• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.187-187
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• 2000

This paper presents the comparison of Euler-Rodrigues quaternion and Euler Angles using attitude kinematics for aircraft flight simulation. It is hard for PC-Level to accomplish real-time simulation. The purpose of this paper is to accomplish real-time simulation of the aircraft dynamics modeling parts and the graphics parts. The computation time is more reduced in case of applying quaternions than Euler Angles. This paper provides a quaternions algorithm and it's applications for the real-time simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.584-591
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• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.435-442
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• 2016

For inertial navigation systems, initial information such as position, velocity and attitude is required for navigation. Self-alignment is the process to determine initial attitude on stationary condition using inertial measurements such as accelerations and angular rates. The accuracy of self-alignment is determined by inertial sensor error. As soon as an inertial navigation system is powered on, the temperature of accelerometer rises rapidly until temperature stabilization. It causes acceleration error which is called temperature stabilizing error of accelerometer. Therefore, temperature stabilizing error degrades the alignment accuracy and also increases alignment time. This paper suggests a method to calculate azimuthal attitude using curve fitting of horizontal control angular rate in fixed-gain self-alignment. It is verified by simulation and experiment that the accuracy is improved and the alignment time is reduced using the proposed method under existence of the temperature stabilizing error.

• Korean Journal of Adult Nursing
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• v.14 no.3
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• pp.449-458
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• 2002

Purpose: The purpose of this study was to compare the effectiveness of a structured preoperative PCA education to that of the usual informal teaching provided by hospital staff in alleviating postoperative pain through more effective use of PCA therapy. Method: As an advanced research, the knowledge about the use of PCA therapy and the attitude about the use of the pain medicine were estimated, and then as a later research, the knowledge about the use of PCA therapy, the attitude about the use of the pain medicine, and the score of the pain were estimated. Result: The experimental group those who received structured preoperative PCA education had statistically significant higher knowledge regarding the use of PCA therapy(p=0.026) and more positive attitudes toward using pain medicine(p=0.004). The experimental group those who received structured preoperative PCA education reported better pain control 4(p=0.002), 8(p=0.014) and 24 hours(p=0.018) after the operation. Conclusion: The structured preoperative PCA education increases the knowledge for the use of patient's PCA therapy and changes their attitude toward the use of the pain medicine positively and consequently enable the use of PCA therapy to be more effective and then finally reduced the patient's pain after the operation.

• Child Health Nursing Research
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• v.7 no.1
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• pp.62-73
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• 2001

The purpose of the study is to identify the differences about knowledge and attitude between the subjects exposed to pc pornography and the control group not exposed to pc pornography. The study was executed from July 12 through July 16. The subjects were 423 middle school boys. The comparison points were their ethical sexual knowledges and sexual attitudes. The collected data was analysed by SPSS WIN(including multiplicand, percentage, χ²-test, revised Fisher and t-test). The results of their study were as follows ; 1. The pc-related characteristics of the subjects. The subjects exposed pc pornography showed 51.8％ rate of exposure to printed pornography. The control group showed the rate of 26.4％. The former group owned their pc(81.5％), however, the latter group showed 66.7％. The former group set their pc sets in their study rooms(66.1％) however, the latter group installed those in their study rooms(73.6％). The former group experienced internet pc communications(62.5％),however, the latter group showed 40.2％. The former group made use of their pc sets in recreation(entertainment) programs(77.0％), however, the latter group showed the rate of 67.8％. The former group showed that their school performance levelled up after their pc manipulation(80.0％), however, the latter group showed the rate of 86.2％. The former group replied that their pc manipulation contributed to their friendship(50.3％), however, the latter group showed the higher rate of 74.7％. The both groups replied that their family dialogs and contacts rather reduced (78.9％ and 78.2％ respectively). The both groups revealed that they reduced the TV watching the rate 76.5％ and 48.3％ respectively. The differences between two groups were surveyed in the level of 95％ significance and the items such as 'contacts to printed pornography, pc possession or none, pc use rate, friendship occasions and the reduced time of TV watching' showed the significant differences. 2. The differences of two groups' sexual knowledges. As to the sexual knowledges, the both groups showed 41.1 and 34.1 points against 100 points respectively. The statistical differences were significant(t=2.72, p=.007). The 5 items among 17 showed the significant differences between two groups. 'The concept of masturbation' was χ²=5.033, p=.025. 'The prejudice to masturbation' showed χ²=9.902, p=.002 'The difference between female and male as to sexual excitement' showed χ²=7.985, p=.005. 'The positiveness of masturbation' showed χ²=10.205, p=.001. 'The differences between two sexes as to sexual impulse and sexual desire' showed χ²=8.463, p=.004. In conclusion, The former group showed the higher knowledges than the latter group. 3. The differences of two groups' sexual attitudes. The 4 items such as 'the curiosity to the other sex'(t=2.22, p=.027), 'the attention to pornography'(t=3.39, p=.001), 'the permission to pre-marriage intercourse'(t=2.15, p=.032) and 'the preference to the female body exposure'(t=2.67, p=.008) showed the differences between two groups as to sexual attitudes.

• Korean Journal of Child Education & Care
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• v.19 no.2
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• pp.19-33
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• 2019

Objective: The purpose of this study is to understand how the experience of studying mathematics education for young children based on picture books is affecting pre-service early childhood teachers with their attitude toward mathematics and mathematics teaching efficiency. Methods: For this, a total of 39 pre-service early childhood teachers majoring in early childhood education at S university located in G metropolitan city participated in the study. 20 of them are randomly assigned to the experimental group while the rest 19 were assigned to the control group. The experimental group participated in the classes of mathematics education for young children based on picture books for 15 weeks, while the control group attended the normal classes of mathematics education for young children for the same period of time. By using SPSS 18.0 Program for the collected data, t-test was conducted for differences in the results of attitude toward mathematics and mathematics teaching efficiency. Results: The results of this study are as follows. Firstly, the experience of studying mathematics education for young children based on picture books had a positive effects on pre-service early childhood teachers' attitude toward mathematics, improved values and interest in mathematics, and reduced anxiety about mathematics. Secondly, the experience of studying mathematics education for young children based on picture books had a positive effects on improving pre-service early childhood teachers' mathematics teaching efficiency. Also, both faith in ability and faith in results have improved significantly. Conclusion/Implications: These results imply that the experience of studying mathematics education for young children based on picture books is an effective teaching-learning method in improving pre-service early childhood teachers' attitude toward mathematics and mathematics teaching efficiency.

• Journal of Astronomy and Space Sciences
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• v.32 no.4
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• pp.387-393
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• 2015

This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than $0.001^{\circ}$ at relative distances greater than 30 km.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.2
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• pp.69-79
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• 2010

This paper describes the experimental framework for the control system design and validation of a rotorcraft unmanned aerial vehicle (UAV). Our approach follows the general procedure of nonlinear modeling, linear controller design, nonlinear simulation and flight test but uses an indoor-installed multi-camera system, which can provide full 6-degree of freedom (DOF) navigation information with high accuracy, to overcome the limitation of an outdoor flight experiment. In addition, a 3-DOF flying mill is used for the performance validation of the attitude control, which considers the characteristics of the multi-rotor type rotorcraft UAV. Our framework is applied to the design and mathematical modeling of the control system for a quad-rotor UAV, which was selected as the test-bed vehicle, and the controller design using the classical proportional-integral-derivative control method is explained. The experimental results showed that the proposed approach can be viewed as a successful tool in developing the controller of new rotorcraft UAVs with reduced cost and time.

• Women's Health Nursing
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• v.20 no.3
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• pp.204-214
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• 2014

Purpose: This study was to investigate the effects of the provision of concrete information about patient-controlled analgesia (PCA) in hysterectomy patients. Methods: Study design was a nonequivalent control group non-synchronized pre- and post-test design. Sixty subjects participated were assigned to experimental group (30 patients) or control group (30 patients) at one university hospital. Concrete information about PCA was composed of three sections: explanation with a leaflet, practice of using PCA, and question and answer session. Results: The experimental group who received concrete information about PCA before surgery had statistically higher knowledge level about PCA, more positive attitude toward pain control analgesia, a lower pain score, and a higher satisfaction level of the use of PCA post-surgery compared to the control group who received general information before surgery. Conclusion: Provision of concrete information about PCA was an effective nursing intervention that reduced post-operative pain for patients and increased their satisfaction with using PCA. It is recommended that concrete information about PCA be provided by nurses to promote the use of PCA and consequently reduce patient's pain post-surgery.

• Journal of Hospice and Palliative Care
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• v.24 no.3
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• pp.154-164
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• 2021

Purpose: The purpose of this study was to examine the effects of a death preparation education program for nurses working in convalescent hospitals on death anxiety, death attitudes, and attitudes toward end-of-life care. Methods: This was a quasi-experimental study with a non-equivalent control group, pre-test and post-test design. Among 53 participants, 26 were assigned to the non-equivalent experimental group and 27 to the control group. The program was performed in the formats of lectures, video-watching, group discussions, and sharing, and consisted of 10 sessions held twice a week, for 5 weeks (90 minutes per session). Data were analyzed using descriptive statistics, the t-test, and the chisquare test in SPSS version 21.0. Results: Significant differences between the experimental and control groups were observed in death anxiety (t=7.62, P<0.001), death attitudes (t=-7.58, P<0.001), and attitudes to end-of-life care (t=-10.30, P<0.001). Conclusion: It was confirmed that the death preparation education program reduced death anxiety and had a positive effect on death attitudes and attitudes toward end-of-life care. Based on the results of this study, it is expected that specialized and systematic education that can increase the implementation and stability of death preparation education in various fields, including nursing, will have a positive effect on both hospice patients and members of society more broadly.