• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• 한국초지조사료학회지
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• 제20권1호
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• pp.31-40
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• 2000

This study was conducted to investigate the effects of application levels of swine manure fermented with sawdust(SMFS) and degree of the slope on productivity of corn, and nitrogen and organic matter runoff in corn cultivation soil. Main plots were consisted of the degree of slope, such as 0, 5 and 10, and the subplots consisted of application levels of SMFS, such as control, 200kgNha and 400kgNha. Lysimeter was constructed with 0.33m width, 3m length and 0.4m height. Dry matter(DM) yields of corn decreased as the slope increased but there was no significant differences between the degree of the slope. DM yields increased significantly as application levels of SMFS increased (pc0.05). DM yields decreased according to continuous cultivation of corn. Total nitrogen(TN) contents of the whole corn decreased as the slope increased(p<0.05). TN content in SMFS treatments was higher than that of non-SMFS treatment but there was no significantly different between SMFS treatments. TN yields decreased significantly as the slope and the application level of SMFS increased(p<0.05). Nitrogen and organic matter yields in the runoff waters increased as the slope and application levels of SMFS increased. The runoff of nitrogen and organic matter was more affected by the increase of the slope than application levels of SMFS. (Key words : Corn, Runoff, Swine manure, Degree of slope, Lysimeter)

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1995년도 춘계학술대회논문집
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• pp.155-164
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• 1995

For efficient operation, vital hand controls must be easily controlled by the operator from his normal working position. The primary working area based on operator's working comfort was developed to serve as a design guideline tothe control panel layout. Ten male subjects participated in the experiment in which working comfort was measured for two controls of a lever type control and a knob type control with respect to the frontal and sagittal distances from the body center and the slope of a workplace. The response surface methodolgy using a central composite design was employed to develop a prediction model for perceived working comfort of each control. Both controls have a similar pattern of comfortable working area, but the lever type control has slightly broader working area. The concept of the proposed working area is a significant extension to the conventional working area such as Farley's or Squires' curves. It is shown that the distance toa control device and the slope have a quadratic effect to working comfort. It is noticeable that comfortable working area exists outside the conventional working area. The result of the response surface analysis also indicated that a little slope of about 15 .deg. for a control panel improves working comfort.

• 한국정보전자통신기술학회논문지
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• 제8권3호
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• pp.229-238
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• 2015

본 연구는 이러한 경사 토지와 경사진 도로 측면 등 다양한 영역에서 작동하는 캔을 구현 잡초의 전자 제어 시스템을 개발 하였다. 잡초 구현은 다섯 가지 주요 부분으로 구성 전자 제어 시스템, 유압 시스템, 메인 프레임, 붐 및 팔을 이용하는 기계와 회전형 제초기. 그리고 잡초는 전자 제어 시스템의 사용을 고려 트랙터의 3 점 히치 의해 부착될 수 있도록 개발되었다 구현한다. 그 결과, 전자 제어 시험 제초 구현 경사 땅 트랙터에 장착하여 실시했다. 전자 제어 시스템의 테스트 결과가 만족 제초 성능을 보여 주었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2552-2556
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• 2005

In general, the forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by current control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the forklift is demanded the robust drive mode. Some cases of the mode, there aretrouble in torque control following slope capacity. The control is sensitive concerning about slope angle and output speed, various control method is studied for stability of speed control. In this paper, I apply current control for the self-tuning using the fuzzy controller to obtain robust, stable speed control and use stable, high efficiency control using DSP as main controller for high speed processor, embody dynamic characteristic of control compared the PI controller to the fuzzy controller.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.481-484
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• 2003

Sulfide minerals contacted with air and water in coal seam cause oxidation reactions. This oxidation reactions make low pH of groundwater and surface water(Acid Drainage). The reddish brown precipitate collected from the cut slope of the study area was estimated using the X-Ray Diffractometer(XRD). XRD results show that the cut slope was affected by Acid Drainage. The cut slope exposured to Acid Drainage become weak about chemical weathering and defile the appearance of the road. Drainage facilities are very important in Cut Slope under Acid Drainage influence. Reactions between Coal seam and water cause chemical weathering and environmental problem. Therefore It is important to control the transfer paths of groundwater and surface water and to install water collecting facilities

• 한국산림과학회지
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• 제64권1호
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• pp.42-46
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• 1984

산복사방공사시공지(山腹砂防工事施工地)에 대한 식생회복(植生回復)은 지형(地形), 지질(地質), 강수상황(降水狀況), 공법(工法) 등 여러 요인(要因)의 복합작용(複合作用)에 의하여 좌우(左右)되나 본(本) 조사지(調査地)에서는 지형(地形)을 제외(除外)한 타요인(他要因)은 그 조건(條件)이 같으므로 제외하고 지형(地形)과 식생피도(植生被度)의 관계(關係)를 조사하여 산복공사공법(山腹事工工法) 개선(改善)의 자료(資料)를 얻고자 조사연구한 결과는 다음과 같다. 1) 사면별(斜面別) 평균피도(平均被度)는 하강사면(下降斜面)(80%), 평형사면(平衡斜面)(78.7%), 복합사면(複合斜面)(64.0%), 상승사면(上昇斜面)(56.5%)의 순위(順位)로 낮아지며, 4 사면(斜面)의 평균피도(平均被度)는 69.8%로 사면형(斜面形)은 피도형성(被度形成)에 영향을 준다. 2) 평균피도형성(平均被度形成)에는 토양함수율(土壤含率水), 평균경사(平均傾斜)가 영향을 준다. 3) 산복공사시공(山腹工事施工) 초기(初期)에 있어서는 목본종피도(木本種被度)(14.8%)는 초본종(草本種)(55.0%)에 비하여 피도(被度)가 매우 낮다. 4) 독라지(禿裸地)에 대한 식생회복(植生回復) 방법(方法)은 인공식재(人工植栽) 혹은 파종(播種)으로 하여야 하고 특히 산복공사시공(山腹工事施工) 초기(初期)에 있어서는 자연식생종(自然植生種)에 의한 식생회복(植生回復)은 어렵다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.371-376
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• 2003

In general, the electronic forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by speed control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the electronic forklift is demanded the robust drive mode. Some cases of the mode, there are trouble in torque and speed control following slope capacity. The control is sensitive concerning with slope angle and output speed, various control method is studied for stability of speed control. We apply speed controller for the self-tuning using DSP(TMS320F240) as main controller for high speed processor, embody dynamic characteristic of control compared the PI control to the fuzzy control.

• 대한전기학회논문지
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• 제43권6호
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• pp.991-1000
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• 1994

To control nonlinear systems adaptively, we improve learning speed of neural networks and present a novel control algorithm characterized by compensation of control inputs. In an error-backpropagation algorithm for tranining multilayer neural networks(MLNN's) the effect of the slope of activation functions on learning performance is investigated and the learning speed of neural networks is improved by auto-adjusting the slope of activation functions. The control system is composed of two MLNN's, one for control and the other for identification, with the weights initialized by off-line training. The control algoritm is modified by a control strategy which compensates the control error induced by the indentification error. Computer simulations show that the proposed control algorithm is efficient in controlling a nonlinear system with abruptly changing parameters.

• 대한통합의학회지
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• 제5권4호
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• pp.1-9
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• 2017

Purpose : This study was conducted among 195 adults in their 20s. To analyze the impact of the slope types of the scapulae on the plantar surface of the foot, the average pressure (AP), the maximum pressure (MP), the average of local distribution values, and the average movement of the center of pressure (COP) of the different slope types of the scapulae were compared. Method : The anterior-posterior slopes of the scapulae were measured by comparing the slopes of the left and right sides of the scapulae based on the differences in the height and the slope of the coracoid process and the angulus inferior scapulae. Those whose left side of the scapulae had an anterior slope were categorized as type 1, and those whose right side of the scapulae had an anterior slope, as type 2. The average plantar pressure, the center of plantar pressure, the maximum plantar pressure, and local distribution values were analyzed using a plantar pressure analyzer of the FSA. Result : In terms of the AP of the left and right feet, there was no statistically significant difference both in types 1 and 2 on the left and right feet. The comparison results of the MP and the average of local distribution values of the two slope types of the scapulae showed that there was no statistically significant difference on the X-axis both in types 1 and 2 on the left and right feet, but that there was a large statistically significant difference on the Y-axis both in types 1 and 2. That is, the MP of the right foot of the left anterior slope type was located more on the hindfoot than that of the right anterior slope type, and the MP of the left foot of the left anterior slope type was located more on the hindfoot than that of right anterior slope type. Conclusion : This study can be used as fundamental data to predict differences in the location and size of the COP and changes in plantar pressure distribution depending on the slope types of the scapulae, and control the distribution for therapeutic purposes.