• 한국정보통신학회논문지
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• 제9권8호
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• pp.1722-1729
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• 2005

본 연구에서는 OpenGL 프로그램으로 4족 보행로봇인 TITAN-VIII의 가상로봇을 설계한 후, 실제로봇의 관절각도, 본체 자세각을 가상로봇에 입력하고 벡터 회전과 평행이동을 이용하여 보행 중 본체를 수평으로 유지하는 제어를 10[ms]마다 행하였다. 디딤율 $\beta$를 0,5로 일정하게 하고, 주기가 1.5, 2.0, 3.0[sec]일 때 한주기당 이동거리를 0.2, 0.3[m]로 변경하여 좌우요동보행을 시키면서 가상로봇의 ZMP, 실제로봇의 ZMP 무게중심의 이동경로를 구하고 발바닥 좌표 변화와의 관계를 비교 분석하였다.

• 조명전기설비학회논문지
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• 제28권10호
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• pp.95-100
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• 2014

To solve the problem of conventional fossil energy, utilization of renewable energy is growing rapidly. Solar energy as an energy source is infinite, and a variety of research is being conducted into its utilization. To change solar energy into electrical energy, we need to build a solar power plant. The efficiency of such a plant is strongly influenced by meteorological factors; that is, its efficiency is determined by solar radiation. However, when analyzing observed generation data, it is clear that the generated amount is changed by various factors such as weather, location and plant efficiency. In this paper, we proposed a solar power generation prediction algorithm using geographical factors such as latitude and elevation. Hence, changes in generated amount caused by the installation environment are calculated by curve fitting. Through applying the method to calculate this generation amount, the difference between real generated amount is analyzed.

• ETRI Journal
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• 제39권2호
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• pp.264-274
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• 2017

Recently, mobile positioning enhancement has attracted much attention in the 3rd generation partnership project long-term evolution system. In particular, for urban canyon environments, the need for three-dimensional (3D) positioning has increased to enable the altitude of users to be measured. For several decades, several time difference of arrival (TDOA-) based 3D positioning methods have been studied; however, they are only available when at least four evolved Node Bs (eNBs) exist nearby or when all eNBs have the same height. Therefore, in this paper, we propose a new 3D positioning method that estimates the 3D coordinates of a user using three types of two-dimensional (2D) TDOAs. However, the give inaccurate results owing to the undefined axis of the 2D coordinate plane. Therefore, we propose a novel derivation of the hyperbola equation, which includes the undefined axis coordinate in the 2D hyperbola equation. Then, we propose an interaction algorithm that mutually supplies the undefined axis coordinate of users among 2D TDOAs. By performing extensive simulations, we verify that the proposed method is the only solution applicable by using three eNBs with different heights.

• The Korean Journal of Ecology
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• 제11권1호
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• pp.17-28
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• 1988

Five hundrad and eight rats were caught in Shiheung-dong and Mt. Kwan-ak from 1986 to 1987 in this survey. Ectoparasites were got from these rats and classified. The results were as follows: 9,191 mites (16 genera, 30 species), 408 fleas (4 genera, 4 species), and 521 lice (3 genera, 5 species) were observed in this survey. In the residential area, Rattus norvesicus(71.74%) was dominant species and in Mt. Kwan-ak Apodemus agrarius(93.62%). In these areas, the mites belonging to suborder Mesostigmata were dominant (Laelaps nuttli, 52.61%; Ornithonyssus bacoti, 36.05%). In Mt. Kwan-ak, family Frombiculidae belonging to suborder Prostigmata were dominant (Leptotromibidium orientalis, 31.04%; Leptotrombidium palpalis, 30.00%). In this way, it was discovered that the difference between the two regions in dominant species was noticeable. As for the hosts parasitized by mites, L. nuttalli in R. norvegicus (54.85%), L. nuttalli in R. rattus (32.90%), and L. orientalis in A. agrarius (31.27%) were dominant species, respectively. In the mites parasitizing on A. agrarius in each altitude, the species were more varied as the region was lower and the dominant species were more concentrated as it was higher.

• 한국위성정보통신학회논문지
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• 제8권3호
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• pp.20-24
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• 2013

본 논문에서는 HEMP의 개념을 소개하고, 안테나 요소의 배치 변화에 따른 방호 효율성을 분석한다. 높은 주파수의 EMP를 맥스웰 방정식을 이용하여 LOS에서 근사한다. 전자기파 감쇄의 영향을 분석하기 위하여, 차폐룸을 구성하여 측정 데이타를 얻는데 이용한다. 수신 안테나의 거리와 주파수를 변화시켜 차폐 정도를 측정한다. 기준이 되는 미국 규격문서와 측정값을 비교하고 측정방법을 간소화해본다. 차폐룸 내부를 3가지 조건으로 만들어 변화를 차폐 정도를 측정한다. 정방향 측정과 역방향 측정의 차이를 살펴보고 차폐룸 측정에 영향을 미치는 요소를 찾는다.

• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• 운동영양학회지
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• 제13권1호
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• pp.45-50
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• 2009

This study evaluated the effects of D-ribose supplementation on exercise time in a hypoxic chamber. Eight healthy young males participated in experiments under all four different conditions; placebo+normoxic, placebo+hypoxic, ribose+normoxic, and ribose+hypoxic. Subjects took 1 g per 10 kg body weight of ribose dissolved in drinking water 30 minutes before and immediately before running. We observed the run-to-exhaustion time, the maximum heart rate, and the changing pattern of the heart rate during exercise. The longest running time was achieved when subjects ran under normoxic condition with ribose supplementation. The shortest running time occurred when subjects ran under hypoxic conditions without ribose supplementation. We measured MDA and GPx to determine any changes in oxidative stresses or antioxidative systems. MDA was affected by the environmental conditions and the running time. The activity of GPx showed a significant difference only with the different environmental conditions of exercise. The results of this study indicate that ribose can be considered a possible ergogenic during exercise in specific conditions, but more detailed and well-controlled studies are needed to make a definitive conclusion.

• 항공우주기술
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• 제2권1호
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• pp.1-10
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• 2003

항공기용 가스터빈엔진에 대한 경제적인 시험 기법 개발을 위해 천이상태 성능 시험 결과로부터 정상상태 성능을 예측할 수 있는 방안을 모색했다. 천이상태 성능과 정상상태 성능이 서로 달라지는 현상의 원인을 동역학적 천이 효과, 열적 천이 효과, 공기역학적 천이 효과로 구분하고, 각각을 모델링해서 엔진의 천이상태 성능을 통해 정상상태 성능을 계산하는 보정 인자를 정량화했다. 먼저 천이상태 성능시험 시 나타나는 엔진 입ㆍ출구의 온도 변화가 엔진 성능에 미치는 영향을 보정했고, 그 후 도입된 보정 인자를 사용해 정상상태 성능을 예측했다. 이렇게 예측된 결과와 실제 정상상태 성능시험 결과를 비교한 결과, 연료 소모량의 차이 3.68% 이내로 정상상태 성능을 예측할 수 있었다.

• 한국항공운항학회지
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• 제28권1호
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• pp.7-13
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• 2020

A significant growth in local air traffic volume is leading to airway congestion and flight delays especially for Incheon-China and Incheon-Europe sectors. A key method to increase the airway capacity is to place a supplemental airway parallel to the existing one and in cooperation between the aviation authorities between China and Korea, a dual airway track was implemented on December 6, 2018. Here, we use airline A's flight data to analyze the congestion change effect of the new airway. Results show total delay time to Europe is reduced 51% (13.4 to 6.6 minutes) as the delay distribution for 16-30 minutes, 31 minutes and greater decreased from 23.2% to 8.2% and 8.7% to 1.0% respectively. The delay to China also decreased but the drop is not as significant as flights to Europe. This is caused by the difference in flight distance, traffic volume, and characteristics of flights landing and transiting China. Flights to Europe show a broad distribution in altitude allocation and reduction in aircraft separation demonstrating the effectiveness of a dual airway track.

• Journal of Astronomy and Space Sciences
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• 제35권4호
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• pp.295-308
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• 2018

In this study, orbit determination (OD) simulation for the Korea Pathfinder Lunar Orbiter (KPLO) was accomplished for investigation of the observational arc-length effect using a sequential estimation algorithm. A lunar polar orbit located at 100 km altitude and $90^{\circ}$ inclination was mainly considered for the KPLO mission operation phase. For measurement simulation and OD for KPLO, the Analytical Graphics Inc. Systems Tool Kit 11 and Orbit Determination Tool Kit 6 software were utilized. Three deep-space ground stations, including two deep space network (DSN) antennas and the Korea Deep Space Antenna, were configured for the OD simulation. To investigate the arc-length effect on OD, 60-hr, 48-hr, 24-hr, and 12-hr tracking data were prepared. Position uncertainty by error covariance and orbit overlap precision were used for OD performance evaluation. Additionally, orbit prediction (OP) accuracy was also assessed by the position difference between the estimated and true orbits. Finally, we concluded that the 48-hr-based OD strategy is suitable for effective flight dynamics operation of KPLO. This work suggests a useful guideline for the OD strategy of KPLO mission planning and operation during the nominal lunar orbits phase.