• 대한기계학회논문집
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• 제19권2호
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• pp.568-579
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• 1995

An off-line programming (OLP) system was proposed and developed in order to save cost and time in adjusting a robot to new workcells or applying new algorithms to actual trajectory planning. The developed OLP system was especially designed to be operated in a PC level host computer. A SCARA robot with four axes was selected as an objective robot. The OLP system developed in this study consisted of such modules as data base, three-dimensional graphics, kinematics, trajectory planning, dynamics, control, and commands. Each module was constructed to form an independent unit so that it can be easily modified or improved. The OLP system was programmed for a graphic user interface in Borland $C^{++}$ language. Some of system operating commands and an interpreter were devised and used for more convenient programming of robot simulations.s.

• 대한기계학회논문집A
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• 제33권11호
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• pp.1326-1331
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• 2009

The sensor data measured by the legged robot are used to recognize the physical environment or information that controls the robot's posture. Therefore, a robot's ambulation can be advanced with the use of such sensing information. For the precise control of a robot, highly accurate sensor data are required, but most sensors are expensive and are exposed to excessive load operation in the field. The seriousness of these problems will be seen if the prototype's practicality and mass productivity, which are closely related to the unit cost of production and maintenance, will be considered. In this paper, the use of a virtual sensor technology was suggested to address the aforementioned problems, and various ways of applying the theory to a walking robot obtained through training with an actual sensor, and of various hardware information, were presented. Finally, the possibility of the replacement of the ground reaction force sensor of legged robot was verified.

• 기술혁신연구
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• 제5권1호
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• pp.181-205
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• 1997

There has been considerable controversy over the impacts of the tax credit on R&D expenditures in many countries. Korea has adopted various kinds of tax credit system to stimulate private firm' R&D expenditures. Korean government, Recently, is trying to reform tax system to reduce tax credit programmes according to Uruguay Round agreement and in line with OECD policy standards. The purpose of this paper is to analyze the effectiveness of current tax credit system on technology innovation in Korea and derive some policy implications over tax reform. In this paper, firstly, I investigate the size of tax reduction effects from each program in theoretical models and simulate the actual rate of individual tax incentive to a unit of R&D expenditure. I find that theoretically the reserve fund for technology development program has given the largest tax reduction effects to private firms irrespective of the R&D incentive system reform. Tax credit on R&D expenditure also has been very effective instrument to firm's tax reduction. Secondly, I try to measure the effectiveness of tax credit through the estimation of effective margianl tax rate between with the system and without the system of credit on R&D expenditure during the tax credit reform periods. I find that the tax credit on R&D has lowered firm's investment cost since the system introduced. I also have strong results that there has been a positive relation between the fluctuation of firm's R&D expenditure and the change of effective marginal tax rate. I suggest that it is better to sustain the system of tax credit on R&D for a while to increase firm's R&D expenditure.

• 한국항공우주학회지
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• 제44권4호
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• pp.308-315
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• 2016

본 논문은 관성 항법 시스템(Inertial Navigation System)을 활용한 자세 및 방향 결정시스템(Attitude & Heading Reference System)의 성능을 향상시키기 위한 새로운 기법인, 순차적 측정 오차 공분산(Sequential Measurement Noise Covariance) 기법을 제시하였다. 관성 센서는 시간이 지남에 따라 발생하는 적분오차와 진동이나 가속구간과 같은 외란이 가해 졌을 때 성능이 저하된다는 단점이 있다. 특히, 저가의 관성 센서의 경우 이러한 현상이 더욱 두드러지게 나타난다. 이를 극복하기 위한 알고리즘들은 많이 존재한다. 하지만 가장 일반적으로 사용되는 확장 칼만 필터의 경우 가속도계를 사용할 때 측정값(Measurement)이 일정 범위를 넘어가면 센서값을 배제하는 방법을 사용한다. 본 논문에서 제안하는 기법은 범위를 설정하지 않고 과거의 데이터를 순차적으로 활용하여 측정값의 가중치를 변화하는 기법이다. 최종적으로 제안된 기법을 수치 시뮬레이션을 통해 검증하였다.

• 설비공학논문집
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• 제22권7호
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• pp.429-435
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• 2010

Although recently revised building code requires 15~20% increased thermal insulation performance for window systems, since the code is focusing on winter heat loss, it is not satisfactory to contribute on reducing rapidly rising cooling load in summer. Window systems have great impact on building heat gain and loss. Therefore technological development for window system specialized in shading solar gain in summer is an urgent matter. This study evaluates the performance of sun shading and thermal insulation for blind integrated window system. Also, computer simulation evaluates the effect of heating and cooling energy consumption reduction for an individual unit(floor area of $85m^2$) of a multi-family housing. Physibel Voltra, a heat transfer analysis software, was used to analyse the effect of energy consumption reduction, and the energy load was converted to the cost to compare the actual effect of economical benefit.

• 인간식물환경학회지
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• 제22권5호
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• pp.467-480
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• 2019

Standard estimates are the numerical data of a unit quantity required for construction work such as the amount of materials, manpower, and the use of equipment required and are also a basis to calculate construction costs. Unfortunately, standard estimates for construction have also been used for garden construction these days as no standard estimates for garden construction have been developed or documented until now. As a result, many problems have arisen at garden construction sites since landscape construction and garden construction differ in terms of scope, size, design and construction methods. The purpose of this study was to develop standard estimates for garden construction for proper calculation of the cost of garden construction and to ensure gardens are created following appropriate construction processes. In order to develop standard estimates for garden construction, a preliminary survey was conducted on experts to understand current issues at first. After that, a questionnaire survey was done to examine problems of construction processes and ways of improvement, and on-site inspections were conducted utilizing CCTVs at construction sites to identify the actual amount of manpower required on site. Based on the results of the surveys and on-site inspections, a draft version of standard estimates for 5 types of planting work for garden construction was developed. Developing standard estimates for garden construction will serve as a stepping stone for the transparent and proper compensation for garden construction work, which will not only contribute to addressing issues between consumers and construction companies, but also to the stabilization of market economy and job creation.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.283-290
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• 2006

Cable-stayed bridge is a bridge that consists of one or more pylons, with cables supporting the deck. Cable-stayed bridges have come into wide use recently because of their economy, stability, and excellent appearance. It is possible to achieve a uniform moment distribution in the stiffening girders mainly by prestressing the cables, which leads to a more economical design in material and weight than other types of bridges. However, to achieve a more uniform moment distribution is vague objective, so it cannot be easily defined as the optimization problem. In other words, the minimization of cost or weight as the objective is not directly related to the optimization of cable prestressing. Therefore, it has been considered as one of the most important, difficult and also interesting topics among many researchers and bridge engineers to determine the optimal tensioning strategy how to apply prestressing forces of the cables of cable-stayed bridge. A number of approaches (Wang et al. 1993, $Negr\~{a}o\;and\;Sim\~{o}es$ 1997, Agrawal 1997, Janjic et al. 2003) to determine the optimal cable tensions have been proposed in the literature. Among these approaches the unit load method (Janjic et al. 2003) is considered in this paper because it can take into account the actual construction process while other approaches are based on the configuration of the final structure only. In this paper, '2-step approach' based on the unit load method is proposed to find the optimal tensioning strategy especially for the atypical asymmetric bridge under construction, which has continuous deck supported by one pylon and stay cables. Some numerical results will be given to show the validity of the new approach suggested in this paper.

• Asian-Australasian Journal of Animal Sciences
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• 제22권5호
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• pp.747-755
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• 2009

The feed resource for animals is a major cost determinant for profitability in livestock production enterprises, and thus any effort at improving the efficiency of feed use will help to reduce feed cost. Feed conversion ratio, expressed as feed inputs per unit output, is a traditional measure of efficiency that has significant phenotypic and genetic correlations with feed intake and growth traits. The use of ratio traits for genetic selection may cause problems associated with prediction of change in the component traits in future generations. Residual feed intake, a linear index, is a trait derived from the difference between actual feed intake and that predicted on the basis of the requirements for maintenance of body weight and production. Considerable genetic variation exists in residual feed intake for cattle and pigs, which should respond to selection. Phenotypic independence of phenotypic residual feed intake with body weight and weight gain can be obligatory. Genetic residual feed intake is genetically independent of its component traits (body weight and weight gain). Genetic correlations of residual feed intake with daily feed intake and feed conversion efficiency have been strong and positive in both cattle and pigs. Residual feed intake is favorably genetically correlated with eye muscle area and carcass weight in cattle and with eye muscle area and backfat in pigs. Selection to reduce residual feed intake (excessive intake of feed) will improve the efficiency of feed and most of the economically important carcass traits in cattle and pigs. Therefore, residual feed intake can be used to replace traditional feed conversion ratio as a selection criterion of feed efficiency in breeding programs. However, further studies are required on the variation of residual feed intake during different developmental stage of production.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.900-907
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• 2014

This paper proposes a MPC (Model Predictive Control) method for the torque and flux controls of induction motor. The proposed MPC method selects the optimized voltage vector for the matrix converter control using the predictive modeling equation of the induction motor and cost function. Hence, the reference voltage vector that minimizes the cost function of the torque and flux error within the control period is selected and applied to the actual system. As a result, it is possible to perform the torque and flux control of induction motor using only the MPC controller without a PI (Proportional-Integral) or hysteresis controller. Even though the proposed control algorithm is more complicated and has lots of computations compared with the conventional MPC, it can perform torque ripple reduction by synthesizing voltage vectors of various magnitude. This feature provides the reduction of amount of calculations and the improvement of the control performance through the adjustment of the number of the unit vectors n. The proposed control method is validated through the PSIM simulation.

• 한국건설관리학회:학술대회논문집
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• 한국건설관리학회 2007년도 정기학술발표대회 논문집
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• pp.396-400
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• 2007

최근 경량전철 건설이 정부 및 지자체의 정책과 민간자본의 투자에 힘입어 다양한 노선들이 추진되는 등 SOC 분야에 민간투자사업 형태의 참여가 증가하고 있다. 이러한 민자유치사업은 지자체를 포함한 정부뿐 아니라 민간건설업체의 입장에서도 면밀한 사업 경제성 분석을 통한 타당성 검토가 이루어져야 한다. 즉 공사비 등의 초기 투자비용 뿐 아니라 유지관리비용, 해당 시설물 운영을 통한 수익창출, 해체비용 등 생애주기측면에서의 정확한 비용 분석이 필요하다 하겠다. 그러나 불확실성 인자들의 분석과 이를 활률론적 기법에 의해 경제성을 평가할 수 있는 여건은 미흡한 실정이다. 대표적으로 경량전철 건설사업의 경우 유지관리비용에 관한 실적자료가 아직 미비하므로 정확한 비용산출 및 경제성 분석이 어려운 실정이다. 이에 본 연구에서는 최근 민자투자가 많은 경량전철사업 중 토목구조물 경제성평가를 위한 불확실성을 분석하였다. 이를 위해 먼저 경량전철 비용분류체계를 토대로 교량구조물을 대상으로 생애주기비용 측면에서 고려되어야 할 불확실성 인자를 분석하는 순으로 연구를 수행하였다. 경량전철 건설사업에 있어 시설물에 대한 유지관리 실적자료가 거의 전무한 상황임을 가정할 때, 본 연구를 통해 제시된 비용분류체계와 불확실성 인자 분석은 향후 이 분양의 LCC분석 및 경제성 평가의 자룔로 활용될 수 있으리라 기대한다.