• Journal of Construction Engineering and Project Management
• /
• v.6 no.2
• /
• pp.30-39
• /
• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• JSTS:Journal of Semiconductor Technology and Science
• /
• v.13 no.5
• /
• pp.473-481
• /
• 2013

A fractional folding analog-to-digital converter (ADC) with a novel arithmetic digital encoding technique is discussed. In order to reduce the asymmetry errors of the boundary conditions for the conventional folding ADC, a structure using an odd number of folding blocks and fractional folding rate is proposed. To implement the fractional technique, a new arithmetic digital encoding technique composed of a memory and an adder is described. Further, the coding errors generated by device mismatching and other external factors are minimized, since an iterating offset self-calibration technique is adopted with a digital error correction logic. A prototype 8-bit 1GS/s ADC has been fabricated using an 1.2V 0.13 um 1-poly 6-metal CMOS process. The effective chip area is $2.1mm^2$(ADC core : $1.4mm^2$, calibration engine : $0.7mm^2$), and the power consumption is 88 mW. The measured SNDR is 46.22 dB at the conversion rate of 1 GS/s. Both values of INL and DNL are within 1 LSB.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.129-130
• /
• 2007

Self servo track writing(SSTW)은 servo track writer(STW)를 이용하지 않고 hard disk drive의 내부 VCM을 이용하여 servo track을 기록하는 방식이다. SSTW는 이전 servo track을 상대적인 reference로 하여 기록하게 되므로 초기에 발생된 error와 외부의 disturbance의 영향으로 error는 급속하게 증가된다. 이것을 radial error propagation 이라 한다. 본 논문에서는 radial error propagation을 억제하기 위한 correction signal을 설계하고 servo writing 과정에서 발생하는 disturbance의 영향을 제거하기 위하여 disturbance observer(DOB)를 add-on type으로 구성하여 tracking 제어기를 설계하였다. 또한 DOB를 적용한 경우와 유사한 gain margin, phase margin과 sensitivity function을 갖는 제어기를 설계하여 그 성능을 비교하였다. 제안된 방식은 radial error propagation을 억제 하였을 뿐만 아니라 disturbance의 최소화하여 쓰여진 track의 DC track spacing과 AC track Squeeze가 개선된 것을 모의실험을 통하여 검증하였다.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.7
• /
• pp.1311-1315
• /
• 2016

Induction motor requires a rotating magnetic field for rotation. Current required to generate the rotating magnetic field is immediately magnetizing current. This magnetizing current is associated with the reactive power. Induction motor is always required reactive power. If reactive power is supplied only to the power supply side, the power factor is low. Therefore, it is to compensate the power factor by connecting capacitors in parallel to the motor terminal. If the capacitor current is greater than the magnetizing current of the motor, there is a possibility that the self-excitation occurs. High voltage generated by the self-excitation leads to insulation failure on the motor. So it is necessary to calculate the power factor correction capacitor capacity the most suitable to the extent that the magnetizing current does not exceed the capacitor current. In this study, we first computed the magnetization current and the reactive power of the induction motor and then calculates a limit of the maximum power factor by comparing the magnetizing current and the capacitor current installed in order to achieve the target power factor.

• Nuclear Engineering and Technology
• /
• v.49 no.6
• /
• pp.1287-1300
• /
• 2017

Based on the observation that ignoring the angle dependency of multigroup resonance cross sections within a fuel pellet would result in nontrivial underestimation of the spatial self-shielding of flux, a parametrized spectral superhomogenization (SPH) factor library (PSSL) method is developed as a practical means of resolving the problem. Region-wise spectral SPH factors are calculated by the normal and transport corrected SPH iterations after ultrafine group slowing down calculations over various light water reactor pin-cell configurations. The parametrization is done with fuel temperature, U-238 number density, fuel radius, moderator source represented by ${\Sigma}_{mod}V_{mod}$, and the number density ratio of resonance nuclides to that of U-238 in a form of resonance interference correction factors. The parametrization is successful in that the root mean square errors of the interpolated SPH factors over the fuel regions of various pin-cells are within 0.1%. The improvement in reactivity error of the PSSL method is shown to be superior to that by the original SPH method in that the reactivity bias of -200 pcm to -300 pcm vanishes almost completely. It is demonstrated that the environment effect takes only about 4% in the reactivity improvement so that the pin-cell based PSSL method is effective in the assembly problems.

• International Journal of Advanced Culture Technology
• /
• v.9 no.1
• /
• pp.79-88
• /
• 2021

This study was a cross-sectional descriptive investigative study to analyze the effects of sub-factors of cognitive emotional control on life goals. The subjects of the study were 184 people in their 20s, and they were collected online from December 2020 to January 5, 2021 using structured cognitive control capabilities and life goal questionnaires. The collected data were performed using SPSS 18.0 for Frequency, Independent Sample t-test, Pearson correction analysis, Simple regression analysis, and Multiple regression analysis. According to the study, men had both life-oriented and achievement-oriented life goals higher than women. Among the sub-factors of cognitive emotional control (positive focus change, positive reassessment, expansion of view, re-accept plan, acceptance, rumination, self-criticism, others criticism, and destruction) were male and female were higher in self-criticism. Factors affecting life-oriented life goals have been shown to be expanding views, re-accepting plans, and criticizing others, while positive re-evaluation negatively affects achievement-oriented life goals. Based on these results, life-oriented life-goals tend to exhibit adaptive responses to expand views and revise plans and maladaptive responses to blame others, while achievement-oriented life-goals have the ability to positively reassess situations, modify plans and accept negative reactions.

• Annual Conference on Human and Language Technology
• /
• 2021.10a
• /
• pp.353-360
• /
• 2021

음성 대화 시스템에서는 사용자가 잘못된 슬롯명을 말하거나 음성인식 오류가 발생해 사용자의 의도에 맞지 않는 응답을 하는 경우가 있다. 이러한 문제를 해결하고자 말뭉치나 사전 데이터를 활용한 질의 교정 방법들이 제안되지만, 이는 지속적으로 사람이 개입하여 데이터를 주입해야하는 한계가 있다. 본 논문에서는 축적된 로그 데이터를 활용하여 사람의 개입 없이 음악 재생에 필요한 슬롯을 교정하는 자기 학습(Self-learning) 기반의 모델을 제안한다. 이 모델은 사용자가 특정 음악을 재생하고자 유사한 질의를 반복하는 상황을 이용하여 비지도 학습 기반으로 학습하고 음악 재생에 실패한 슬롯을 교정한다. 그리고, 학습한 모델 결과의 정확도에 대한 불확실성을 해소하기 위해 질의 슬롯 관계 유사도 모델을 이용하여 교정 결과에 대한 검증을 하고 슬롯 교정 결과에 대한 안정성을 보장한다. 모델 학습을 위한 데이터셋은 사용자가 연속으로 질의한 세션 데이터로부터 추출하며, 음악 재생 슬롯 세션 데이터와 질의 슬롯 관계 유사도 데이터를 각각 구축하여 슬롯 교정 모델과 질의 슬롯 관계 유사도 모델을 학습한다. 교정된 슬롯을 분석한 결과 발음 정보가 유사한 슬롯 뿐만 아니라 의미적인 관계가 있는 슬롯으로도 교정하여 사전 기반 방식보다 다양한 유형의 교정이 가능한 것을 보였다. 3 개월 간 수집된 로그 데이터로 학습한 음악 재생 슬롯 교정 모델은 일주일 동안 반복한 고유 질의 기준, 음악 재생 실패의 12%를 개선하는 성능을 보였다.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.33 no.1
• /
• pp.71-80
• /
• 2013

According to design specifications for structural safety, a bridge in initial design step has been modelled to have larger self-weight, external loads and less stiffness than those of real one in service. Thereby measured buffeting responses of existing bridge show different distributions from those of the design model in design step. In order to obtain accurate buffeting responses of the in-site bridge, the analysis model needs to be modified by considering the measured natural frequencies. Until now, a Manual Tuning Method (MTM) has been widely used to obtain the Measurement-based Model(MBM) that has equal natural frequencies to the real bridge. However, since state variables can be selected randomly and its result is not apt to converge exact rapidly, MTM takes a lot of effort and elapsed time. This study presents Buffeting Response Correction Method (BRCM) to obtain more exact buffeting response above MTM. The BRCM is based on the idea the commonly used frequency domain buffeting analysis does not need all structural properties except mode shapes, natural frequencies and damping ratio. BRCM is used to improve each modal buffeting responses of the design model by substituting measured natural frequencies. The measured natural frequencies are determined from acceleration time-history in ordinary vibration of the real bridge. As illustrated examples, simple beam is applied to compare the results of BRCM with those of a assumed MBM by numerical simulation. Buffeting responses of BRCM are shown to be appropriate for those of in-site bridge and the difference is less than 3% between the responses of BRCM and MTM. Therefore, BRCM can calculate easily and conveniently the buffeting responses and improve effectively maintenance and management of in-site bridge than MTM.

• Journal of Hospice and Palliative Care
• /
• v.21 no.2
• /
• pp.65-74
• /
• 2018

Purpose: The aim of this study is to examine the relationships among hospice-palliative care (HPC) nurses' knowledge of delirium, self-efficacy and nursing performance. Methods: This study was participated by 174 nurses working in the HPC unit. The nurses were asked to fill out a questionnaire that was structured to measure their knowledge of delirium, a self-efficacy in clinical performance scale (SECPS) and nursing performance. Results: The mean score for knowledge was 32.83 out of 45, with correction rate of 73%. The mean score for self-efficacy was 7.08 out of 10. The mean score of nursing performance was 2.95 out of 4. Significant correlation was observed among the variables of knowledge (r=0.28, P<0.001), self-efficacy (r=0.51, P<0.001) and nursing performance. Conclusion: Nurses with high level of knowledge of delirium showed high level of self-efficacy, and consequently better HPC nursing performance. It is necessary to develop a training program on delirium considering nurses' needs of knowledge of the condition. The effectiveness of the training program should be also examined in future.

• Journal of Radiation Protection and Research
• /
• v.28 no.1
• /
• pp.19-24
• /
• 2003

The self-attenuation factor for an $^{198}Au$ sample and the 0.412 MeV gamma-ray penetration ratio in the circular Al-cover of the radiation detector have been determined using an analytical solution and MCNP code. The results show that the self-attenuation factors obtained from the analytical solution coincide with those of MCNP code for all but the Au sample with the relatively larger radius. Then the maximum difference between the two methods appears to be 9 % in the Au sample of 1.5 mm radius. It also is revealed that the analytical solutions of the 0.412 MeV gamma-ray penetration ratio in the Al-cover of 7.62 cm radius are consistent with those of the MCNP code within the standard deviation.