A Study on the Haptic Control Technology for Unmanned Military Vehicle Driving Control (무인차량 원격주행제어를 위한 힘반향 햅틱제어 기술에 관한 연구)
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- Journal of the Korea Academia-Industrial cooperation Society
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- v.19 no.12
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- pp.910-917
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- 2018
This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (
Objectives: This study was carried out to evaluate the socio-demographic, style of living, and health related behaviors of community residents between urban and rural areas in Jeonbuk province. Methods: The data was obtained from 2,086 residents who lived in Jeonbuk province from July to September 2001 which included 1,238 residents in urban area and 848 residents in rural area. Results: The results were as follows; There were significant differences socio-demographic characteristics including occupation and educational level of the populations between urban and rural areas. In the urban populations, housewives, professional classes, and people who received collage graduate education were significantly higher, people who were engaged in the primary industries and lower educational classes(below middle school), in contrast, were significantly lower than in the rural populations. In the practice of health behavior, consumption of health foods and amount of exercise in urban populations were significantly higher than in the rural, whereas the state of health, prevalence of chronic disease, Body Mass Index(BMI), consumption of ethanol and cigarette, and hours of sleep were not significantly different between the urban and rural populations. In the eating habits, rate of surfeit, vaccination of hepatitis B, and screening of cancer in the urban populations were significantly higher than in the rural, rate of regular meal, taste of salted food, consumption of vegetables, in contrast. were significantly lower than in the rural. But, consumption of coffee, intake of meat, and periodic medical checkup were not significantly different between urban and rural communities. Logistic regression analysis revealed that the factors associated with subjective thought on health state were sex, age, occupation, educational level, exercise, and consumption of coffee. Logistic regression analysis to find related factor with prevalence of chronic disease was conducted. As a results, age, educational level, BMI, intake of meat, screening of cancer, and consumption of health foods were related to prevalence of chronic disease. Conclusions: The study showed that special attention to device the health plan are necessary and it suggested that consideration of regional differences are required to provide the community health projects.
The purpose of this study is to classify the factors influenced on the damages of head works suffered from the storm flood occurred on July 22 1980 in both Musim and Bochong rivers and to find out an integral counter measures against the causes influenced on the disaster of head works in the engineering aspect of planning, design, construction and maintenance. In this survey, number of samples was taken 25 head Works, and the counter measures against the causes of their disasters summarized was as follows, 1. In the aspect of planning a. As the flood water level after the establishment of head works is more increased than the level before setting of head works owing to having more gentle slope of river bed between the head works than nature slope of river bed. Number of head works should be reduced for the appropriate annexation of them b. In the place where head works is established on the curved point of levee, the destruction of levee becomes severe by the strong deflective current. Therefore the setting of head works on the curved point should be kept off as long as possible and in case of unavoidable circumstances the construction method such as reinforced concrete wall or stone wall filed with concrete and anchored bank revetments should be considered. 2. In the aspect of design a. As scoring phenomena at up stream is serious around the weir Where the concentration of strong current is present in such a place, up stream apron having impermeability should be designed to resist and prevent scoring. b. As the length of apron and protected bed is too short to prevent scoring as down stream bed, the design length should be taken somewhat more than the calculated value, but in the case the calculated length becomes too long to be profitable, a device of water cushion should be considered. c. The structure of protected river bed should be improved to make stone mesh bags fixed to apron and to have vinyl mattress laid on river bed together with the improvement for increasing the stability of stone mesh bags and preventing the sucked sand from the river bed. d. As the shortage of cut-off length, especialy in case of the cutoffs conneting both shore sides of river makes the cause of destruction of embankment and weir body, the culculation of cut-off length should be taken enough length based on seepage length. 3. In the aspect of design and constructions a. The overturing destruction of weir by piping action was based on the jet water through cracks at the construction and expansion joints. therefore the expansion joint should be designed and constructed with the insertion of water proof plate and asphalt filling, and the construction joint, with concaved shape structure and steel reinforcement. b. As the wrong design and construction of the weep holes on apron will cause water piping and weir destruction, the design and construction of filter based on the rule of filter should be kept for weep holes. c. The wrong design and construction of bank revetment caused the severe destruction of levee and weir body resulting from scoring and impulse by strong current and formation of water route behind the revetment. Therefore bank revetment should be designod and constructed with stone wall filled with concrete and anchored, or reinforced concrete wall to prevent the formation of water flow route behind the wall and to resist against the scoring and impulse of strong stream. 4. In the aspect of maintenance When the damaged parts occurred at head works the authorities and farmers concerned should find and mend them as soon as possible with mutual cooperation, and on the other hand public citizen should be guided for good use of public property.
Film color is equivalent to other elements of film, including narrative, and has a textual meaning according to the identity of expression. In general, red has a function of focusing attention, and the meaning derived from it is diffused. In the interaction of text and context, the function of concentration and the meaning of diffusion can be presented. The concept of concentration and diffusion is shaped by the relationship between independent colors, colors and other cinematic elements, and interactions between colors. In order to confirm this, this study analyzes a series of popular Korean films, how film colors interact, and in particular, the concentration function of red and the meaning of proliferation. The results of this study are as follows. First, in Korean popular films, at its most basic, red symbolizes a nation, a people, and a nation. The red of nationalism surrounding ethnicity, nationality and country visualizes ideology and conflict. The purpose of an individual or group, the relationship between the offender and the victim is mediated through red. The flag, the name tag, the costume appearing in the film are red. This can be seen in films such as Train to Busan, Assassination, Masquerade, Miracle in Cell No.7, Brotherhood of War, Northern Limit Line, Joint Security Area, Welcome to Dongmakgol, and May 18. Second, the red color attached to the female body fixes or strengthens socio-cultural sexuality and gender. The examples are films like Ode to My Father, The Thieves, The Host, Purpose Of Love, Sunny, Like A Virgin, Forbidden Quest, Untold Scandal, Bewitching Attraction, and Ssanghwajeom. Third, the blood red in Korean films is a visual device that directs magical horror, anger, and asceticism. Such films include The Neighbors, Bunshinsaba, R-Point, A Tale Of Two Sisters, Whispering Corridors, The Uninvited, Thirst, SECTOR 7, Asura:The City of Madness, The Tiger, Veteran, and so on. Fourth, red of tears constitutes the specific emotions such as a beautiful desire and a brilliant tragedy in films like King and The Clown, Oldboy, Memories of Murder, 26 Years, The Attorney, Unbowed, Sympathy For Lady Vengeance, Happy End, Punch, Calling, The Yellow Sea, and He's on Duty.
For regulating the depth of midwater trawl nets towed at the optimum constant speed, the changes in the shape of warps caused by adding a weight on an arbitrary point of the warp of catenary shape is studied. The shape of a warp may be approximated by a catenary. The resultant inferences under this assumption were experimented. Accordingly feasibilities for the application of the result of this study to the midwater trawl nets were also discussed. A series of experiments for basic midwater trawl gear models in water tank and a couple of experiments of a commercial scale gears at sea which involve the properly designed depth control devices having a variable attitude horizontal wing were carried out. The results are summarized as follows: 1. According to the dimension analysis the depth y of a midwater trawl net is introduced by
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70