• 한국정보통신학회논문지
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• 제21권2호
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• pp.416-422
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• 2017

인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다.

• 한국환경복원기술학회지
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• 제24권5호
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• pp.25-34
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• 2021

Increase in avian species richness is one of the important issues of urban biodiversity policies, since it can promote diverse ecosystem services such as seed dispersal, education, and pollination. However, though human disturbance can significantly affect avian species richness, there are limited studies on the way to reflect the dynamics of floating population. Therefore, this study analyzed the spatial relationship between avian species richness, floating population, and vegetation cover using telecommunications information to identify the areas that requiring targeted monitoring and restoration action. Bivariate Local Moran's I was applied to identify LISA cluster map that showing representative biotopes, which reflect significant spatial relationship between species richness and population distribution. Edge density and distribution of ndvi were identified for evaluating relative adequacy of selected biotopes to strengthen the robust biodiversity network. This study offers insight to consider human disturbance in spatial context using innovative big data to increase the effectiveness of urban biodiversity measures.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.615-620
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• 2015

DOB (Disturbance Observer) is an useful control method for estimating the disturbance applied to dynamic systems. Disturbance observer can be used to implement a robust control system to generate a control input for rejecting the disturbance, and it can be also used to estimate the disturbance to obtain information. The system that uses disturbance estimation is investigated for high performance control such as automatic door systems, walking robot and electric power steering system in vehicles. In this paper, a novel disturbance observer which is called disturbance and current observer for estimating load torque in the motor system is proposed. The difference between the DOB for disturbance rejection and DCOB is mathematically verified. Current and angular velocity are required for estimating the load torque of the motor in DOB. However, the DCOB can estimate load torque and current without current sensor. DCOB is designed based on modeling of the motor system. Appropriate Q-filter is selected and the applicability of DCOB is verified by simulation. The estimated disturbance and current of the electric motor can be verified without current sensor, as experiments of the actual motor system.

• 전기학회논문지
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• 제64권2호
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• pp.297-303
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• 2015

We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

• 한국환경복원기술학회지
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• 제19권1호
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• pp.155-170
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• 2016

This study established the definition of invasive disturbance species for a sustainable management and biodiversity, and derived the influence factors caused by the species. To define the species, the paper reviewed similar words such as alien species and invasive species, using standard definitions. Also reviewed the results of recent research on the factors of the species. The paper defined the invasive disturbance species as an species whose establishment and spread threaten ecosystems, habitats or species with economic or environmental harm including native and non-native. Through the reviews, The factors were classified as geographic (altitude, slope, and soil, etc.), climate (temperature, precipitation, climate change, etc.) and, anthropogenic (land use, population, road, and human activity, etc.), and species & vegetation structure (species property, local-species richness, and canopy, etc.). Especially, human activity such as urbanization and highways may be associated with both higher disturbance and higher propagule pressure. In the further study, it is required development of mitigation strategies and vegetation structure model against invasive disturbance species in urban forest based on this study.

• 한국소음진동공학회논문집
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• 제19권9호
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• pp.960-966
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• 2009

The World Health Organization(WHO) has reported the sleep disturbance as one of the adverse effects of noise. And the effect of combined noise sources on human have been investigated because community noises are seldom heard and are concurrent. Therefore, the effects of combined noise source and its S/N ratio on sleep disturbance were investigated; as a single noise source, road traffic noise was selected, and construction and movie noise were combined with road traffic noise. Tests for sleep disturbance were conducted in bedrooms and the effect on each subjects' sleep was evaluated by questionnaire. The results showed that the rate of awakening increased slightly only when the SPL of construction noise was 10 dB higher than that of road traffic noise. It was also found that the sleep disturbance was affected by the type of combined noise sources and its S/N ratio.

• 한국기계기술학회지
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• 제13권4호
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• Journal of Ecology and Environment
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• 제30권1호
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• pp.69-73
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• 2007

The sources and the frequency of disturbances and the responses of shorebirds to disturbances were studied at four roosting sites on Ganghwa Island and Yeongjong Island. The mean frequency of disturbance to roosting shorebirds was 2.7 per hour. Human activities contributed to the disturbance in 65% of all cases. Disturbance frequencies in saltpans were higher than those in the upper tidal zone, fishponds and salt marshes. Response patterns of shorebirds to disturbances were associated with the source of the disturbance. Disturbance caused shorebirds to change their behavior and to reduce roosting time at their roosting sites. Four patterns of responses by roosting shorebirds to disturbance were found, including: (1) leaving the roosts, (2) changing their location within the site, (3) leaving and returning, and (4) remaining in place. In the latter three response patterns, the birds tended to remain in their initial roosting sites, in contrast with the leaving pattern, which involved departing from the roosting area. Factors affecting these response patterns were time from high tide and time of day. When the time from high tide was greater, and the time of day was later, more birds stayed at the roost. The absence of sufficient alternative roosts in the study areas forced the birds to choose between tolerating the current disturbance, or moving to distant roosts.

• The Korean Journal of Ecology
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• 제25권5호
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• pp.321-328
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• 2002

등산객에 의한 많은 간섭을 받아온 설악산 대청봉의 아고산생태계에서 훼손된 식생의 복원에 필요한 기초자료를 제공하기 위하여 인간에 의한 답압에 따른 입지인자와 식생의 변화를 파악하였다. 본 조사지역에서 인간에 의한 간섭은 경사도 10° 미만의 완만한 남사면 지역에서 두드러졌다. 인간의 간섭은 식생의 키. 식피율 및 종다양성을 감소시켰고, 식생의 종조성의 변화를 통하여 식생구조의 변화를 유발하였다. 또한 인간의 간섭은 파괴된 식생으로 인한 낙엽생산이 감소하고, 고산지대 특유의 바람에 의한 낙엽의 이동으로 인하여 낙엽층과 유기물층의 발달이 저해되었다. 이는 토양수분함량을 감소시키고, 토양침식작용이 활발해져 토심이 얕아지고 표토층이 유실되면서 자갈이 지표면에 노출된 입지환경으로 변화시켰다.

• 한국의사학회지
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• 제27권2호
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• pp.99-120
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• 2014

Purpose : There are two types of sleep disturbance: inability to sleep (不眠) and somnolence (多眠). This study is to examine treatments of the two types of sleep disturbance in the Books of Cold Damage and how those theories were established and formed. Methods : 1. Verses including the words related to inability to sleep and somnolence were extracted from "Treatise on Cold Damage Diseases" (傷寒論). 2. Among the Books on Cold Damages that are classified according to the symptoms, 17 books with contents related to inability to sleep and somnolence were selected to collect and classify data in three perspectives: mechanism of disease (病機), method of treatment (治法) and disease pattern (病證). 3. Data collected through the above methods were compared and diagramed. Results & Conclusions : 1. On Cold Damage, inability to sleep is mostly rooted when human body lacks yin energy while having excessive yang energy (陽盛陰虛) due to fire and heat (火熱). The reason could be misuse of perspiration inducing method (汗法) or purgation (下法) on the doctors' part. 2. On Cold Damage, somnolence is rooted when pathogen (邪氣) is spread to yin meridians (陰經) and the human body lacks yang while having excessive yin energy (陰盛陽虛) or when heat (熱邪) is invaded into interior parts (裏部). 3. Many scholars of Cold Damage in later periods had copied the "Treatise on Cold Damage Diseases" for treatments of sleep disturbance but many others have applied the verses from "Treatise on Cold Damage Diseases" or added new treatments. Do jeol-am (陶節庵) and Wang Geung-dang (王肯堂) particularly had deep understanding on "Treatise on Cold Damage Diseases" and utilized the content freely or suggested new remedies because they had thorough knowledge on relating formula as well.