• 한국해양공학회지
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• 제30권1호
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• pp.32-43
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• 2016

A UUV needs to have a robust path following performance because of unpredicted current disturbances. Because the desired path of a UUV is usually designed by considering the locations of obstacles or geographical features of the operation region, the UUV should stay on the desired path to avoid damage or loss of the vehicle. However, conventional path following methods cannot deal with strong countercurrent disturbances. Thus, the UUV may deviate from the desired path. In order to avoid such deviation, a backward path following method is suggested. This paper proposes a path following method that combines pure pursuit guidance and nonlinear guidance for the UUV under an unpredicted strong ocean current. For a stable path following system, this paper suggests that the UUV adjust its heading to the current direction using the pure pursuit guidance method when the system is in an unstable region, or the UUV follows the desired path with nonlinear guidance. By combining the pure pursuit guidance and nonlinear guidance, it was possible to overcome the drawbacks of each path following method in the reverse path following case. The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method.

• 자원환경지질
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• 제4권1호
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• pp.1-9
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• 1971

The "Younger Granites" in Korea were being believed to be late Cretaceous in age and named "Bulkuksa granites" by all previous works until the writer had discovered Jurassic granite in 1963. The present paper is to prove its validity by age dating on these granites which was carried out by Professor Y. Ueda, Tohoku University, Japan. The age of 37 granites samples from various localities ranges from 68 my to 181 my. Of these 10 samples belonged to early Jurassic, 6 samples to mid-Jurassic, 4 samples to late Jurassic, 5 samples to early Cretaceous, and 12 samples to late Cretaceous in age. It is of the writer's opinion that the granites intruded in from early Jurassic to early Cretaceous age belong to Daebo granites and are syntectonic plutons associated with Daebo orogeny, and only those of late Cretaceous age belong to Bulkuksa granites that were associated with Bulkuksa disturbance. Daebo granites are aligned along NE-SW Sinian direction in the middle parts of Korea and crop out in the cores of folded mountains which were formed by Daebo Orogeny, such as Charyong, Noryong, Sobaek, and Dukyu Ranges. On the contrary Bulkuksa granites are restricted in Kyongsang basin and adjacent few localities in distribution and show no alignment. Granites supposedly associated with other disturbances of post-precambrian Have not been found so far in S. Korea. Age dating of granites has revealed that Daebo orogeny might be continuous from Songrim distur bance of late Triassic age. From this viewpoint, it could be assumed that Daedong system of Jurassic age were deposited in separate intermontain basins while Daebo orogeny was active, so that Daedong system in separate localities in Korea could not been correlated in their lithology as well as stratig raphy.

• 한국소음진동공학회논문집
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• 제26권2호
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• pp.195-202
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• 2016

In this study, a concept of active sound enrichment (ASE) control system was implemented and demonstrated for improving engine sound quality inside the cabin of a passenger car during acceleration. Unlike the active noise control cancels the noise for disturbance rejection, the ASE adds additional sound to the noise for tracking control. This approach requires a new algorithm to provide additional artificial sound to the original engine sound using active control strategy to achieve a target sound profile, which is predefined to satisfy required interior sound quality. The ASE algorithm was implemented in a digital controller dSPACE DS1401 and real-time control experiment was accomplished in an actual car. The ASE control results show that the actively enriched sound of each engine order against RPM tracks the target profiles precisely and quickly and improves the discontinuity, the level ratios and the sound pressure level of each engine order. Thus it is anticipated the ASE system can be applied for the improvement of the engine sound quality inside the cabin during acceleration.

• 한국안전학회지
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• 제35권1호
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• pp.116-129
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• 2020

Resilience is defined as the intrinsic ability of a system to adjust its functioning prior to, during, or following changes and disturbances, so that it can sustain required operations or functions with the related systems under both expected and unexpected conditions. Resilience engineering is a relatively new paradigm for safety management that focuses on how to cope with complexity under pressure or disturbance to achieve successful functioning. This study aims to develop a quantitative resilience model for severe accident response organizations of nuclear power plants using the Analytic Hierarchy Process (AHP) method. First, we investigated severe accident response organizations based on a radiation emergency plan in the Korean case and developed a qualitative resilience model for the organizations with resilience-influencing factors, which have been identified in the author's previous studies. Then, a quantitative model for entire severe accident response organizations was developed by using the Analytic Hierarchy Process (AHP) method with a tool for System Dynamics. For applying the AHP method, several experts who are working on implementing, regulating or researching the severe accident response participated in collecting their expertise on the relative importance between all the possible relations in the model. Finally, a sensitivity analysis was carried out to discuss which factors have the most influenceable on resilience.

• 대한한방내과학회지
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• 제38권2호
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• pp.289-300
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• 2017

Objectives: This case report describes the effect of Hominis placenta pharmacopuncture (HPP) on multiple sclerosis. Methods: A multiple sclerosis patient with gait disturbances, tremors, spasms of both lower limbs, and diplopia was treated with only HPP for two weeks. To evaluate the effects of HPP on the balance ability of the patient, the Functional System (FS) scale, Expanded Disability Statue Scale (EDSS), visual analog scale (VAS), manual muscle test (MMT), and Berg Balance Scale (BBS) were used. Results: The HPP treatment reduced the patient's gait disturbance, tremors, spasms of the lower limbs, and diplopia. According to the FS scale, the patient's cerebellar and optic functions were enhanced. In addition, the patient's performance on the EDSS improved from 4.0 to 3.0.3. As shown by the MMT, the lower extremities showed a mild improvement (from F+ to G.4). Furthermore, the VAS showed a considerable improvement, decreasing from 9 to 6.5 post-treatment. The patient's performance on the BBS, which denotes balance ability, showed a considerable improvement, increasing from 38 to 49. Conclusion: Treatment with only HPP could help to ameliorate the symptoms of multiple sclerosis.

• 한국환경복원기술학회지
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• 제19권4호
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• pp.81-89
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• 2016

This study aims to understand the relationship between visitors and the degradation of natural resources in Bukhansan national park. We analyzed the trend of the number of visitors, destruction of natural resources and decrease of biodiversity per year. We further compared three types of trails, heavily-used trails and rarely-used trails and a trail with limited access, regarding the degree of destruction in the National Park through a field survey. Our result showed that increasing number of visitors had direct and indirect impact on the destruction of natural resources in the National Park. The direct impact came from visitors' excessive use of trails. Naturally, increasing number of visitors caused an immoderate use of natural resources. Physical degradation such as exposure of tree root, poor drainage of trails, trail erosion was more severe than other types of trails. Decreasing biodiversity or mild disturbance around trails is the indirect impact such as broken bough, worn-bark in rarely-used trails. Destruction scale greatly increased as the number of visitors increased. Real-named reservation system helped to prevent trails from degradation. Our result calls for the need of controlling the number of visitors to Bukhansan National Park to mitigate the degradation. We recommend dispersing visitors from the heavily-used trails to other trails and implementing real-named reservation system in the rarely-used trails for the effective management of the national park.

• 한국전자통신학회논문지
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• 제8권8호
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• pp.1241-1246
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• 2013

현재 일반적인 반송 장치에서는 전기자를 반송 경로 전장에 배치하는 지상 1차측 시스템이 적용되고 있다. 하지만 이러한 시스템을 장거리 반송 장치에 적용하면 초기 설치비용과 제작시간이 상승하는 문제점이 발생한다. 이러한 문제점을 해결하기 위해 전기자를 분산시켜 배치하는 방식이 제시되고 있다. 하지만 전기자 분산배치 방식은 전기자가 존재하지 않는 구간에서 외란 발생 시 가동자가 정지할 수 있으며 이 때 전기자에 의한 제어가 불가능하게 되어 가동자를 이동 시킬 수 없는 문제점을 내재하고 있다. 따라서 이러한 문제점을 해결하기 위한 전기자 간격 결정이 매우 중요하다. 또한 전기자를 분산배치 할 경우 단부가 발생하게 된다. 이는 가동자가 전기자에 진입 또는 반출 시에 코깅력을 크게 발생시켜 추력 맥동의 원인이 되며, 소음과 진동을 발생시키므로 저감하여야 한다. 따라서 본 논문에서는 전기자를 분산 배치함에 따라 존재하는 단부 코깅력을 유한요소법을 이용한 2-D 수치해석을 통해 파악하고 이를 최소화하기 위한 전기자 간격을 도출하고자 한다.

• 한국전자통신학회논문지
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• 제11권12호
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• pp.1209-1218
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• 2016

4대의 전동실린더를 이용하여 대형 유리판과 같은 부하를 신속하고 안전하게 이송하기 위해서는 동기오차가 허용된 범위 내에서 지속적으로 유지되어야 한다. 본 연구에서는 4대 이상의 전동실린더 간의 동기화에 적용 가능한 동기제어기법이 제안된다. 이 동기제어시스템은 디커플링 구조에 기반을 두고 있으며, 기준모델, 위치제어기 그리고 동기제어기로 구성된다. 기준모델은 각각의 실린더에 대해 상호 분리된 동기오차와 제어입력의 계산이 가능하도록 한다. I-PD형의 위치제어기는 각 실린더가 오버슈트와 입력포화를 일으키지 않고 지령을 추종하도록, 그리고 진상보상기형의 동기제어기는 루프정형을 통해 안정적으로 정밀한 동기가 되도록 설계 된다. 끝으로 토크외란이 인가된 상태에서도 4개의 실린더가 신속하고 안정적으로 동기를 유지하면서 목표지점에 도달됨을 시뮬레이션으로 검증한다.

• 한국농공학회논문집
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• 제62권3호
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• pp.71-83
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• 2020

Resilience is the capacity to maintain essential services under a range of circumstances from normal to extreme. It is achieved through the ability of assets, networks, systems and management to anticipate, absorb and recover from disturbance. It requires adaptive capacity in respect of current and future risks and uncertainties as well as experience to date. The agricultural infrastructures with high resilience can not only reduce the size of the disaster relatively, but also minimize the loss by reducing the time required for recovery. This study aims to evaluate the most suitable drought countermeasures with the analysis of various resilience indices by predicting future agricultural water shortage under land use and climate change scenarios for agricultural areas in Jeju Island. The results showed that the permanent countermeasure is suitable than the temporary countermeasures as drought size and the cost required for recovery increase. Wide-area water supply system, which is a kind of water grid system, is identified as the most advantageous among countermeasures. It is recommended to evaluate the capability of agricultural infrastructure against drought with the various Resilience Indices for reliable assessment of long-term effect.

• 한국항행학회논문지
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• 제20권6호
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• pp.574-579
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• 2016

쿼드로터는 일반 무인항공기와 달리 구조가 단순하고 그 활용 가치가 매우 높아 많은 사람들의 관심을 받고 있다. 하지만 드론에 대한 관심이 높아짐에 따라 항공 안전사고 또는 분실에 대비한 비행체의 안정성과 위치파악의 중요성이 대두되고 있다. 따라서 본 논문에서는 쿼드로터의 모델링을 수식적으로 유도하여 이를 선형화시켜 간단한 제어기로 모델을 안정화시키고 다양한 센서로부터 얻은 데이터를 필터를 거쳐 기울어진 정도를 파악하여 보다 안정한 호버링이 가능한 추적 시스템을 제안하였다. 개발된 추적시스템은 비행 중인 쿼드로터의 위치를 컴퓨터로 전송해 이를 경로로 나타내어 비행경로를 파악할 수 있고 비행속도, 고도 등의 다양한 정보를 동시에 확인할 수 있게 하였다. 그리고 실제 쿼드로터에 사용되는 센서는 외란과 진동에 의해 정확한 센서 값을 측정할 수 없기 때문에 칼만필터와 상보필터를 통한 센서 결합으로 이를 극복하여 쿼드로터 호버링의 안정성을 PID 제어를 통해 구현하였다. 이를 모의 실험을 통하여 쿼드로터의 속도, 위치, 고도 등의 다양한 정보를 실시간으로 확인하였다.