• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.219-224
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• 2007

As use of construction equipment has been increasing continuingly, the proportion of equipment expense to the total construction cost has become higher. However, there is a difference between the equipment expenses section in 'Poom-Sam' and practical data, because 'Poom-sam' does not consider non-working days due to weather conditions, legal holidays and management conditions. Therefore, 'Poom-Sam' does not present a reasonable standard for estimating construction equipment expenses. In this study, to estimate realistic construction equipment operating hours, firstly, construction equipment was classified according to work, and weather conditions, in which each work could not be executed, were established. Then, weather data on Seoul and Busan(2004${\sim}$2006) and legal holidays were analyzed to suggest annual standard operating hours. The annual standard operating hours of earthmoving & excavating, compaction, and drilling equipment was estimated to be 1,430 hours, and lifting equipment, concrete paving equipment, asphalt paving equipment, concrete equipment, and crushing & conveying equipment were estimated to be 2,124 hours, l,156hours, 1,188hours, 1,688hours, and 2,152hours respectively.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.7
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• pp.936-944
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• 2019

Submarines, which have been called an invisible force, are strategic underwater weapon systems that perform missions such as anti-surface warfare, anti-submarine warfare, and high payoff target strikes with the advantage of underwater covertness. A submarine should be able to withstand the hydrostatic pressure of the deep sea. In this respect, the submarine pressure hull, as the main structural system to resist the external pressure corresponding to the submerged depth, should ensure the survivability from hazards and threats such as leakage, fires, shock, explosion, etc. To do this, the initial scantling of the submarine pressure hull must be calculated appropriately in the concept design phase. The shape of the aft transition ring varies according to its connection with the submarine aft end conical structure, pressure hull cylindrical part, and non-pressure hull of the submarine; the design of the aft transition ring should not only take into account stress flow and connectivity but also the cost increase due to the increased man-hours of its complex geometry. Therefore, trade-off studies based on the four different shapes of the aft transition ring are carried out considering both the review of the structural strength through nonlinear finite element analysis (FEA) and economic feasibility by reviewing the estimations of the manufacturing working days and material costs. Finally, the most rational structural aft transition ring shape for a submarine amongst four reviewed types was proposed.

• Journal of Korean Theatre Studies Association
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• no.48
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• pp.261-288
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• 2012

This paper attempts to research on the new language in the directing of Ara Kim. She was cranky on working on the stage to experiment with her own style since the 1980s and so opened a new dawn in modern Korean theatre. She leaded the Korean experimental theatre. The background of this experiment is her idea on theatre. And here, we have to look the subject that she setted for the work in Chuksan: Ritual Past, Ritual Present. To her, the theatre has the function of ritual and fest. The theatre suggests universal tragedy given to human as natural life force and has its own agenda to drive people to healing. For it, Ara Kim explores archetypal forms and languages before the fragmentation of genres of art. Her theatre shows the results of experiments in which such languages are recreated with modernized sensibilities. We here, for example by outdoor performance in Chuksan Human Lear, try to interpret the aesthetic principles that body out her ritual theatre. And what we looked at though, is the base of the 'complex-genre-music-theatre', the methode to 'compose' the stage elements and put it all together. The directing of Ara Kim has, in terms of the composition of the stage elements, much of the indisputable artistic value. Her theatre is, so to speak, theatre of image, and it is theatre of imagination that completed by the audience's imagination. Human Lear which has its own characteristic in image fragments, convert the original Lear into a simple tale. It serves as background of the modern ritual that shows the most basic human instincts. We meet in Human Lear a ritual tale with some list of image for the human instincts. The arrangement of image, the montage of scene shows the performance as a kind of artistic space. In Human Lear the space is the natural one. It centers around the arena stage. The objects installed in the space changes it into the laboratory for 'seeing' the happening. The spectators see the performance and at the same time see themselves in the nature laboratory. They see, and equally, they are visible objects. They see the performance and us in the space in which the performance takes place. That is what Ara Kim with her modern ritual really aims. That aim is to this days still in effect. It is a major driver of her experiments to extend the boundary of the theatre. The ritualistic site-specific performance in Akor Wat, Cambodia, A Song of Mandala is the latest great product from her experiments. On the other hand, she continues on her way to experiment with pure stage elements. The 'Station' series(Station of Water, The Station of Sand, The Station of Wind) she recently showed are the non-verbal performance with all the stage elements: movement, sound, body, light, colour, objects and so on.

• Horticultural Science & Technology
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• v.34 no.1
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• pp.195-205
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• 2016

Sugar beet cyst nematode, Heterodera schachtii, causes serious economic losses worldwide in Brassicaceae crops. In 2011, this nematode was first found in highland vegetable cultivation areas in Korea, and thereafter spread to the surrounding healthy Chinese cabbage fields. However, little has been documented on the biological and ecological characteristics of the sugar beet nematode in highland vegetable cultivation areas. In this study the dispersal of the sugar beet cyst nematode was examined, focusing on spreading through soil and/or water infested with the nematode. When farmers with work boots trampled on Chinese cabbage fields for 10 minutes, the number of cysts recovered from the soil attached to the working differed depending on the research sites. Under irrigation conditions of 2, 4, and 8 liters of water per $m^2$, the amounts of soils attached on the bottom of the work boots and the number of healthy cysts in the soils increased significantly with the increase in soil moisture, although the total number of cysts, eggs, and juveniles did not increase significantly. After driving on the farm road adjacent to cabbage fields infested with the sugar beet cyst nematode, cysts were also recovered from the soil attached to the vehicle's tires, suggesting that the sugar beet cyst nematode can spread to new fields through soil carried by vehicles and by farmers. An excavator and a motor truck could deliver 41 kg and 224 g, respectively, of soil on the shovel shoes and the wheels to other locations during the Chinese cabbage harvest, suggesting that farming equipment and transportation vehicles may be vital means by which the cyst nematode spreads to non-infested fields in the highland area of Korea. Runoff water also contained cysts, whose amounts increased after water irrigation onto the ridges to simulate rainy conditions, with no significant difference in the number of cysts with increasing amounts of irrigation water. All of these results confirmed that the sugar beet cyst nematode spreads through soil attached to work boots, harvesting tools, and transportation vehicles, especially during the harvest time, and through runoff water on rainy days. These observations suggest that personal sanitization and cleaning of working tools and vehicles are one of the most important means to prevent the dispersal of the sugar beet cyst nematode in fields.

• Journal of agricultural medicine and community health
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• v.43 no.1
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• pp.9-17
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• 2018

Objectives: This study was to assess the status and awareness of excessive heat exposure among agricultural workers. Methods: We selected a total of 90 farmers from a villages of Gyeongju-si, during August, 2015. We carried out the temperature measurement for nine times and derived Health Index (HI) and Wet Bulb Globe Temperature (WBGT) index. We compared the HI, WBGT and excessive heat warnings. Status of high temperature exposure, lifestyle, medical history, and awareness about excessive health related exposure illness assessed using survey questionnaires. Results: The matching rates between the WBGT and the HI during excessive heat warning were high, but when it was a non-excessive heat warning, there were days of excessive HI or WBGT. Out of 90 farmers surveyed, 78 cases (86.7%) were in their 60s and older age group. Slightly more than two third (71.1%) farmers were farming in the dawn-morning (71.1%), and the daily working hours were less than 4 hours (54.4 %), but only 23.3% among farmers took regular breaks. Of total, 14.4% farmers experienced excessive heat exposure related illness in order of tiredness, lethargy, dizziness, headaches, and sweating. Overall, the awareness of the danger for excessive heat and the heat wave warnings were high at 70.0% and 74.4%, respectively. Conclusions: Politically, the excessive heat warnings should not be taken into account the simple temperature measurement but, have to consider WBGT and HI standards at the same time. Farmers need to be promoted and educated to prevent the excessive heat related illness by periodically increasing their rest time during farming.