• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• Korean Journal of Agricultural and Forest Meteorology
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• v.22 no.4
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• pp.299-311
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• 2020

This paper analyzes the distribution of water vapor pressure and relative humidity in complex terrains by collecting weather observation data at 6 locations in the valley in Jungdae-ri, Ganjeon-myeon, Gurye-gun, Jeolla South Province and 14 locations in Akyang-myeon, Hadong-gun, Gyeongsang South Province, which form a single drainage basin in rural and mountainous regions. Previously estimated water vapor pressure used in the early warning system for agrometeorological hazard and actual water vapor pressure arrived at using the temperature and humidity that were measured at the highest density (1.5 m above ground) at every hour in the valley of Jungdae-ri between 19 December 2014 and 23 November 2015 and in the valley of Akyang between 15 August 2012 and 18 August 2013 were compared. The altitude-specific gradient of the observed water vapor pressure varied with different hours of the day and the difference in water vapor pressure between high and low altitudes increased in the night. The hourly variations in the water vapor pressure in the weather stations of the valley of Akyang with various topographic and ground conditions were caused by factors other than altitude. From the observed data of the study area, a coefficient that adj usts the variation in the water vapor pressure according to the specific difference in altitude and estimates it closer to the actual measured level was derived. Relative humidity was simulated as water vapor pressure estimated against the saturated water vapor pressure, thus, confirming that errors were further reduced using the derived coefficient than with the previous method that was used in the early warning system.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.21-28
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• 2020

In this paper, a new type of electric wheelbarrow is proposed and developed. The developed electric wheelbarrow is equipped with an attitude reference system(ARS) sensor, which consists of 3-axis acceleration sensor and 2-axis Gyro sensor so that it can estimate pitch angle and roll angle. When an operator tilts the wheelbarrow up and down, the pitch angle is detected. The sign of the pitch angle is interpreted as the operator's intention for moving the wheelbarrow forward or backward and the controller drives the wheel of the wheelbarrow with the velocity according to the magnitude of the detected pitch angle. A cargo box of the wheelbarrow is designed to rotate and is controlled to maintain level always, so an operator can handle the electric wheelbarrow easily and safely. The wheelbarrow consists of an in-wheel motor, a DC motor, motor drives, an ARS sensor considering economical use in industrial field. Three experiments are performed to verify the feasibility and stability of the electric wheelbarrow.

• Journal of the Korean Society of Earth Science Education
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• v.16 no.3
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• pp.340-350
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• 2023

This study analyzed the difficulty level of class on the seasonal change unit for 84 students at a university of education. The conclusions of this study are as follows. First, if we first present the four topics that make up the seasonal changes in elementary science, the subjects that have the greatest difficulty in teaching for prospective elementary school teachers are 'Why do seasonal changes occur?' (Teaching difficulty level 4.05), 'The sun changes depending on the season' What is the difference between the southern altitude and the length of day and night?' (difficulty level of class, 3.12), 'What is the relationship between the altitude of the sun, length of shadow, and temperature during the day?' (difficulty level of class, 2.85), 'How does the temperature change depending on the season?' (class difficulty level 2.80). As a result, in the elementary science season change unit, the class on the four topics 'Why do seasons change?', which is classified as a class topic that requires the concept of spatial perception, showed a higher level of class difficulty than other units. Second, in the seasonal change unit, various factors of class difficulty appeared depending on the class topic. When pre-service elementary school teachers look at the factors that make class difficult when teaching a lesson on seasonal changes in order of frequency, 42 (50%) said 'Experimental instruction for comparing the altitude of solar masculine according to the tilt of the axis of rotation', followed by 'Solar masculine'. 38 people (45%) answered 'Difficulty in explaining mid-high altitude and the length of day and night', 27 people (32%) answered 'Difficulty in explaining the concept of mid-high altitude', and 24 people (32%) answered 'Difficulty in explaining seasonal changes in the sun's position.' 29%), 20 people (24%) said 'Explain the reasonable reason why the height of the light should be adjusted when measuring the solar altitude', and 16 people (19%) said 'It is difficult to explain the reason for the discrepancy between the solar altitude and the maximum temperature'. ), 'difficulties in measuring sand (ground) temperature' were mentioned by 12 people (14%). Third, when analyzing the factors of class difficulty, there were more curriculum factors than teacher factors. In this context, the exploratory activities on 'Why do seasonal changes occur?', the fourth topic of the seasonal change unit in which elementary school pre-service teachers showed the greatest difficulty in teaching, need improvement in terms of the curriculum.