• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.869-874
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• 2011

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.446-449
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• 2004

In the former researches〔2〕〔5〕 for the unmanned bicycle system, we do only focus on stabilizing it by using the lateral motion of mass which plays important role in driving a bicycle system. In this papers, we suggest an algorithm for deriving steering angle and speed for a given desired tracking path. As you may see in this paper, load mass balance system plays important role in stabilization and it is also discussed. We propose a control algorithm for the autonomous self stabilization of unmanned bicycle by using nonlinear compensation-like control based on the Lyapunov stability theory We then propose a tracking control strategy by moving the center of load mass left and right respectively. From the computer simulation results, we can show the effectiveness of the proposed control strategy.

• 대한간호학회지
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• 제41권2호
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• pp.236-244
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• 2011

Purpose: In this study the impact of pro-environmental behavior, well-being oriented behavior, and use of cloth menstrual pads on dysmenorrhea in Korean female adults was examined according to the theory of reasoned action. Methods: A cross-sectional study was conducted with 195 Korean female adults. Data were collected from June to August, 2010 using self-report questionnaires. Data were analyzed using t-test, one-way ANOVA, Pearson correlation coefficients, multiple regression, and logit regression with STATA 10.0. Results: Pro-environmental behavior explained 48% of well-being oriented behavior. Well-being oriented behavior explained 10% of cloth pad use. Use of cloth pad explained 4% of dysmenorrhea and 5% of menstrual pain. The path through well-being oriented behavior had a significant effect from pro-environmental behavior to cloth pad use. Conclusion: Use of cloth pad was significantly related with well-being oriented behavior, pro-environmental behavior, social influence, dysmenorrhea, and menstrual pain. The results of this study suggest that pro-environmental strategies can help health care providers diminish clients' menstrual symptoms. Nursing intervention can support pro-environmental behavioral strategies.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2009년도 정보통신설비 학술대회
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• pp.203-207
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• 2009

WiBro(Mobile WiMAX) has gained momentum as a top candidate to deliver the dream of full mobile wireless internet. To save cost and time in WiBro network design, simulation tool has to deploy powerful and useful analysis functions. If path loss model is more accurate, the reliability of analysis result of simulation tool will be much improved. So we emphasize on the importance of pathloss model in WiBro network design in this paper. For this, we introduce to three kinds of pathloss models(SUI, SCM, SCM-E) supposed properly models in WiBro RF (Radio Frequency) environment. Also we treat from basic theory to practical substance on the pathloss model to adopt WiBro network design/optimization. Finally, we describe about wireless network analysis tool named 'CellPLAN(R)' and techniques possible to improvethe accuracy of pathloss model.

• 대한기계학회논문집
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• 제8권6호
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• pp.584-590
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• 1984

본 연구에서는 Luh, Walker와 Paul이 제안한 Newton Euler 방법에 따라 토오 크를 계산하였고, 임으로 로봇을 선택하여 시뮬레이션 크로그램을 적용하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.613-617
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• 1992

The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a, specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.809-812
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• 1999

This paper presents the radio propagation effects in the shadow region due to the presence of obstacle, like building and tree, along the path at the B-WLL band. Using the Uniform Theory of Diffraction(UTD), the total field was obtained as the sum of contributions with diffraction ray from the each obstacle's edge, the direct ray, and the reflected rays from ground. The normalized signal level(in ㏈) is calculated with the parameters of the base station elevation and the distance between obstacle and receiver. This results are used to provide the suitable radio cell planning and coverage prediction in the area of shadow region.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1997년도 춘계학술대회논문집
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• pp.179-182
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• 1997

One-step inverse methods based on deformation theory causes some amount of error. The amount of error is generally increased as the deformation path is more complex. As a remedy, a new three dimensional multi-step inverse method is introduced for optimum design of blank shapes and strain distributions from desired final shapes. The approach extends a one-step inverse method to a multi-step inverse method in order to reduce the amount of error. The algorithm developed is applied to square cup drawing to confirm its validity by demonstrating reasonably accurate numerical results.

• 전자공학회논문지A
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• 제29A권4호
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• pp.7-13
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• 1992

Diffraction loss occurs when the propagation path is obstructed by mountains and hills between a base station antenna and a moving vehicle antenna in mobile-radio communication. In this paper an approximate mathematical model using Fresnel-Kirchhoff diffraction theory is considered to predict propogation attenuation by natural obstacles with lateral profiles having general shapes. Field tests are conducted using helical and crossed drooping dipole antenna at 820 MHz. The theoretical analysis used in estimating the effects of hills agrees reasonably with experimental data. The results seem to be useful for estimating the level of received power, the minimum allowable input power, the optimum site of base station and consequently, planning terrestrial microwave links.

• 한국지반공학회논문집
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• 제17권5호
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• pp.29-36
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• 2001

한반도 남해안의 광양만에서 채취한 연약 해성점토의 물리적 및 역학적 특성을 조사하기 위한 일련의 실내시험을 수행하였다. 물리적 성질 및 압밀시험 결과의 분석에 따르면, 시험에 사용된 시료는 정규압밀점토로 나타났다. 압밀비배수 삼축시험 결과로부터 새로운 간극수압계수(C)를 제안하였고, 이 계수는 유효응력경로를 예측하기 위한 방정식에 적용되었다. 또한, 비배수조건에서 전단변형률은 오로지 응력비만의 함수라는 사실이 실험결과로부터 밝혀졌다. 따라서 비배수 조건에서의 전단변형률 계산식이 제안되었으며, 이들 관계식을 이용하여 비배수(CIU) 및 배수조건(CID)에서의 점토의 거동을 예측하기 위한 새로운 구성방정식이 제안되었다. 이 구성방정식은 Roscoe와 Poorooshasb이 제안한 증분응력-변형률 이론을 기초로 하였으며, 제안된 구성방정식을 적용하여 예측한 배수전단특성을 실측된 결과에 매우 근접하는 경향을 나타내었다.