• 사회복지연구
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• 제45권2호
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• pp.5-30
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• 2014

본 연구의 목적은 아동기와 청소년기에 걸쳐 또래괴롭힘 피해경험 정도의 변화에 따라 구분되는 잠재계층의 수와 그 모양을 파악하고, 각 발달유형별 내면화 및 외현화 문제 수준을 비교하는 데 있다. 이를 위하여 서울아동패널(Seoul Panel Study of Children)의 자료(초등학교 5학년~고등학교 2학년)를 잠재계층성장모형과 공변량분석을 사용하여 분석하였다. 분석 결과 또래괴롭힘 피해경험의 변화 형태에 따라 지속적으로 피해 경험이 낮은 '안정적 저수준 계층'(81.2%), 초기 높은 피해경험 후 피해경험이 점진적으로 줄어드는 '초기 피해후 감소 계층'(15.6%), 높은 수준의 피해경험이 발달기간 동안 지속되는 '지속적 피해계층'(3.5%)으로 세 개 유형의 잠재계층이 도출되었다. 또래괴롭힘 피해의 발달유형에 따라 내면화와 외현화 문제의 수준에 유의미한 차이가 나타났는데, 지속적 피해계층과 초기 피해 후 감소 계층 모두 안정적 저수준 계층에 비하여 3개 내면화 문제(위축성향, 우울 및 불안성향, 자살생각)의 평균추정치가 높은 것으로 나타났다. 외현화 문제의 경우 내면화 문제에 비해 상대적으로 발달유형에 따른 차이가 덜 명확하였으나, 피해지속 계층에 속한 청소년들은 나머지 두 가지 계층에 비하여 공격성과 지위비행에서 유의미하게 높은 평균점수를 보였다. 결론 및 제언에서는 또래괴롭힘 예방 프로그램 개발 및 운영을 위한 실천적 정책적 함의를 제시하였다.

• 한국정밀공학회지
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• 제29권3호
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• pp.346-353
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• 2012

The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DME). To verify the feasibility and effect of the redefined gait trajectory, simulations and experiments were conducted under the conditions of walking on level ground and ascending and descending from a staircase. Experiments to calculate the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted. The energy consumption of the lower extremity exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.173-178
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• 2017

과거부터 로봇의 실생활 활용에 관한 연구가 지속됨에 따라 현대사회에서 이전까지의 실험 환경에서 벗어나 사회 각 분야로의 진출이 지속적으로 시도 되고 있다. 하지만 로봇이 실제 환경에 적용되기 위해서 기존의 로봇 플랫폼 상용화의 가장 큰 단점으로 꼽히는 생산 비용과 인간 기준의 작업환경에서의 적응성 문제가 선결되어야 한다. 본 논문에서는 사람의 자유도와 크기를 따르는 이족보행 형태의 로봇을 제안하였으며, 엔코더를 포텐셔미터 접목모듈로 대체하여 높은 생산 단가를 절감하고, 파트 교체가 쉬운 모듈형 설계를 채택하여 로봇의 유지 보수비용을 절감 하였다. 최종적으로 크기와 모터의 배열이 다른 두 가지의 더미로봇에 보행패턴을 적용하여 안정성을 검증하였고, 본 논문에서는 제작된 실제 로봇들을 이용한 보행 패턴을 적용 및 보행 실험을 통하여 제안한 이족보행 로봇 적용가능성을 검증하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 추계학술대회 논문집
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• pp.122-127
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• 2001

As pipelines are often used to transport gas, oil, water and oil products, there are more than one pipeline installed in the offshore field. The size and space of pipelines are various depending on the design specifications. The pipelines are to be designed and installed to secure the stability to external loads during the installation and operation period. The flow patterns are very complex around the pipelines being dependent on incoming flow velocity, pipelines size and space. To investigate the flow patterns, number of experiment are conducted with visualization equipment in a circulating water channel. The flow motion and trajectory were recorded from the laser reflected particles by camera. From the experiment the flow patterns around spaced pipelines were obtained. Also pressure gradient was measured by mano-meter to estimate the hydrodynamic forces on the behind pipeline. The results show that the various sizes and spaces can be affected in the estimation of external load. The complex flow patterns and pressure gradients can be effectively used in the understanding of flow motion and pressure gradient.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.883-890
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• 2010

This paper proposes tip position control system which uses a visual marker to determine the tip position of a robot manipulator. The main idea of this paper is to introduce visual marker for the tracking control of a robot manipulator. Existing researches utilize stationary markers to get pattern information from them. Unlike existing researches, we introduce visual markers to get the coordinates of them in addition to their pattern information. Markers need not be stationary and the extracted coordinate of markers are used as a reference trajectory for the tracking control of a robot manipulator. To build the proposed control scheme, we first obtain intrinsic parameters through camera calibration and evaluate their validity. Secondly, we present a procedure to obtain the relative coordinate of a visual marker with respect to a camera. Thirdly, we derive the equation for the kinematics of the SCORBOTER 4pc manipulator which we use for control of manipulator. Also, we provide a flow diagram of entire visual marker tracking system. The feasibility of the proposed scheme will be demonstrated through real experiments.

• 한국정밀공학회지
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• 제15권12호
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• pp.226-235
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• 1998

This study proposes the analysis and evaluation of method of time series of ultrasonic signal using the chaotic feature extraction for ultrasonic pattern recognition. The features are extracted from time series data for analysis of weld defects quantitatively. For this purpose, analysis objectives in this study are fractal dimension, Lyapunov exponent, and strange attractor on hyperspace. The Lyapunov exponent is a measure of rate in which phase space diverges nearby trajectories. Chaotic trajectories have at least one positive Lyapunov exponent, and the fractal dimension appears as a metric space such as the phase space trajectory of a dynamical system. In experiment, fractal(correlation) dimensions and Lyapunov exponents show the mean value of 4.663, and 0.093 relatively in case of learning, while the mean value of 4.926, and 0.090 in case of testing in slag inclusion(weld defects) are shown. Therefore, the proposed chaotic feature extraction can be enhancement of precision rate for ultrasonic pattern recognition in defecting signals of weld zone, such as slag inclusion.

• 대한기계학회논문집A
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• 제23권7호
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• pp.1065-1074
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• 1999

This study proposes the analysis and evaluation method of time series ultrasonic signal using the chaotic feature extraction for ultrasonic pattern recognition. Features extracted from time series data using the chaotic time series signal analysis quantitatively welding defects. For this purpose analysis objective in this study is fractal dimension and Lyapunov exponent. Trajectory changes in the strange attractor indicated that even same type of defects carried substantial difference in chaoticity resulting from distance shills such as 0.5 and 1.0 skip distance. Such differences in chaoticity enables the evaluation of unique features of defects in the weld zone. In experiment fractal(correlation) dimension and Lyapunov exponent extracted from 6dB ultrasonic defect signals of weld zone showed chaoticity. In quantitative chaotic feature extraction, feature values(mean values) of 4.2690 and 0.0907 in the case of porosity and 4.2432 and 0.0888 in the case of incomplete penetration were proposed on the basis of fractal dimension and Lyapunov exponent. Proposed chaotic feature extraction in this study enhances ultrasonic pattern recognition results from defect signals of weld zone such as vertical hole.

• 대한기계학회논문집B
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• 제33권7호
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• pp.506-511
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• 2009

Insect flight is adapted to cope with each circumstance by controlling a variety of the parameters of wing motion in nature. Many researchers have struggled to solve the fundamental concept of insect flight, but it has not been solved yet clearly. In this study, to find the most effective flapping wing dynamics, we conducted to analyze CFD data on fixing some of the optimal parameters of wing motion such as stoke amplitude, flip duration and wing rotation type and then controlled the deviation angle by fabricating wing tip motion. Although all patterns have the similar value of lift coefficient and drag coefficient, pattern A(pear-shape type) indicates the highest lift coefficient and pattern H(pear-shape type) has the lowest lift coefficient among four wing tip motions and three deviation angles. This result suggest that the lift and drag coefficient depends on the angle of attack and the deviation angle combined, and it could be explained by delayed stall and wake capture effect.

• 한국항공우주학회지
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• 제39권3호
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• pp.254-260
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• 2011

원격측정링크는 항공기의 움직임에 따라 안테나 이득과 편파가 실시간으로 변화하는 동적 통신링크이다. 본 논문에서는 항공기의 비행궤적, 자세, 3차원 안테나 패턴을 사용하여 실시간 탑재안테나 이득과 송수신 안테나의 편파 부정합을 계산하였다. 그리고 다중경로 환경을 2-Ray 둥근지구 반사지형으로 모델링하고, 항공기에서 송신한 RF 신호를 빔폭이 좁은 안테나로 수신할 때 수신신호세기를 예측하였다. 또한 비행시험을 실시하고 측정값과 예측값을 비교하여 잘 일치함을 확인하였다.

• Journal of Theoretical and Applied Mechanics
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• 제2권1호
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• pp.51-70
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• 1996

This study is generalization of the study of Miles[Physica 11D, 1984, pp.309-323]on the resonant motion of a spherical pendulum, which is equivalent to a particle on a spherical container subject to a linear, horizontal excitation. This study covers an arbitrary shape of container and a more general excitation (horizontal but elliptic motion). The averaging method is applied to reduce the governing equations to an autonomous system with cubic nonlinear terms, under the assumption of small amplitude of the container motion. It is shown that both the container shape and the excitation pattern affect the particle dynamics. Under the linear excitation, the anharmonic motion of the particle is possible only for a certain finite range of the parameter a controling the container shape. Stability of the particle's harmonic motion is also influenced by the excitation pattern; as the excitation trajectory becomes closer to a circle, the particle's motion has a stronger tendency to become stable and to follow the rotational direction of the excitation. Under a circular excitation, the motion is always stable and circular with the same rotational direction as the excitation. Analogy between the present model and that of the surface wave inside a circular is studied quantitatively.