• 대한기계학회논문집A
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• 제40권3호
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• pp.305-315
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• 2016

본 논문은 로봇이 이동하는 동안 장애물이 출현하는 불확실한 환경에서 N-R방법을 이용하여 개발된 로봇 비젼제어 기법의 효율성을 알아보고자 한다. 본 연구에 사용되는 비젼 시스템 모델은 6개의 카메라 매개변수(C1~C6)를 포함한다. N-R방법의 일괄처리기법을 이용하여 사용한 각 카메라에 대한 6개의 카메라 매개변수의 추정을 개발하고, 각 카메라에 대한 6개의 매개변수를 사용한 로봇 관절각 기법을 개발하여 얇은 막대 배치 작업을 수행한다. 특히, 불확실한 환경에서 얇은 막대 배치 작업을 위해 장애물에 의한 불연속 궤적은 시작영역, 중간영역, 타겟 근처 영역 등 3개 영역으로 구분하였다. 제안된 로봇 비젼 제어기법을 사용하여 얇은 막대 배치 실험을 통해 각 장애물 영역에서 장애물의 개수 증가에 따른 영향을 조사하고자 한다.

• 기술혁신연구
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• 제15권1호
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• pp.175-201
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• 2007

Licensing contracts between partners in International Joint Ventures(IJV) have not only aspects of relation contract, which is interdependent and long-term cooperative relationships in interpartner but also aspects of discrete contract which is exposed to opportunistic risk caused by IJV partners who maximize individual profit instead of joint payoff maximization. In this circumstance, appropriate compensation structures such as lump-sum and royalty can reduce conflicts and spur interpartner cooperation. In addition, compensation structures that stipulate each party's rights, duties, and responsibilities under various sets of environmental conditions have strong implications for transaction cost minimization and joint payoff maximization. On the other hands, compensation structures such as lump-sum and royalty in IJV licensing contract have benefits and costs depending on IJV partners uncertainty, partner dependency, and environment uncertainty. Therefore, the purpose of this paper is to empirically show how partner uncertainty, partner dependence and environment uncertainty influence compensation structure chosen by licensor in IJV.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2003년도 유체기계 연구개발 발표회 논문집
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• pp.73-79
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• 2003

The steam turbine efficiency is an important factor in power plant. Accurate evaluation of steam turbine performance is essential. However, it is not easy to evaluate the steam turbine performance due to its high temperature and high pressure circumstance. Therefore most steam turbine performance tests were conducted by air similarity test. This paper described a test program for air similarity test of steam turbine at Korea Aerospace Research Institute. A test facility has been designed and built to evaluate aerodynamic performance of turbines. The test facility consists of air supply system, single stage test section, power absorption system, instrumentation and auxiliary system. For evaluation of steam turbine performance, the test of single stage axial turbine air similarity performance was conducted and uncertainty analysis was performed.

• 자원ㆍ환경경제연구
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• 제27권4호
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• pp.613-637
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• 2018

분산전원으로서의 장점을 지닌 연료전지는 높은 투자비용과 전력가격의 불확실성에 영향을 받는다. 본 논문에서는 연료전지 투자의 비가역성과 전력가격의 불확실성을 고려한 실물 옵션 모형을 제시하도록 한다. 대부분의 실물옵션 모형은 분석의 편의상 기하학적 브라운 과정을 가정하지만, 본 연구에서는 평균회귀적인 전력가격의 특성을 반영한 경제성 평가모형을 개발하되 투자옵션 가치의 닫힌 해 또한 제시하도록 한다. 20MW급 연료전지 발전을 위한 데이터와 국내 RPS 상황을 고려한 실증분석 결과, 가격 불확실성을 고려하지 않은 경우 연료전지 발전의 투자 경제성은 확보되지만, 가격 불확실성이 존재할 경우 경제성이 저감되는 것으로 나타났다. 이는 연료전지 발전시설의 도입 및 활성화를 위해서 수입과 비용을 포함하는 종합적인 수익구조 개선 외에도 정책적 지원이 추가적으로 필요함을 시사한다.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.183-187
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• 2015

The Risk Management (RM) is applied for managing uncertainty of project. In this circumstance, the competences of RM have a direct effect on the performance of its application. Especially, as the RM, one of the project management areas, is a peopleoriented management field, the individual behavioral competences are significant for a risk manager. Therefore, this paper describes the development of individual behavioral competences for construction project risk manager. For this, the research classifies the individual behavioral competences of RM. And, the Exploratory Factor Analysis (EFA) are applied to verify a validity of the competences. Likewise, a reliability analysis using Cronbach's alpha values is performed to test internal consistency. Based on the results, the authors carry out the Focus Group Interview (FGI) on expert panels of construction RM to confirm the hierarchical model of the individual behavioral competences. It is concluded that the proposed hierarchical model of individual behavioral competences helps construction companies to diagnose the competences of their project risk manager for progressing.

• 대한전기학회논문지:전력기술부문A
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• 제48권5호
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• pp.622-628
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• 1999

This paper presented to design a robust turbo-generator control system using {{{{ { H}_{$\infty$ } }}}} control synthesis for improving small-signal stability. Application study of{{{{ { H}_{$\infty$ } }}}} control synthesis is more appropriate in this system since a turbo-generator system is usually operated under circumstance of unmeasurable modelling uncertainty and external disturbance. The{{{{ { H}_{$\infty$ } }}}} control theory was briefly reviewed for good understanding and the reasonable approach. The design results are simulated for a case study and to check the system performance in comparison with currently operating Lead/Lag filtered PSS performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.348-350
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• 2006

In this paper, we design a new controller for an ultra-precision positioning system. In general, time optimal control enables to reach a target position faster than others. However it shows a weakness to chattering effect. In order to solve the problem, a new control algorithm based on sliding mode control is proposed. The suggested controller is composed of LQR control and sliding mode control. By performing some simulations, we prove that the proposed controller is more robust than time optimal control under the circumstance of parameter uncertainties and external disturbances.

• 시큐리티연구
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• 제7호
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• pp.213-231
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• 2004

This paper is concerned with the influence in the job satisfaction by the organization, the job specialty and the self-devotion in the special duty of private security. Today's society is required more intensive security in the diversity, the complexity and the uncertainty, but the public security service could not supply enough for what the society requires. In this circumstance more specialized and special trained security services are demanded from private security industry. With the concerns, this study is based on actual survey. The study is telling us that there is much relationship in job satisfaction between each element. Which means that 1) there is some different from personality, 2) there is much influence in self-devotion by job specialty, 3) there some effectiveness in job satisfaction by job specialty, 4) there is some influence in job satisfaction by self-devotion, and 5) job satisfaction is affected by job specialty and self-devotion.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 무역상무연구
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• 제57권
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• pp.3-34
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• 2013

In the international sales contract, long-term contracts often face hardship in fulfilling the original contract terms by relevant parties due to rapid change and uncertainty of political and economic circumstance. In this case, party who faces hardship of fulfillment terminates contract or demands adaptation to contract condition but if opponent doesn't accept this, it proceeds to commercial dispute needing legal interpretation. Generally it is wise to set forth governing law in contract between parties in the case of international contract, for legal stability. One of universal governing law which relevant parties select by agreement to solve economical hardship of fulfillment is PICC. PICC defines the hardship in detail for renegotiation on following hardship of fulfillment unexpected. In the case of failing renegotiation, Court(arbitral tribunal) conducts termination to contract or adaptation to contract condition through arbitration or mediation. In conclusion, when signing international long-term contract, it is desirous to handle dispute effectively by inserting provisions which can deal with economical hardship in contract or defining PICC as governing law in the case of hardship incurred. It is because it is realistic to handle dispute smoothly to the extent that both parties can be satisfied in the case of hardship incurred, though international contract should be fulfilled.