• 한국군사과학기술학회지
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• 제21권3호
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• pp.349-360
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• 2018

This paper proposes various methods for constructing a HWIL simulation system including Inertial Navigation System(INS) and Guidance Control Unit(GCU) under the assumption that the INS identifies the initial attitude of an aviation body through its own alignment and that it is a package consisting of an inertial sensor and a navigation computation module. This paper also presents a real-time computing technology and a way to calculate the command of the Flight Motion System(FMS) analogous to the acutal flight environment. The proposed HWIL simulation system is constructed by applying the above-mentioned methods and the results of running a series of simulations confirm high effectiveness and usefulness of the system. Finally, minor error factors that could be acquired only in HWIL simulation Environment are analyzed.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.369-377
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• 2005

This paper describes the realization of a coordinates tracking algorithm for an EOTS (Electro-Optical Tracking System). The EOTS stabilizes the image sensors, tracks targets automatically, and provides navigation capability for vehicles. The coordinates tracking algorithm calculates the azimuth and the elevation angle of an EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which are generated by a Radar. In the error analysis, the unexpected behaviors of an EOTS due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. The application of this algorithm to an EOTS will improve the operational capability by reducing the time which is required to find the target and support flight especially in the night time flight and the poor weather condition.

• 한국임상약학회지
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• 제19권1호
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• pp.37-42
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• 2009

The purpose of this study was to evaluate barriers to pharmacists' routine work in community setting. A survey was given to 281 pharmacists who enrolled in 16-week clinical pharmacy educating program in continuous education center for advanced pharmacy at Seoul National University. Three main questions that pharmacists were asked to answer were: (1) difficulties on dispensing prescription, (2) difficulties on communicating with doctors, (3) most difficult disease on patients counseling. The response rates for the survey were more than 60 % for each three questions (62.63 %, 63.7 %, and 64.41 %, respectively). The top three barriers to dispensing prescription were lack of professional knowledge about medications, prescription error and its solving ability and patient counseling. The top three barriers to communicating with doctors were lacking of opportunity to discuss about patients' medication due to unavailability of doctors, doctors' attitude using authoritative manner, and a pharmacist's lack of knowledge. The top 4 most difficult diseases on patients counseling were cardiovascular disorders, dermatologic disorders, endocrinologic disorders, and psychiatric disorders.

• 한국해양공학회지
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• 제14권2호
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• pp.7-12
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• 2000

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.109-113
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• 2006

This paper presents an in-flight alignment method for strapdown inertial navigation systems based on the line-of-sight information. Unlike the existing methods, the proposed method utilizes only the 2-axis angle measurements of the onboard image sensor and does not require any explicit range measurements between the vehicle and landmarks. To improve the accuracy of all the position, velocity, and attitude estimates through the in-flight alignment, an error model of the image-sensor-aided SDINS is derived. A simulation study demonstrates that the accuracy of SDINS can be improved by the line-of-sight information only.

• 전기학회논문지
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• 제66권2호
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• pp.409-415
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• 2017

This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims.

• 전기학회논문지
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• 제68권1호
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• pp.122-128
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• 2019

This paper describe the method for maintaining initial azimuth of tactical grade IMU. The proposed method uses the zero velocity update (ZUPT) algorithm based on Kalman filter and the azimuth information previously obtained through transfer alignment. ZUPT technique can estimate and correct navigation attitude errors using the observed velocity error without the need of other sensors. Also, ZUPT combined pre-obtained azimuth information allows to maintain initial azimuth for tactical grade IMU. We verify the performance improvement of the proposed azimuth maintaining method by simulation and test.

• 한국산학기술학회논문지
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• 제11권12호
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• pp.4907-4921
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• 2010

본 연구의 목적은 대학생들의 DNR(Do Not Resuscitate)과 관련된 인식 및 태도를 파악하여 임상에서 사용할 수 있는 DNR에 대한 객관적인 기준을 마련하는데 도움이 되는 기초자료를 제공하고자 시도된 서술적 조사연구이다. 연구대상은 대구광역시 일개 전문대학생 1267명을 대상으로 하였다. 자료수집기간은 2010년 7월1일부터 7월31일까지였으며, 자료수집방법은 구조화된 질문지를 사용하였다. 자료 분석은 SPSS 17.0 Program을 이용하여 실수와 백분율을 구하였고, $x^2$-test로 분석하였다. DNR에 대한 간호대학생과 비 보건계열대학생 인식 및 태도를 비교한 결과, 인식에 있어서 DNR에 대한 필요성, DNR 찬성 이유, DNR 반대 이유, DNR 결정 주체자의 인식에서 유의한 차이가 있었고, 태도에서는 가족 DNR시행, 자기자신 DNR시행에서 유의한 차이가 있었다. DNR정보제공에 대한 간호 대학생과 비 보건계열대학생의 인식을 비교한 결과 DNR에 대한 정보제공 필요성, DNR 정보제공 시기, DNR 정보 제공 결과, DNR 정보제공 지침서에서 유의한 차이가 있었다. 대상자의 일반적 특성에 따른 DNR 필요성 인식차이에서 종교, 헌혈경험에서 유의한 차이가 있었고, DNR 결정 주체자에 대한 인식차이에서 종교, 형제 자매수에서 유의한 차이가 있었다. 대상자의 일반적 특성에 따른 가족 DNR시행에 대한 태도에서 성별, 연령, 경제상태, 종교, 형제 자매수, 가족중 질환 및 사망자, 헌혈경험에서 유의한 차이가 있었고 자기자신 DNR시행에 대한 태도 차이에서 성별, 경제상태, 종교, 형제 자매수, 가족중 질환 및 사망자에서 유의한 차이가 있었다. 본 연구결과를 바탕으로 DNR에 관한 기준을 마련하기 위하여 더 많은 후속 연구가 필요하다고 사료된다.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1103-1111
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• 2014

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.

• 한국항공우주학회지
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• 제44권5호
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• pp.416-422
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• 2016

본 논문에서는 연세대학교 천문우주학과 우주비행제어연구실에서 개발 중인 인공위성 편대비행 테스트베드에 대한 예비 성능분석 결과를 제시하였다. 동역학 모델에 포함되지 않은 동특성과 측정 잡음 등에 의한 불확실성의 영향을 받는 반작용 휠의 응답 성능을 향상시키기 위하여 간단한 1차 선형시스템을 기준 모델로 하는 적응제어기를 설계하였다. 또한 자세 측정값에 잡음이 포함된 환경에서도 원활한 제어를 수행하기 위해 최소제곱법 기반의 실시간 파라미터 추정기법을 이용하여 관성모멘트를 추정하였다. 수치 시뮬레이션과 하드웨어 실험을 통해 설계된 모델 기준 적응제어기의 적합성과 향후 적용가능성을 검토하였고, 전 시간에 걸친 자세 추적오차가 $0.25^{\circ}$ 이내에 머무는 것을 확인하였다. 하지만 하드웨어 실험을 통해 드러난 제어 입력에 대한 데드존의 영향을 줄이기 위해서는 인공위성 시뮬레이터의 설계 변경이 필요하다고 판단된다.