침로와의 차이를 계산하여 설정된 항로를 유지하며 항해하므로, 조타에 소요되는 선원의 지속적인 항해로 인한 운전 부담을 경감시키고 불필요한 타조작에 의한 항로 이탈을 줄임으로써 항해거리 단축과 연료비용을 절약할 수 있는 시스템이다. 선박의 모델링을 위하여 Nomoto 모델에 근거하여 전달함수를 구하고, 조종성능(Manoeuvirng) 편리성을 고려하여 타각 입력에 대한 선수각 응답으로 표시된 선박의 4자유도만을 고려한 선형 모델을 제안하고 선박 자동조타장치의 최대각과 타각율을 고려하여 Fuzzy제어기를 설계 하였고 PID제어기로 성능을 비교 분석하였다.

동북(東北)아시아 유의 기원(起源)과 그 교류(交流)에 관(關)한 연구(硏究) -$4{\sim}8$세기(世紀)를 중심(中心)으로- (A study on the origination and Transmission of Yu in Northeast Asia. -from the 4th Century to the 8th Century-)

  • 박경자;조선희
    • 복식
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    • 제17권
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    • pp.29-43
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    • 1991
  • Yu was a type of dress worn on the upper part of the body which was commonly used in Northeast Asia. It was originally used by the Northern race for the need of courtesy as well as protecting cold. It was believed that Yu in Northeast Asia, which was called Kaftan, was came from Scythai lived in North Eurasian land around the Black sea. Scythians were the first-formed horse-riding race in the world and their civilization influenced those of far Asiatic sector along the steppe route. As their power expanded, their costume culture transmitted to the East(China, Korea, Japan). The upper garment, Yu, was characterized by the left-sided collars, narrow sleeves belted at the waist to the length of the hip line and the tight trouser on the lower part, which we commonly called HoBok(胡服) style. 1. Yu in Northeast Asia was originated from the Eurasians, Scythian Culture. Being exchanged, active style costumes were widely used among Chinese, Koreans and Japanese throughout centuries' including $4{\sim}8$ century. 2. Chinese Yu had a style of wide-sleeves and right-sided collars. The traditional costumes of Han race are consisted of wide-sleeved Yu on the upper and long-skirt on the lower part of the body. Before the adoptation of HoBok during reign of King Jo Mooryung in 307. B.C., HoBok style had already found in the remains since the Sang period. There were various names among Yu during the Han period. Seup, Sean Eui, Kye, Kyu were one of the styles and several names were meant for collar and sleeves. During $4{\sim}8$ centuries, clothes of right-sided collar were found, superior to that of left-sided and narrow sleeves were widely used both the royal and the humble. Various styles of decoration were seen in Yu around neck, back and sleeves comparing other nations. 3. Yu, in Korea, was typical style of Northern-bound HoBok. Both men and women had similarity in Yu style, narrow sleeves, left-sided collar, belted at the waist and to the length of hip line. Influenced by Han race, in the $4th{\sim}8th$ centuries, dual system of collar was found. But we cannot see major change in Yu and finally was connected to the present. 4. The original design of the Japanese costumes was not similar to that of Northern nomadic hunting race, which was suitable for horse-riding activities. Owing to the climates along the island, we could see various conditions ranging from the cold and to the warm. Influenced by the climates, pulling over the neck(Pancho style) were major design in Japan. As Korea was advanced earlier than Japan, Korean landed Japanese territory showing clothes. So primitive costumes had changes in style. During the $4th{\sim}8th$ period. The Korean mode was found in Haniwa (which was built to make sacrifices to the dead King) and costumes in Jeong Chang Won. Among the costumes in Jeong Chang Won, we put 3 or more costumes to the category of Yu characterizing elements of Korea and Tang period. From the $4th{\sim}8th$ century, China, Korea, Japan fell into the same cultural category, Scythai. Styles in Yu among three nations, we saw little differences, basically along times. Originated from the West Asia, Yu was transmitted to the far East changing Chinese costumes, Koreans melted it into the traditional elements and then influenced Japan.

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