• 한국과학교육학회지
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• 제20권1호
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• pp.1-11
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• 2000

본 연구에서는 초 중등 학생들의 눈금 읽기 능력과 측정도구의 용도 및 단위에 대한 개념을 조사했다. 초등학생 72명, 중1 학생 69명, 중3 학생 80명의 학생을 대상으로 수행 평가 및 지필 평가를 실시했다. 눈금읽기 능력을 평가하기 위해서 개별 수행 평가를 실시했는데, 학생 개개인은 서류 봉투의 가로 세로 길이, 물의 온도, 물의 부피 등을 실험실에서 주로 사용하는 주어진 측정 도구를 사용하여 측정했다. 측정 도구 및 단위와 관련된 개념을 평가하기 위해서는 그림과 사진이 그려진 질문지를 사용했다. 눈금 읽기 능력 면에서 각 학년마다 적지 않은 측정오차를 내는 학생이 있음이 드러났으며 특히 질량이나 부피 측정의 경우 그 수가 더욱 증가했다. 측정 도구에 대한 학생의 개념 조사 결과 학생들은 물리량 개념이 정확하지가 않아 측정 도구가 측정할 수 있는 물리량을 제대로 지적하지 못했다. 또한 단위에 대해서도 혼동이 있어서 특히 질량, 무게, 부피나 힘의 단위 등을 어려워하고 있음을 알 수 있었다.

• 전기학회논문지
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• 제64권1호
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• 한국농공학회지
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• 제25권2호
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• pp.42-53
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• 1983

In Korea, the demand for water is increasing greatly due to Korea's raqid economic progress which is similar to Japan's. A correct estimation of the runoff factors is the question that must be settled first to establish the appropritae plans for water use and water resources. of these plans the estimation of catchment evapotranspiration for every river basin is the subject of the most importance. It is impossible theoretically to measure evapotranspiration directly, because it is an at mospheric translatory phenomenon. Many approaches have been devised to estimate evapotranspiration, but each of these methods estimates from information taken from a specified point, and these methods are considered incomplete for estimating catchment evapotranspiration. In this paper, the seasonal evapotranspiration estimating method that was proposed by Linsly and was applied in the Kamigamo exprimental basin (subjected to Kyoto Univ.) by Takase et al, was used for the Geum river which is the main river in Korea. Conclusion of experiment. 1) The average annual Ec in this river basin from 1966 to 1972 was 470mm. That is considered appropriate since the average value for the six other large river basin in korea was 485mm. 2) The Ec/Ep and Ec/Epm ratios were 0.43 and 0.52, respectively (Ec : estimated evapotranspiration by water balance method, Ep : average pan evaporation, Epm : evaporation by Penman method). The seasonal Ec/Ep ratios were : 0.4 in spring, 0.6 in summer, 0.4 in autumn and 0.2 in winter. These are rather small when compared to Japan's or England's. 3) The reason for this was that the precipitational difference in wet and dry seasons were greater, an there was not sufficient soil moisture harmonize with the evapotranspiration capacity in the dry season, and that evapotranspiration was small due to the numerous barren mountains.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Asian-Australasian Journal of Animal Sciences
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• 제26권1호
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• pp.43-49
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• 2013

The aim of this study was to compare both the performance of litters derived from two sire genetic origins (SGO), Vienna Blue (VB) and Burgundy Fawn (BF), along successive seasons of birth (SB; winter, spring, summer and autumn), and doe reproductive performance in an organic production system. A total of fifty-eight does consisting of a mixture of crosses of several medium-large size breeds at different parity order (P, 1 = nulliparous; 2 = primiparous; ${\geq}3$ = multiparous) and twelve males (6 VB and 6 BF) were housed indoors at environmental conditions that followed seasonality. An extensive reproductive rhythm was used and kits were weaned at $46{\pm}6$ d of age. Doe reproductive performance and the data of 105 litters (55 from VB and 50 from BF SGO) were recorded throughout the SB. No statistically significant differences related to SGO effect were observed. As regards parity order, multiparous does showed higher live weights (LW) (p<0.05), total born (p<0.01), total born alive (p<0.05) per delivery, and litter weight of born alive (p<0.05), but lower milk output at 21st d than primiparous does (p<0.05). The extensive reproductive rhythm mainly increased litter performance at birth in multiparous does but was not sufficient to permit a complete recovery of body reserves lost during lactation. Autumn SB negatively affected doe LW variation between deliveries. The number of pups born and born alive per delivery (p<0.05) and litter size at 21 d of age and at weaning (p<0.01) were lower during hot SB. Due to the lower litter size of pups born in summer and autumn, their individual weight at 21st d of age and daily individual growth rate 0 to 21 d were higher than those of pups born in winter (p<0.001). Litter performance at 21st d of age and individual pup pre-weaning growth rate were poorer for those born in spring than in other seasons due to the harmful effects of increased environmental temperatures. SB affected most of the performance traits of does and young rabbits reared under the organic farming system. The rabbits seemed better suited to organic rearing conditions during winter than in other seasons. The worst results overall were obtained in the spring SB, whereas the hot SB negatively affected both doe energy balance and prolificacy. In conclusion, the pups of the 2 SGO showed good pre-weaning performance and seemed suited to the organic rabbit production system.

• 한국자동차공학회논문집
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• 제14권6호
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• pp.160-170
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• 2006

If hydraulic pump controlled by mechanical type regulator has more than one control function, the construction of regulator will be very complicated and control performance falls drastically. It is difficult to have more than one control function for hydraulic pump controlled by electronic type hydraulic valve due to the inconsistency of controllers. This paper proposes a multi-function control technique which controls continuously flow, pressure and power by using EPPR(Electronic Proportional Pressure Reducing) valve in swash plate type axial piston pump. Nonlinear mathematical model is developed from the continuity equation for the pressurized control volume and the torque balance for the swash plate motion. To simplify the model we make the linear state equation by differentiating the nonlinear model. A reaction spring is installed in servo cylinder to secure the stability of the control system. We analyze the stability and disturbance by using the state variable model. Finally, we review the control performances of flow, pressure and power by tests using PID controller.

• 한국정밀공학회지
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• 제31권10호
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• pp.913-922
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• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• Fisheries and Aquatic Sciences
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• 제11권1호
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• pp.41-49
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• 2008

Internal waves and internal tides occur frequently along the eastern coast of Korea. During the spring-tide period in April 2003, the East Korean Warm Current (EKWC) flowed near the Korean East Coast Farming Forecast System (KECFFS; a moored oceanographic measurement system), creating a strong thermocline at the intermediate layer. Weakened stratification and well-mixed water appeared frequently around the KECFFS, with duration of approximately 1 day. The results suggest the following scenario. Baroclinic motion related to the internal tide generated high frequency internal waves around the thermocline. The breaking of those waves then created turbulence around the thermocline. After well-mixed water appeared, a current component with perpendicular direction to the EKWC appeared within the inertial period. The change in stratification around the KECFFS locally broke the geostrophic balance as a transient state. This local vertical mixing formed an ageostrophic current within the inertial period.

• Journal of Nutrition and Health
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• 제25권1호
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• pp.42-55
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• 1992

To evaluate the effect of the feeding program of brown rice flake with soy milk or cow's milk to school children in rural areas. The survey was conducted twice before and after practice of feeding in March and July of 1990. The survey covered a total of 87 children aged from 7 to 12 in Ypsuk elementary school located in remote village of Sangju county. Kyung Buk province and the branch school of Songmyun elementary school located in remote village of Goisan county. Chung Buk province. Family environment dietary intake anthropometric data and biochemical tests were examined. The results are summerized as follows: The mean balance and food diversity at lunch were significantly lower than those at breakfast and dinner. Mean daily energy and nutrient intakes were below the Korean RDA's except for intakes of niacin vitamin A and ascorbic acid Especially intake of calcium was not reached to 50% of Korean RDA's. Most of anthropometric data of subjects surveyed showed slightly higher results in summer than those in spring except for weight for height and sitting height for height. The percentage of anemic according to hematocrit criterion was not reduced during this period. however urinary urea nitrogen/creatinine ratio was improved. The conbined feeding program of brown rice flake with soy milk or cow's milk was not sufficient to support the children's growth. So the survey recommends the support of goberment to the school lunch program in the remote village.

• 항공우주기술
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• 제11권1호
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• pp.84-90
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• 2012

연소기용 연료개폐밸브는 파일롯 공압으로 포핏을 열고 스프링 힘에 의해 닫음으로써 로켓엔진의 연료 유량을 제어한다. 현재 개발 중인 연소기 연료개폐밸브는 액추에이터에서 압력이 제거되더라도 유로부에 해당 압력이 존재한다면 스스로 열림을 유지하는 방식으로 설계되어 있다. 밸브의 성능을 평가하기 위해 밸브가 열리고 닫히는 특성에 따라 힘 평형 상태를 분석할 필요가 있다. 이를 위하여 밸브의 포핏이 열리기 위한 파일롯 압력과 닫히기 위한 유로부 압력을 힘 평형에 의해 조절되도록 설계하였다. 또한, 상용 소프트웨어인 Fluent CFD 해석을 통해 밸브의 고유유량계수를 구해보았다. 예측과 해석을 통해 획득된 결과들은 실험 결과와 비교하였다.