• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.32-38
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• 2020

This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.

• Journal of Veterinary Science
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• v.21 no.6
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• pp.84.1-84.11
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• 2020

Background: Gastroesophageal reflux (GER) has been reported to be a common finding in dogs under general anesthesia. Objectives: The aim of this retrospective study was to assess the esophageal and gastric contents in a population of dogs undergoing computed tomographic myelography (myeloCT) examination and to evaluate the factors influencing the presence of esophageal fluid (gastric content, duration of anesthesia, body position, and intrinsic factors). Methods: Esophageal and gastric contents of 83 non-brachycephalic dogs were retrospectively assessed based on plain and myelo-CT scans. Age, weight, breed, sex, and the time between the 2 computed tomography [CT] scans were included. Results: Esophageal fluid was present in 19% (16/83) of the animals, and 14% (12/83) and 46% (37/83), respectively, had fluid or food material in their stomachs. The frequency of observing esophageal fluid on myelo-CT scans was significantly increased compared with plain CT scans (p = 0.006). The presence of gastric fluid was significantly associated with an increased frequency of observing esophageal fluid compared to other gastric contents (p = 0.049; odds ratio, 3.1). The presence of esophageal fluid was not correlated with alimentary gastric contents (p = 0.17). Increased body weight and duration of anesthesia were significantly associated with an increased frequency of observing esophageal fluid (p = 0.022, p = 0.021). Conclusions: Unlike alimentary gastric contents, fluid gastric contents were correlated with the presence of esophageal fluid upon myelo-CT. The observation of fluid in the esophagus may be consistent with GER. This study provides data additional to pH monitoring studies of GER and may support previous studies recommending shorter pre-anesthetic fasting periods in dogs.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.28 no.3
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• pp.211-215
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• 2022

Air distribution occupies an important position in the smart unit load container design process for agricultural products. Inner air may be uncomfortable because of its temperature, speed, direction, and volume flow rate. It doesn't matter how efficient the ventilation equipment is if the air is not distributed well. The main aim of this study was to design the inlet and outlet fan locations of smart unit load container for agricultural products. A numerical study was performed on the effects of the location of inlet air and outlet air in relation to the container cooling sources on air distribution and thermal comfort. A concept of combining inner container cooling sources with the exhaust outlet was employed in this investigation. Also, in this research, the developed CFD (Computational Fluid Dynamics) models were thoroughly validated. This system was adopted for use in container spaces, where the exhaust outlet was located. In this study, the location of the inlet was derived through CFD for a container with a size of 1,100×1,100×1,700 mm, and it was derived that the inlet was located at the center of the lower part of the container for efficient air flow. It was efficient to position the outlet through the air inlet in the center of the lower part of the container at the top of the same side.

• Journal of Photoscience
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• v.8 no.3_4
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• pp.113-117
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• 2001

Several styrylquinolium salts were synthesized to investigate their absorption and thermal properties, which had five different p-aminobenzene units and three different counter ions (iodide, perchlorate, and hexafluorophosphorate anion), respectively. Hydroxy, methoxy, and methyl group in the meta position to the amino group led to bathochromic shift, while Ν-ethyl-Ν-chloroethylamino unit instead of Ν,Ν-diethylamino unit resulted in hypsochromic shift. A dye having a methoxy group in the meta position to the amino group had the highest molar extinction coefficient ($\xi$), while a dye carrying chloro group in Ν-alkyl chains had the lowest $\xi$. The type of counter ions had no effect on spectral properties like the maximum absorption wavelength and $\xi$. All styryl dyes had exothermic peaks at decomposition in DSC curves. Among these styryl dyes, S2 series with perchlorate anions showed the strongest exothermic decomposition. From TGA spectra, S3 series with hexafluorophosphorate anions had the best thermal stability and the sharpest threshold at thermal decomposition.

• Journal of Navigation and Port Research
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• v.46 no.4
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• pp.313-320
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• 2022

The light buoy installed on the sea is always flexible, because it is affected by the weather as well as passing vessels. The position of the light buoy can be cached through the AtoN AIS (Automatic Identification System) and RTU (Remote Terminal Unit). This study analyzed the position data of the light buoys for the last five years (2017-2021), as well as the distribution of the light buoys within the maximum separated position. As a result, there was a basic error of 17.9% in the position data. Additionally, the separated position error of 197 light buoys to be analyzed was 70.64%, and the AtoN RTU was worse than the AtoN AIS by equipment. On the other hand, as a result of the plotting the position data of the light buoy, it was classified into four types. The most common percussion center type, the percussion center dichotomous type in which the position is divided into two zones based on the chimney, the central movement type with a fluctuating center, and the drag type, in which the position is deviated from the center for a certain period. Except for Type-1, the type was determined according to the position at which the light buoy was installed. This study is the first to analyze the position data of the light buoy, and it is expected that it will contribute to the improvement of the quality of the position data of the light buoy.

• Journal of Korean Critical Care Nursing
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• v.9 no.1
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• pp.66-76
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• 2016

Purpose: This study was conducted to examine the relationship between lateral position change and sternal complications after cardiac surgery through median sternotomy. Methods: This study was a retrospective descriptive case-control study, involving 241 patients who underwent cardiac surgery through median sternotomy. Data from October 2011 to September 2014 were collected. Results: Sternal complications (i.e. dehiscence, sternal instability, mediastinitis) developed in 33 patients (13.7%). Primary symptoms of complications were discharge and erythema, and the mean time difference from surgery to appearance of symptoms was 15 days (range, 1-138 days). The factors associated with sternal complications were cancer comorbidity (${\chi}^2=5.22$, p=.039), internal mammary artery procedure (${\chi}^2=4.16$, p=.041), and duration of extra-corporeal membrane oxygenation (p=.033). Position change was not related to incidence of sternal complications (${\chi}^2=0.14$, p=.704). Pressure ulcers appeared in 63 patients (26.1%). Mean time difference from surgery until occurrence of ulcers was 6.7 hours (range, 0-323.0 hours), but position change was started from 132.4 hours (range, 27.1-503.2 hours) after intensive care unit admission. Conclusions: These results provide baseline data to create a standard position change and activity protocol for patients after median sternotomy. Furthermore, the study could help clinical practitioners establish evidence-based nursing practices.

• Journal of Aerospace System Engineering
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• v.8 no.1
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• pp.12-17
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• 2014

In this paper, optimal design of composite rotor blade cross-section to consider manufacturability was performed. Skin thickness, torsion box thickness and skin lay-up angle were adopted as discrete design variables and The position and width of a torsion box were considered as continuous variables. An object function of optimal design is to minimize the mass of a rotor blade, and various constraints such as failure index, center mass, shear center, natural frequency and blade minimum mass per unit length were adopted. Finally, design variables such as the thickness and lay-up angles of a skin, and the thickness, position and width of a torsion box were determined by using an in-house program developed for the optimal design of rotor blade cross-section.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.65-68
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• 2003

This paper presents a design and construction of IIR multiple notch filter by modifying the pole-zero placement with least square estimation to find the appropriate gain and pole positions for the filter within a unit circle in z-plane. The appropriated gain and pole position will render the controllable unit gain of filter magnitude. Algorithm design and system simulation are performed on MATLAB while the actual implementation is done on the TMS320C31 digital signal processing board.

• Proceedings of the Polymer Society of Korea Conference
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• 2006.10a
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• pp.222-222
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• 2006

New types of constrained geometry complexes comprising rigid silacycloalkyl group incorporated into the bridging position between cyclopentadienyl and amido functionalities were prepared. The catalytic activities of olefin polymerization were influenced by the change of exo-cyclic ring size on bridge-head silacycloalkyl unit. It has been noted that the activities of this unique series increase with increasing size of the silacycloalkyl bridge and reach the maximum in six-membered silacyclohexyl-bridged CGC complex. It is noteworthy that conformation of silacycloalkanes gives rise to enhanced catalytic activity of the titanium center although the cyclic ring and titanium center are far remoted from each other.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.1
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• pp.29-34
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• 2022

In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.