• 한국항공우주학회지
• /
• 제40권11호
• /
• pp.979-987
• /
• 2012

본 논문에서는 무인전투기의 지형추종을 위한 궤적생성, 유도, 항법 알고리즘을 구현하고 이를 통합하였다. 적 방공망 제압과 같은 위험한 임무를 수행하는 무인전투기는 적의 대공방어망으로부터 생존성을 높이기 위해서 지면을 근접하여 비행하는 지형추종 알고리즘이 필수적으로 요구된다. 무인전투기가 지형추종 비행을 하기 위해서는 경로생성, 유도, 그리고 항법 분야 알고리즘이 통합되어야 한다. 본 논문에서는 항법 알고리즘으로 GPS가 교란된 상황을 대비하여 비선형 필터 기반의 지형참조 항법을 사용하였다. 경로생성을 위해 지형추종에 적합한 경로생성 기법으로 보로노이 다이어그램을 이용하여 적의 대공망을 회피하는 수평경로를 생성하고, Cubic Spline 기법을 사용하여 정해진 수평경로 상에서 지면과의 근접비행이 가능한 수직경로를 생성하였다. 유도 알고리즘으로 전방주시점 기반의 유도법칙인 Follow-the-Carrot 기법과 Pure Pursuit 기법을 사용하여 생성된 경로를 추종하게 하였다. 제안한 통합알고리즘의 성능을 검증하기 위하여 수치 시뮬레이션을 수행하였다.

• Ocean and Polar Research
• /
• 제36권4호
• /
• pp.465-473
• /
• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• 지역연구
• /
• 제13권2호
• /
• pp.143-155
• /
• 1997

This study aims at drawing implications for Korea's urban growth management policies from U.S.A's experience on this issue. This study analyzes two types of contradictions in planning and implementing urban growth management policies: 1) value conflicts in goal setting and 2) contradictions among different level of governments (local, province, nation). As mentioned by Campbell (1996), there are three types of conflicts in objective values (efficiency, equity, and environment protection): property contradiction between economic growth and equity, resource conflict between efficiency and environment protection, and development conflict between equity and environment protection in urban growth management policies. In implementing urban growth management three types of conflicts in goal values should been taken into consideration. Contradictions among local governments, province, and central government are also found in implementing growth management policies. The lessons from the United State are as follow: 1) growth management plans are initiated by the local government and during the planning process adjacent local governments review a local government's growth management plans and give inputs for the plan, 2) local government and State work together for growth management planning and specially, the State provides technical and financial assistance to local government, and 3) the State plays leading roles in local government's planning and implementing of growth management policies with carrot and stick policy.

• 대한한의학회지
• /
• 제16권2호
• /
• pp.225-247
• /
• 1995

Using Bi-Digital O-Ring Test which was developed by Ohmura Toshiaki, constiution classification by the vegetables' was Measured by various muscle power measurement meters and the results are as follow: 1. Pinch Gauge (Model:pc5030HPG, Japan) is the gauge to measure finger power between the thumb and the second finger, Grip Strength Dynamometer (Model: T.K.K. 5101, Japan) is to measure the hand power (hand dynamometer), Back Strength Dynamometer (Model: T.K.K. 5102, Japan) is to measure back muscle strength, Vertical jump Meter (Model: T.K.K. 5106, Japan) is to measure the height of jump. The above gauges were and its result found that the radish, potato, carrot and cucumber can influence to muscle strength was not true. 2. When the physical constitution is distinguished by the O-Ring Test method, Taeyangin's rate appeared as average 21% although it was insisted that there will be only 0.03-0.1%. This means that the physical constitution but it appears accidently according to the examinee's emotion about the material such as vegetable etc. as favor or unfavor. 3. It was found that the result of O-Ring Test is the same at any time and at any place was not true. there is no reemergence character. 4. The import of O-Ring Test mehtod to the physical discrimination disregarded that the mental factor influences absolutely to the physical heath in the ideological physi cal constitution medical science. 5. 'O-Ring Test method is a objective judgement method.' is wrong judgement. As you see on the above result, Bi-Digital O-Ring Test set the changeable voluntary muscle as the standard of the judgument, that was first mistake logically, second in spite of leass influence of mental influence by the examiner and examinee than the vegetable discrimination influence, the test disregarded the influence. Third, only grasp of some material on hand can influence to the voluntary muscle was a wrong theory disregarding the physiology. Finally the misunderstaning his subjective view as an objective view in spite of examiner and examinee's strong influence. Therefore such kind of physical descrimination method must be sublated.

• 대한지역사회영양학회지
• /
• 제17권1호
• /
• pp.14-25
• /
• 2012

The purpose of this study was to estimate the daily intake of vitamin A in Korean female university students. Vitamin A intake was estimated using an inconsecutive 3-day dietary intake survey from 481 young women. Vitamin A intake values were calculated based on the data in USDA database. Average age, height, and weight of the subjects were 20.05 years, 162.13 cm and 54.38 kg, respectively. The subject's average intake of energy was 1645.67 kcal. The mean vitamin A, retinol and ${\beta}$ carotene intakes were $908.35{\pm}863.18$ ug retinol equivalent/day, $199.19{\pm}166.00$ ug/day and $3872.59{\pm}4972.17$ ug/day, respectively. The 21.83% of the subjects consumed less than the Estimated Average Requirement (EAR) for vitamin A. And subjects consumed 141.69% of the Recommended Nutrient Intake (RNI) for vitamin A. Food groups consumed with high vitamin A content in our subjects included vegetables (423.96 ug RE/day), potato and starches (213.64 ug RE/day), cereals (62.60 ug RE/day), eggs (55.17 ug RE/day) and milks (53.45 ug RE/day). The major food sources of vitamin A were sweet potato, carrot, spinach, egg, and cereal, and the top 30 foods provided 89.57% of total vitamin A. Also animal-derived food provided 9.65% of the vitamin A intake from the top 30 foods. In conclusion, judging from RNI, the vitamin A intake of the Korean female university students in this study was generally adequate. The result of our study may be used as a basis for follow-up studies of vitamin A intake like assessment of vitamin A nutritional status or evaluation of carotenoid food sources in Korean young women.

• 사상체질의학회지
• /
• 제7권1호
• /
• pp.69-101
• /
• 1995

Using Bi-Digital O-Ring Test which was developed by Ohmura Toshiaki, constitution classification by the vegetables' was measured by various muscle power measurement meters and the results are as follow : 1. Pinch guage (Model : pc5030HPG, Japan) is the guage to measure finger power between the thumb and second finger, Grip Strength Dynamometer (Model : T.K.K. 5101, Japan) is to measure the hand power (hand dynamometer), Back Strength dynamometer (Model : T.K.K. 5102, Japan)is to measue back muscle strength, Vertical Jump Meter (Model : T.K.K. 5106, Japan) is to measure the height of jump. The above guages were used and its result found that the radish, potato, carrot and cucumber can influence to the muscle strength was not true. 2. When the physical constitution is distinguished vy the O-Ring Test method, Taeyangin's rate appeared as average 21% although it was insistedthat there will be only 0.03-0.1%. This means that the influence power of vegetable doest not appear according to the physical constitution but it appears accidently according to the examinee's emotion about the material such as vegetable etc. as favor or unfavor. 3. It was found that the result of O-Ring Test is the same at any time and at any place was not true. there is no reemergence character. 4. The import of O-Ring Test method to the physical discriminatio disregarded that the mental facor influences absolutely to the physical heath in the ideological physical constitution medicla science. 5. 'O-Ring Test method is a objective judgement method'. is wrong judgement. As you see on the above result, Bi-Digital O-Ring Test set the changeable voluntary muscle as the standard of the judgement, that was first mistake logically, second in spite of leass influence of mental influence by the examiner and examinee than the vegetable discrimination influence, the test disregarded the influence. Thire, only grasp of some material on hand can influence to the voluntary was a wrong theory disregarding the physiology. Finally the misunderstaning his subjective view as an objective view in spite of examiner and examinee's strong influence. Therefore such kind of physical descrimination method must be sublated.

• 한국식품조리과학회지
• /
• 제23권5호
• /
• pp.685-695
• /
• 2007

The purpose of this study was to develop an excellent salad dressing using grape seed oil, which contains high levels of unsaturated fatty acids. First, a vinaigrette was made with grape seed oil and vinegar and divided into five portions. Then, five types of mirepoix au maigre ($M_1,M_2,M_3,M_4,M_5$) were made with apple, onion, carrot, garlic, tomato puree, and tomato ketchup by mixing in a main material vessel. The samples were then allowed to ripen for three days. The control group $M_1$ was named $GD_1$, and the experimental groups $M_2,\;M_3,\;M_4,\;and\;M_5$ were named $GD_2,\;GD_3,\;GD_4,\;and\;GD_5$. respectively. To measure receptiveness, a sensory test was conducted using a 7 point category scale. The test concentrated on flavor, taste, color, agreeability, aftertaste, and overall acceptability: the panel consisted of 15 subjects According to the results, $GD_4$ had the best flavor, color and agreeability. The samples with the most preferred taste and aftertaste were $GD_4\;and\;GD_5$. Between $GD_4\;and\;GD_5$, there were no noticeable differences in taste, aftertaste, or overall acceptability, but differences in color and agreeability did exist. Thus, $GD_4$ proved to be the most favorable product. To determine the best complementing vegetables for $GD_4$ yam($VE_1$), broccoli sprouts($VE_2$), mustard leaves($VE_3$), beet leaves($VE_4$), cucumber($VE_5$), and lettuce(VE6) were selected as samples, and a sensory test was conducted. Each vegetable has its own peculiarities. According to the results, $VE_2$ had the nicest vegetable fragrance recording the highest mean value. The vegetable with the most preferred taste, aftertaste, and agreeability were $VE_2\;and\;VE_6$. $VE_1\;and\;VE_6$ had the nicest color and contained the brightest color as well. The highest overall acceptability was awarded to $VE_2\;and\;VE_6$ and there was no remarkable difference between thorn at a level of 0.05. In conclusion, $VE_2\;and\;VE_6$ were the best complementing vegetables with grape seed oil dressing. However, to commercialize such a dressing, many follow-up studies must be conducted.