• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 추계학술대회
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• pp.515-517
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• 2014

엔진 부조(engine hesitation)의 원인을 추적함에 있어 가장 효과적인 점검방법 중의 하나가 엔진파워 밸런스(engine power balance)를 점검하는 것이다. 본 연구에서는 공회전 상태에서 4개의 실린더 폭발의 압력 편차로 인한 엔진 부조를 점검하기 위해 엔진 파워 밸런스를 점검하는 방법을 사용한다. 엔진의 부조는 네 개의 실린더의 회전 밸런스가 틀어졌기 때문이므로 실린더의 회전 밸런스 정보를 수집 분석하는 방법이 필요하다. 본 연구에서는 실린더의 엔진 회전수를 계산하기 위해 OBD-II와 무선 시스템인 블루투스 모듈을 이용하여 실시간으로 CKP 센서 정보를 수집하는 방법과 밸런스가 틀어진 실린더를 찾는 알고리즘을 제시하여 엔진 파워 밸런스를 조절 관리하는 시스템을 스마트 폰에 구현하고자한다.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.29-34
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• 2022

In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.

• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• 한국정밀공학회지
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• 제10권1호
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• pp.62-69
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• 1993

The accuracy of machine tools is the major factor concerned with the acuracy of the processed work. The feed errors of feed system in machine tool, therfore, make the machining errors of work directly on processing. In this point, this study focused on the generative elements of feed errors in CNC cylindrical grinding machine, such as supporting method of ball screw, the effect of pitch and yaw error and the position detecting method in servo system when operating its shaft of grinding wheel head. Furthermore, in order to improve the driving accuracy of this machine tool, feed errors are measured by a laser interferometer. Results obtained in this study provide some useful informations to attain high accuracy of CNC machine tool.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2020년도 전력전자학술대회
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• pp.58-60
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• 2020

본 논문에서는 2개의 인-휠 브러쉬리스 모터로 구동하는 차량의 실시간 위치 추종 제어방법을 제안한다. 2개의 모터를 사용하여 구동되는 차량의 경우 방향 및 이동이 각 모터의 제어를 기반으로 결정된다. 하지만 컨트롤러에 의해 지령된 위치까지 모터의 제어가 정확하게 된다 하더라도 차량의 실제 위치는 바퀴와 바닥면사이의 슬립이나 외부 요인에 의해 오차가 발생하게 된다. 따라서 이렇게 발생하는 오차를 보상하기 위해 차량의 실시간 각도 추정이 가능한 IMU(Inertia Measrement Unit) 센서를 기반으로 진행 각도를 보정하며 주행 중 발생하는 위치오차를 보상하기 위해 모터의 홀센서로부터 계산되는 위치와 IMU 센서의 데이터를 조합하여 실시간 위치 추종 제어방법을 제안한다.

• 천문학회보
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• 제46권2호
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• pp.78.3-79
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• 2021

Coronal Diagnostic Experiment (CODEX) is a diagnostic coronagraph developed by the Korea Astronomy and Space Science Institute and the NASA Goddard Space Flight Center (GSFC) to be deployed in 2023 on the International Space Station (ISS). It is designed to obtain simultaneous measurements of electron density, temperature, and velocity in the 2.5 - 10 solar radius range using multiple filters. The filters are mounted in two filter wheel assemblies (FWAs), which have five filter positions each. One position of each FWA is occupied by windows, and remaining eight positions are occupied by three bandpass filters for temperature, two bandpass filters for velocity, one Ca II H filter for F-corona, one broadband filter for fast imaging and density, and one neutral density (ND) filter for direct Sun viewing and safety.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.475-478
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• 2004

In this paper, a magnet-type automatic pipe cutting machine that binds itself to the surface of the pipe using magnetic force and executes unmanned cutting process is proposed. During pipe cutting process when the machine moves around the pipe laid vertical to the gravitational field, the gravity acting on the pipe cutting machine widely varies as the position of the machine varies. That is, with same driving force from the driving motor the cutting machine moves faster when it climbs down the surface of the pipe and moves slower when it climbs up to the top of the pipe. To maintain a constant velocity of the pipe cutting machine and improve the cutting quality, the authors adopted a conventional PID controller with a feedforward effort designed based on the encoder measurement of the driving motor. It is, however, impossible for the encoder at the motor to measure the absolute position and consequently the absolute velocity of the cutting machine in the case where the slip between the surface of the pipe and wheel of the cutting machine is not negligible. As an attempt to obtain a better estimation of the absolution angular position/velocity of the machine the authors proposes the use of the MEMS-type accelerometer which can measure static acceleration as well as dynamic acceleration. The estimated angular velocity of the cutting machine using the MEMS-type accelerometer measurement is experimentally obtained and it indicates the significant slipping of the machine during the cutting process.

• 한국도로학회논문집
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• 제14권6호
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• pp.25-35
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• 2012

PURPOSES : Hollows are easily made, and bearing capacity can be lowered near underground structures because sublayers of pavement settle for a long time due to difficult compaction at the position. If loadings are applied in this condition, distresses may occur in pavement and, as the result, its lifespan can decrease due to the stress larger than that expected in design phase. Although reinforced slab is installed on side of box culvert to minimize the distresses, length of the reinforced slab is fixed as 6m in Korea without any theoretical consideration. The purpose of this paper is investigating the behavior of concrete pavement according to the cover depth of the box culvert ad the length of the reinforced slab. METHODS : The distresses of concrete pavement slabs were investigated and cover depth was surveyed at position where the box culverts were located in expressways. The concrete pavements including the box culverts were modeled by finite element method and their behaviors according to the soil cover depth were analyzed. Wheel loading was applied after considering self weight of the pavement and temperature gradient of the concrete pavement slab at Yeojoo, Gyeonggi where a test road was located. After installing pavement joint at various positions, behavior of the pavement was analyzed by changing the soil cover depth and length of the reinforced slab. RESULTS : As the result, the tensile stress developed in the pavement slab according to the joint position, cover depth, and reinforced slab length was figured out. CONCLUSIONS : More reasonable and economic design of the concrete pavement including the box culvert is expected by the research results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• 복식문화연구
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• 제9권1호
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• pp.1-10
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• 2001

This study is to reconsider the symbolic potential of the costume by investigating the role of cloth in Indian culture, noting the fact that Indians wore hand-woven cloth and adopted a flag with the spinning wheel in the center as part of their nationalistic programs for independence. The results are as follows; The Indian cotton industry had held the fist position in the world and spinning and weaving had been an Indian national industry until the early part of the 19th century. As for the Indian cotton industry under the rule of Britain, Indian was reduced to being a colony producing raw materials and a market of cheap British finished goods, and eventually fell into anarchy with economic poverty of the general public and peasants'uprising mixed with the complaint of the intellectuals. The Indian National Movement started as a resort to escape the British rule because of continuous poverty and social exhaustion, and its pivot was Gandhi. Gandhi launched a revolutionary noncooperation movement in Indian society with diverse races, religions and castes, and developed nation-wide campaigns such as Boycott, Swadeshi, the encouragement of spinning wheels, etc. Gandhi urged that Indians' weak identity and poverty were caused by the dissolution of their native craft and that the Indians should wear Indian products for economic independence. Accordingly, leaders of Indian National Congress regarded a spinning wheel as an economic necessity and national symbol, and approved manual spinning and weaving as part of their nationalistic programs in order to drew the general public to the nationalistic movement in 1920. They also decided that all Congressmen should wear hand-woven cloth, Khadi, and adopted spinning wheels as the logo type of Indian National Congress. Khadi, Indian national cloth, was a symbol of national unification, freedom and equality, and also a means of economic self-sufficiency, Swadeshi, and eventually led India to autonomy, Swaraji. Therefore, it can be concluded that the cloth converted Indias economic and political identity.