• Ocean and Polar Research
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• 제33권1호
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• pp.69-76
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• 2011

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo's kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line) system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.

• 터널과지하공간
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• 제26권1호
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• pp.12-23
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• 2016

향후 국내에서 수행될 이산화탄소 지중저장 프로젝트의 성공적인 수행을 위해서는 현장 지질조건에 최적화된 주입 조건을 설계하는 것이 중요하다. 따라서 본 연구에서는 주입량 및 주입온도 등의 주입조건이 격리저장시스템의 역학적 안정성에 미치는 영향을 열-수리-역학 연계해석기법의 하나인 TOUGH-FLAC 해석기법을 이용하여 평가하였다. 저장시스템의 역학적 안정성은 기존 균열의 전단미끄러짐 발생가능성을 활동마찰각 및 응력원을 이용하여 분석하였다. 이산화탄소의 주입온도가 저류층의 초기온도보다 낮은 저온주입의 조건에도 열응력으로 인한 인장균열은 발생하지 않는 것으로 파악되었으나, 저류층에서 전단미끄러짐이 발생하는 결과를 보였다. 단위시간당 이산화탄소 주입량을 변화시킨 시나리오 해석에서는 단계별로 주입량을 감소시키는 주입시나리오에서 기존 균열들의 전단미끄러짐 발생 가능성이 가장 낮은 것으로 평가되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.783-786
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• 1991

Generally, The position of mobile robot moving on the plane is measured by the method of dead reckoning, using the encoder system coupled on a wheel axis. But it is noted that the encoder system cannot check the slip of a wheel, often occurring in tracking of the mobile robot. In this study, using velocity angular velocity sensor with a tuning fork vibration system, the system is developed which can measure the directional angle of positional variables on the mobile robot. By measuring the variations of tracking direction mobile robot equipped with this system, following result is found; In spite of the slip at a wheel when measuring the tracking directional angle, the error occurs in the range of .+-. 1 (degree).

• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 춘계학술대회 논문집
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• pp.813-818
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• 2005

In this paper, a re-adhesion control scheme is proposed for 1C2M propulsion system of TTX. The possibility of slip between wheel and rail in railway system is increasing because of the tendency of high speed and a climatic change. This slip results in the decrease of adhesive effort between this wheel and rail, so the control strategy of traction effort which can reduce the speed promptly and make most use of the maximum adhesive force is absolutely necessary. This paper describes the modeling of the TTX system, and this system is verified by the simulation.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2006년도 학술발표회 논문집
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• pp.78-85
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• 2006

The Ulsan Fault System continues from north of Gyeongju to Ulsan city, trending NNW-SSE and is about 50 km. Many Quaternary faults have been reported and investigated with outcrop observation. Lineaments have been extracted with aerial photograph interpretation and classified by their ranks. Trench excavations on the lineaments along Ulsan Fault System have been carried out to clarify the neotectonic movements and fault parameters such as the latest movement age, fault displacement, slip rate and recurrence interval. We have compiled data from previous studies on criteria of segment type such as lineament rank, seismicity, slip rate, and the latest fault movement. Based on these data, we tried to devide the Ulsan Fault System into several segments. The results of segmentation with each types of segment along the Ulsan Fault System did not show singular division point but overlapped or different length and location.

• 한국항행학회논문지
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• 제17권6호
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• pp.593-599
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• 2013

본 논문은 차량 환경에서 GPS 반송파 기반 위치 결정을 위한 반송파 불연속 측정치 검출에 대한 내용을 다룬다. 반송파 기반 위치 결정 방식에 있어서 위치 정확도의 신뢰도를 확보하기 위해서는 반송파 불연속 측정치를 검출해야 한다. 반송파 불연속 측정치를 검출하는 방식에는 여러 연구가 있지만 본 연구에서는 차분된 반송파 측정치와 저가의 관성센서를 이용해 추정한 차분된 반송파의 차이를 모니터링 값으로 설정함으로써 GPS 불연속 측정치를 검출한다. 저가의 불연속 측정치 검출 알고리즘을 개발하는 것을 목표로 설계된 불연속 측정치 검출 성능 만족을 위한 관성센서 성능 범위를 도출한다. 이를 통해 적절한 가격과 성능의 관성센서 선택이 가능하다. 선정된 관성센서가 설계치를 만족하는지를 검증하기 위하여 회전 테이블 실험을 진행하였다. 결과적으로 실험치가 설계된 불연속 측정치 검출 성능을 보수적으로 만족하는 검출 성능을 보였다.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.1-11
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• 2014

The aim of this study is to investigate the effect of SCR reactor on the exhaust emissions characteristics in order to develop a urea-SCR aftertreatment system for reducing $NO_x$ emissions. The experiments are conducted by using a flue tube LPG steam boiler with the urea-SCR aftertreatment system. The urea-SCR aftertreatment system utilizes the ammonia converted from 17% aqueous urea solution injected in front of SCR catalyst as a reducing agent for reducing $NO_x$ emissions. The equivalence ratio, urea injection amount, ammonia slip and $NO_x$ conversion efficiency relative to boiler load are applied to discuss the experimental results. In this experiment, the average equivalence ratio is calculated by changing only the fuel consumption rate while the intake air amount is constantly fixed at $25,957.11cm^3/sec$. The average equivalence ratios are 1.38, 1.11, 0.81 and 0.57 when boiler loads are 100, 80, 60 and 40%. The $NO_x$ conversion efficiency is raised with increasing urea injection amount, and $NH_3$ slip is also boosted at the same time. Consequently, the $NO_x$ conversion efficiency relative to boiler load should be examined in combination with urea injection amount and $NH_3$ slip. The results are calculated by 89, 85, 77 and 79% for the boiler loads of 100, 80, 60 and 40%. The appropriate amount of urea injection for the respective boiler load can be not discussed by only $NO_x$ emissions, and should be determined by considering the $NO_x$ conversion efficiency, $NH_3$ slip and reactive activation temperature simultaneously. In this study, the urea amounts of 230, 235, 233 and 231 mg/min are injected at the boiler loads of 100, 80, 60 and 40%, and the final $NH_3$ slips are measured by 8.48, 5.58, 11.97 and 11.34 ppm at the same conditions. THC emission is affected by the SCR reactor under other experimental conditions except 100% engine load, and CO emission at only 40% engine load. The rest of exhaust emissions are not affected by the SCR reactor under all experimental conditions.

• 간호행정학회지
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• 제1권1호
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• pp.147-211
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• 1995

Medication is a kind of medical service and a therapeutic nursing function which takes large portion of nursing service and requires complicated procedures. So many different medical personnel should be involved and cooporate each other in order to accomplish medication. Medication is also a vital nursing service, So nurse feels heavy responsibi lity in that she gives medication to the patient finally, so she has much responsibility if medication error is happened. Therefore it seems very important to clarify the problem of medication system and method, and find the subculture of medication situation because it may promote nursing productivity. The study was conducted to 1. Describe and interpret medication situation. 2. Find out the problem of medication system and method and on alternatives. 3. Compare the medication system and method of hospitals which are located in Seoul with object hospital Ethnographic methodology was used to study medication situation by doing participant observation and interview of health care personnel. Ten nurses and three nurse aids were interviewed. Two residents and internists, two phamacists and two accountants were also interviewed. Data was obtained and analized according to Developmental Research Sequence introduced by Spradly. On the basis of this data the results were as follows. 1. The overall flow of medication system was devided into six stage : first, checking doctor's order : second writing doctor's order, : third, transfering slip into the related departments such as account department, pharmacy : fourth, distribution of medication from pharmacy to unit : fifth, identifing medication by nurses : and finally, medicating to the patient. Behaviorors have been under a lot of stress in that they have to do much works, especially paperworks, So too much time were needed. They also have been suffered interpersonal conflicts among health care personnel and role conflicts in the process of doing medication service. 2. In the process of checking order, the problem was that too much time was required for checking order and paperwork. The more the order changes the more the paperwork is. Nurses have been suffering difficulties in calling internist in order to get bill. Even if writing down slip for medication order is doctor's job, Sometimes nurse has been expected to write slip by doctors or nurse would write slip beacuse of two much complexities and efforts for calling doctors. If the slip were incorrect, much time complicated procedures were more required for correcting it. So delay of administering drug would be resulted consequently. Drugs were delivered from pharmacy to units by delivery agent and phamacist. But because drugs were delivered without arranging room number of patient. Nurse should rearrange drugs in order of the room number So it had made waste time and effort, and Even when emergency drugs were needed, Prompt delivery of drug was not easy because of many reasons. For nurses, it took too long in the identification of the right drug. Actually nurses have heavy burden when medication error happens because nurse is the final actor who gives medication to the patient, So every three shift nurse ought to check drugs as soon as every shift begins. That's why it took too much time due to repeated confirming procedure. When nurses had to go patient room in order to give medications, there were difficulties in watching patient until the patient take medicine correctly. So it was impossible to check every patient wheather he took medicine or not especially in hectic situation. 3. There were many hospitals in Seoul which have similar medication system and method as object hospital according to the results of questionaire. This means that many hospitals have been suffering srimilar problems which were identified in object hospital. 4. Recommendations for promoting simplification of medication system and method were the following : Redesigning of slip from two pieces of paper into one : early discharge announcement system, and slip confirming through computer and controlling of period of prescreption from one day to two or three days : designing personal drug storage box for each patient and using it. If nurses follow the recommendations, they will make medication short & simple, and also have enough time of direct nursing care 5. Even though there were many difficulties in medicating patients. Medication itself has been considered as a caring among nurses because it makes rapport between nurse and patient. So nurses had better accept medication as a portion of nusing service not a original portion of phamacist. There are some limits in this research in terms of confining to only one unit of one hospital, and treating it especially in view of nurses' aspects, So further researchs should be continnued from various kmds of viewpoints of doctors, phamacists and so on. ${\cdot\cdot\cdot}$. Especially esthnographic study of computerized medication system and method seems to be followed.

• 한국건축시공학회지
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• 제5권4호
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• pp.139-144
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• 2005

A ground anchor system is used as a load carrying element in soil work. The conventional systems with ground anthers bring about the anchorage loss of wedges when anchors are installed for the support of soil structures. Hence we developed the new type of anchor system using both the spacing apparatus and spring (length 60mm, diameter 6mm). In this system, we tan directly check the condition of wedges and PS strands and modify the problems with the slip and anchorage of wedges under construction. For demonstrating the superiority of this system, we carried out a series of the laboratory test. Consequently, we can obtain satisfactory result (18.99$\%$ reduction to the loss of conventional systems). Moreover, the replacement of wedges is easy and simple when retensioning of strands.

• 한국자동차공학회논문집
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• 제10권3호
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• pp.201-208
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• 2002

In this paper, the control strategy of ratio changing system for a metal belt CVT adopting primary pressure regulation is developed, and the shirting performance of pressure regulating type CVT with the suggested control strategy is investigated. The control strategy suggested in this study is composed of 2 feedback loop, one is speed ratio feedback and the other is primary pressure feedback. The pressure feedback is adopted to ensure prohibiting a belt slip during transient period in a fast downshift mode. Simulation results show that the system with suggested control strategy gives appropriate response time and tracking Performance for upshift and also gives a proper primary pressure which can prohibit the belt slip. In addition, it is fecund that the given system has an acceptable servo property in tracking the target speed ratio and robustness for the disturbance of line pressure.