• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• Journal of The Korean Society of Grassland and Forage Science
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• v.20 no.1
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• pp.31-40
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• 2000

This study was conducted to investigate the effects of application levels of swine manure fermented with sawdust(SMFS) and degree of the slope on productivity of corn, and nitrogen and organic matter runoff in corn cultivation soil. Main plots were consisted of the degree of slope, such as 0, 5 and 10, and the subplots consisted of application levels of SMFS, such as control, 200kgNha and 400kgNha. Lysimeter was constructed with 0.33m width, 3m length and 0.4m height. Dry matter(DM) yields of corn decreased as the slope increased but there was no significant differences between the degree of the slope. DM yields increased significantly as application levels of SMFS increased (pc0.05). DM yields decreased according to continuous cultivation of corn. Total nitrogen(TN) contents of the whole corn decreased as the slope increased(p<0.05). TN content in SMFS treatments was higher than that of non-SMFS treatment but there was no significantly different between SMFS treatments. TN yields decreased significantly as the slope and the application level of SMFS increased(p<0.05). Nitrogen and organic matter yields in the runoff waters increased as the slope and application levels of SMFS increased. The runoff of nitrogen and organic matter was more affected by the increase of the slope than application levels of SMFS. (Key words : Corn, Runoff, Swine manure, Degree of slope, Lysimeter)

• Proceedings of the ESK Conference
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• 1995.04a
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• pp.155-164
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• 1995

For efficient operation, vital hand controls must be easily controlled by the operator from his normal working position. The primary working area based on operator's working comfort was developed to serve as a design guideline tothe control panel layout. Ten male subjects participated in the experiment in which working comfort was measured for two controls of a lever type control and a knob type control with respect to the frontal and sagittal distances from the body center and the slope of a workplace. The response surface methodolgy using a central composite design was employed to develop a prediction model for perceived working comfort of each control. Both controls have a similar pattern of comfortable working area, but the lever type control has slightly broader working area. The concept of the proposed working area is a significant extension to the conventional working area such as Farley's or Squires' curves. It is shown that the distance toa control device and the slope have a quadratic effect to working comfort. It is noticeable that comfortable working area exists outside the conventional working area. The result of the response surface analysis also indicated that a little slope of about 15 .deg. for a control panel improves working comfort.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.8 no.3
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• pp.229-238
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• 2015

This study was conducted to develop electronic control system of weeding implement that can operated at various areas such as slope land and inclined road side. The weeding implement consists of five main parts; the electronic control system, the hydraulic system, the main frame, the boom and arm mechanism, and the rotary type weeder. And the weeding implement was developed to be attached by three-point hitch of tractor considering the use of electronic control system. As a result, the electronic control test was conducted with the weeding implement attached to tractor in slope land. The results of the electronic control system test showed satisfactory weeding performance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2552-2556
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• 2005

In general, the forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by current control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the forklift is demanded the robust drive mode. Some cases of the mode, there aretrouble in torque control following slope capacity. The control is sensitive concerning about slope angle and output speed, various control method is studied for stability of speed control. In this paper, I apply current control for the self-tuning using the fuzzy controller to obtain robust, stable speed control and use stable, high efficiency control using DSP as main controller for high speed processor, embody dynamic characteristic of control compared the PI controller to the fuzzy controller.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.481-484
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• 2003

Sulfide minerals contacted with air and water in coal seam cause oxidation reactions. This oxidation reactions make low pH of groundwater and surface water(Acid Drainage). The reddish brown precipitate collected from the cut slope of the study area was estimated using the X-Ray Diffractometer(XRD). XRD results show that the cut slope was affected by Acid Drainage. The cut slope exposured to Acid Drainage become weak about chemical weathering and defile the appearance of the road. Drainage facilities are very important in Cut Slope under Acid Drainage influence. Reactions between Coal seam and water cause chemical weathering and environmental problem. Therefore It is important to control the transfer paths of groundwater and surface water and to install water collecting facilities

• Journal of Korean Society of Forest Science
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• v.64 no.1
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• pp.42-46
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• 1984

This study was carried out to obtain the advanced basic data for hillside erosion control works. Recovery of vegetation in the hillside erosion control districts depends on various factors i.e., topographies, soil qualities, rain conditions and erosion control methods. The only relations between topographies and vegetation coverage were surveyed, since the other factors were equal in all those surveyed areas. The results obtained are summarized as follows; 1) Mean coverage values were decreased in order of 80%, 78.7%, 64.0% and 56.5%r in concave slope, uniform slope, compound slope and convex slope respectively. The mean coverage of all aspects was 69.8%. The slope pattern have a influence on formation of coverage. 2) Moisture ratio in soil and mean slope have an effect on the mean coverage value. 3) In the beginning of the hillside erosion control working, coverage (14.8%) by arbor species was too low comparing with that by herb. 4) It is more desirable to recover regetation by artificial planting or seed planting than by the natural vegetation in the barren hillside. In the beginning of the hillside erosion control working, it is difficult to expect vegetation recovery by natural species.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.371-376
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• 2003

In general, the electronic forklift driven by DC motor drive system is used in the industrial field. Classically, the DC motor is controlled by speed control using proportion control method, by output torque following the load on the plane like a manual operation. But in the industrial field, the electronic forklift is demanded the robust drive mode. Some cases of the mode, there are trouble in torque and speed control following slope capacity. The control is sensitive concerning with slope angle and output speed, various control method is studied for stability of speed control. We apply speed controller for the self-tuning using DSP(TMS320F240) as main controller for high speed processor, embody dynamic characteristic of control compared the PI control to the fuzzy control.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.991-1000
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• 1994

To control nonlinear systems adaptively, we improve learning speed of neural networks and present a novel control algorithm characterized by compensation of control inputs. In an error-backpropagation algorithm for tranining multilayer neural networks(MLNN's) the effect of the slope of activation functions on learning performance is investigated and the learning speed of neural networks is improved by auto-adjusting the slope of activation functions. The control system is composed of two MLNN's, one for control and the other for identification, with the weights initialized by off-line training. The control algoritm is modified by a control strategy which compensates the control error induced by the indentification error. Computer simulations show that the proposed control algorithm is efficient in controlling a nonlinear system with abruptly changing parameters.

• Journal of The Korean Society of Integrative Medicine
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• v.5 no.4
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• pp.1-9
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• 2017

Purpose : This study was conducted among 195 adults in their 20s. To analyze the impact of the slope types of the scapulae on the plantar surface of the foot, the average pressure (AP), the maximum pressure (MP), the average of local distribution values, and the average movement of the center of pressure (COP) of the different slope types of the scapulae were compared. Method : The anterior-posterior slopes of the scapulae were measured by comparing the slopes of the left and right sides of the scapulae based on the differences in the height and the slope of the coracoid process and the angulus inferior scapulae. Those whose left side of the scapulae had an anterior slope were categorized as type 1, and those whose right side of the scapulae had an anterior slope, as type 2. The average plantar pressure, the center of plantar pressure, the maximum plantar pressure, and local distribution values were analyzed using a plantar pressure analyzer of the FSA. Result : In terms of the AP of the left and right feet, there was no statistically significant difference both in types 1 and 2 on the left and right feet. The comparison results of the MP and the average of local distribution values of the two slope types of the scapulae showed that there was no statistically significant difference on the X-axis both in types 1 and 2 on the left and right feet, but that there was a large statistically significant difference on the Y-axis both in types 1 and 2. That is, the MP of the right foot of the left anterior slope type was located more on the hindfoot than that of the right anterior slope type, and the MP of the left foot of the left anterior slope type was located more on the hindfoot than that of right anterior slope type. Conclusion : This study can be used as fundamental data to predict differences in the location and size of the COP and changes in plantar pressure distribution depending on the slope types of the scapulae, and control the distribution for therapeutic purposes.