• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.548-553
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• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• 건축사
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• 통권543호
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• pp.88-89
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• 2014

• 의료법학
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• 제8권2호
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• pp.291-328
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• 2007

Under the present law, a medical corporation has the legalistic character of a noncommercial corporation and its commerciality is restricted by public service. In a recent precedent, however, a judgment has considered the service part in medical practice. The tendency of a precedent is that both commerciality of a medical institution and medical corporation are allowed to be pursued under fundamental order-observance. This change is found in china and india, which consider a medical service as national industry. In the case of ours, the now government demonstrate the industrialization or the market of medical service through promotion of commerciality of a medical corporation. This paper deal with the meaning of a medical corporation and the present condition of medical market under the present law and recommends a tendency of law policy through study of foreign's and our precedent for commerciality of medical advertisement and medical corporation.

• 무역상무연구
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• 제35권
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• pp.3-38
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• 2007

As we know, D-terms which are constituted with DAF delivered the goods in a border place, DES delivered the goods on board a vessel at a vessel specified port on the buyer's side, DEQ delivered the goods on the quay on the buyer's side as the specified place, DDU and DDP delivered the good at the stipulated place at the agreed place or point, mean arrival contracts. DAF is designed mainly for railway carriage, DES and DEQ are designed mainly for vessel shipment, DDU and DDP are designed mainly for multimodal transportation. In spite of their original purpose of revision. They have in themselves many problems on notable points on application in practice. Therefore, in order to magnify their use, through revision of Incoterms, DAF is restricted to railway carriage, DES and DEQ are restricted to be used only for charter shipments. Particularly transport documents which seller should supply the buyer with under DDU and DDP are documents for ownership and possession rights to the goods loaded when executed in negotiable form like as CIF.

• 건축사
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• 통권544호
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• pp.74-75
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• 2014

• 대한기계학회논문집
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• 제19권8호
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• pp.1810-1821
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• 1995

Photoelastic experiment has been used to analyze stress of structure and stress in the vicinity of crack tip etc.. Model experiment such as photoelastic experiment has been restricted by problem of residual stress in the photoelastic model material. They are generated by molding, cutting and time effects etc.. They produce some errors in the results of photoelastic experiment data. In this paper, stress optic law considering residual stress already developed by authors was applied to the stress concentration problem and fracture mechanics. Although the specimen was bad with residual stress, we could obtain good results by using the stress optic law considering residual stress. It was found that the stress optic law of photoelastic experiment could be applied to the stress analysis of bimaterial.

• 농촌계획
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• 제12권3호
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• pp.29-37
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• 2006

Jeju coastal landscape has been changed from 1980's. Construction of coastal road, rearing fm, restaurant and condominium are main reasons of destroying the Jeju coastal area. Recently, the law for preserving coastal landscape is effective to prevent diverse construction activities, the land is comparatively restricted in the coastal landscape preservation districts. The resident's attitude toward restricted landlord has been carried out in Jeju province and compensation program has been developed for landlord in the coastal landscape preservation district. To speak compensation programs, First, land compensation as if cash compensation and right of purchase claim, Second, incentive as if tax reducement or regional support, Third, assignment of development right.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.606-623
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• 2019

The path following problem of a ship sailing in restricted waters under wind effect is investigated based on Robust $H_{\infty}$ Guaranteed Cost Control (RHGCC). To design the controller, the ship maneuvering motion is modeled as a linear uncertain system with norm-bounded time-varying parametric uncertainty. To counteract the bank and wind effects, the integral of path error is augmented to the original system. Based on the extended linear uncertain system, sufficient conditions for existence of the RHGCC are given. To obtain an optimal robust $H_{\infty}$ guaranteed cost control law, a convex optimization problem with Linear Matrix Inequality (LMI) constraints is formulated, which minimizes the guaranteed cost of the close-loop system and mitigates the effect of external disturbance on the performance output. Numerical simulations have confirmed the effectiveness and robustness of the proposed control strategy for the path following goal of a ship sailing in restricted waters under wind effect.

• 한국프랜차이즈경영연구
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• 제3권2호
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• pp.79-102
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• 2012

본 연구는 대형마트, 기업 형 슈퍼마켓 (SSM) 에 대한 출점 및 영업규제를 2009년 이전과 2009년 이후로 구분하여 연구하였다. 대형마트, 기업 형 슈퍼마켓 입장에서 영업 및 출점규제 법률시행에 따른 향후영향 및 대응 방안과 대안을 제시 하고자한다. 특히 2009년 이후 기업 형 슈퍼마켓의 출점 증가로 중소상인 보호를 위하여 유통법이 개정되어 출점과 영업규제 법률이 통과되고 조례제정을 통하여 규제가 현실화되었다. 이러한 법 개정이 외국사례와 국제법과 비교해서 그 타당성의 여부를 확인하고 향후방향을 제시했으며 실질적인 영세 상인임에도 오히려 과잉규제 대상이 된 프랜차이즈 슈퍼마켓 가맹점의 선의에 피해에 대한 법률적 구제방안도 제안하고자 한다. 본격적인 규제시행으로 유통업계는 해외진출 가속화, 유통업자 상표개발확대, 해외소싱상품 개발 등 경쟁력 강화를 위한 방안을 강구하고 중소상인과 대기업간의 상생모델인 프랜차이즈 가맹사업으로 사업방향을 전환하여 실질적인 상생협업모델을 추진하고 상생협력도 구축하면서 지속적인 성장을 추구해야한다.

• Journal of Astronomy and Space Sciences
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• 제14권1호
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• pp.1-17
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• 1997

The results of a restricted numerical simulation for the color gradients within globular clusters have been presented. The standard luminosity function of M3 and Salperter's initial mass functions were used to generate model clusters as a fundamental population. Color gradients with the sample clusters for both King and power law cusp models of surface brightness distributions are discussed in the case of using the standard luminosity function. The dependence of color gradients on several parameters for the simulations with Salpter's initial mass functions, such as slope of initial mass functions, cluster ages, metallicities, concentration parameters of King model, and slopes of power law, are also discussed. No significant radial color gradients are shown to the sample clusters which are regenerated by a random number generation technique with various parameters in both of King and power law cusp models of surface brightness distributions. Dynamical mass segregation and stellar evolution of horizontal branch stars and blue stragglers should be included for the general case of model simulations to show the observed radial color gradients within globular clusters.