• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.724-729
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• 1992

A transient hydraulic flow rate computation scheme is described here so that the transient hydraulic flow rate can be determined using the dynamic pressure measurements at the ends of a straight flowline with a dynamic, model of the hydraulic line. Simulation results indicate that the method is relatively robust to realistic levels of uncertainties in the fluid properties.

• 한국지열·수열에너지학회논문집
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• 제12권4호
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• pp.1-7
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• 2016

This paper presents a design method for the horizontal straight ground heat exchanger (GHE) based on the Kavanaugh design method. In order to examine suitability of the suggested design method, a horizontal line type GHE was installed in a steel box of which the size was $5m{\times}1m{\times}1m$ filled with dried Joomunjin standard, and a thermal response test (TRT) was conducted for 21 hours. A numerical analysis was performed for a simulation of a peak month operation and for its verification by finite element method (FEM). According to the simulation results, it was concluded that the suggested design method for a horizontal straight GHE is reliable for the estimation of a design length.

• 디지털융복합연구
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• 제13권9호
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• pp.259-267
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• 2015

본 논문에서는 직선을 판별하는 판별방법과 또한 직선으로 판정되는 경우 직선의 8가지 방향에 대한 판정을 위하여 좌표정보와 삼각함수 성질을 이용하여 직선 8반향 알고리즘을 제안하였다. 본 실험은 각 동작 별로 100회씩 총 800회를 실험 하였으며, 본 논문에서 제안한 알고리즘을 통한 정확도는 왼쪽 위로의 대각선 방향이 92%로 가장 높았으며 왼쪽 방향, 오른쪽 위로의 대각선 방향과 오른쪽 아래로의 대각선 방향이 모두 82%로 가장 낮은 인식률을 나타내었다. 이 방법은 기존 방법과는 다르게 학습과정 없이 이미지 처리를 통해 얻은 좌표 정보만으로 손 제스처 인식이 가능하다는 것을 보여준다.

• 조명전기설비학회논문지
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• 제15권2호
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• pp.97-104
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• 2001

본 논문에서는 전위강하법에 의한 접지저항 측정시 전위보조전극 위치의 영향에 대하여 기술하였다. 전위강하법에서 접지저항은 이론적으로 전위보조전극을 피측정 접지전극과 전류보조전극이 이루는 일직선상에 위치시킬때 61.8[%]법칙을 적용하여 측정한다. 하지만 측정현장의 사정상 전위보조전극의 위치를 피측정 접지전극과 전류 보조전극이 이루는 일직선과 어느 정도의 각도를 가지도록 시설하여 접지저항을 측정하게 될 경우에 측정오차가 발생하게 되고 보정이 필요하다. 본 연구에서의 측정대상 전극은 길이 2.4 [m]의 봉형 접지전극으로 하였으며, 피측정 접지전극, 전위보조전극, 전류보조전극이 일직선상에 놓이지 않은 상태에서 접지저항을 측정하면 측정값은 항상 (-)의 오차를 나타내었고, 이들 전극이 이루는 각도가 증가함에 따라 측정 오차도 증가하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.763-766
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• 1991

The moving of each axis in the robot manipulator can be represented with the motion of cartesian space. This paper shows the robot manipulator of the straight line trajectory planning algorithms in the cartesian space. The relation formulas between cartesian space and joint space are induced to accomplish a desired trajectory in the cartesian space and the velocity vector of sampling time in the cartesian space is transformed into the velocity vector of joint by the interpolation method. The error of trajectory in moving is removed by obtaining the real position for the present joint position and the desired distance is made by comparing the real position and the next position. Through the simple tests for suggested algorithms are confirmed the validity of algorithms.

• 전기학회논문지
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• 제57권5호
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• pp.896-901
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• 2008

This paper addresses the foot force distribution problem for quadruped robots with a failed leg. The quadruped robot has fault-tolerant straight-line gaits with one leg in locked-joint failure, and has discontinuous motion with respect to the robot body. The proposed method is operated in two folds. When the robot body stands still, we use the feature that there are always three supporting legs, and by incorporating the theory of zero-interaction force, we calculate the foot forces analytically without resort to any optimization technique. When the robot body moves, the conventional pseudo-inverse algorithm is applied to obtain the foot forces for supporting legs. Simulation results show the validity of the proposed scheme.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.353-362
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• 1993

The purpose of this study is to develop a crop-row detector which can be applied to an automatic row following control for cultivators or thinning machines. In this report, a possibility of new crop-row detecting method was discussed. This detecting method consists of two principal means. One is the hardware means to convert the two dimensional crop-row vision to the compacted one dimensional information. The conversion is achieved by a color line sensor and a rotating mirror. In order to extract crop-row , R and G signals of RGB color system are used. The locations of two different points on the target row are detected by this means. Another is the software means to estimate the offset value and the heading angle between the detector and the target row which can be assumed as a straight line. As a result of discussion, it was concluded that this detecting method would be accurate enough for practical use.

• Water Engineering Research
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• 제4권1호
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• pp.45-58
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• 2003

Two-dimensional depth-averaged advection-dispersion equation was simulated using FEM. In the straight rectangular channel, the advection-dispersion processes are simulated so that these results can be compared with analyti-cal solutions for the transverse line injection and the point injection. In the straight domain the standard Galerkin method with the linear basis function is found to be inadequate to the advection-dispersion analysis compared to the upwind finite element scheme. The experimental data in the S-curved channel were compared with the result by the numerical model using SUPG(Streamline upwind Petrov-Galerkin) method.

• 한국지능시스템학회논문지
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• 제7권4호
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• pp.40-47
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• 1997

이 논문에서는 직선 허프변환을 이용하여 유전밴드 영상의 위치를 인신한 다음, 영상의 기울어짐을 검출하고 보정하는 방법을 연구하였다. 먼저 스캐너로 입력된 그레이스 스케일 유전밴드 영상을 이진화한 후 직선 허프변환에 위하여 유전밴드 영상에 포함되어 있는 직선성분을 추출하고, 직선성분들이 직교하는 점을 찾아내어 입력하고자 하는 영상의 위치를 인식한다. 그리고 스캐너를 통하여 많은 양의 유전밴드를 영상 데이터를 효과적으로 입력할 수 있도록, 위치인식 과정에서 실시한 직선 허프변환에 의해 영상의 기울어짐을 $1도 이내의 정확도로 검출하고, 기울어짐을 자동으로 보정한다.

• 한국항만학회지
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• 제14권3호
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.