• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.8
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• pp.94-100
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• 2010

Grounding system insures a reference potential point for electric devices and also provides a low impedance path for fault currents or transient currents in the earth. The ground impedance as function of frequency is necessary for determining its performance since fault currents could contain a wide range of frequencies. In this paper, the grounding resistance, grounding impedance and transient grounding impedance are measured by using 3-point fall-of-potential method in order to analyse grounding characteristics of the stainless-steel plate grounding electrode. An equivalent transfer function model of the grounding impedance and transient grounding impedance are identified from the measured values by using ARMA method and evaluated by comparing conventional grounding impedances.

• Journal of Positioning, Navigation, and Timing
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• v.3 no.4
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• pp.163-170
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• 2014

A pseudolite is used as a GPS backup system, and is also used for the purpose of indoor navigation and correction information transmission. It is installed on the ground, and transmits signals that are similar to those of a GPS satellite. In addition, in recent years, studies on the improvement of positioning accuracy using the pseudorange measurement of a pseudolite have been performed. As for the effect of the time synchronization error between a pseudolite and a GPS satellite, a time synchronization error of 1 us generally induces a pseudorange error of 300 m; and to achieve meter-level positioning, ns-level time synchronization between a pseudolite and a GPS satellite is required. Therefore, for the operation of a pseudolite, a time synchronization algorithm between a GPS satellite and a pseudolite is essential. In this study, for the time synchronization of a pseudolite, "a pseudolite time synchronization method using the time source of UTC (KRIS)" and "a time synchronization method using a GPS timing receiver" were introduced; and the time synchronization performance depending on the pseudolite time source and reference time source was evaluated by designing a software-based pseudolite time synchronization performance evaluation simulation platform.

• Proceedings of the KIEE Conference
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• 2006.07e
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• pp.25-26
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• 2006

An electrical fault is defined as any abnormal condition caused by reduction in the insulation strength between energized conduction parts and ground or any grounded part of an electrical system. Failure of solid insulation can be caused by excessive mechanical tension being applied on the insulation, harsh service environment, aging, and also by corona phenomena. The number of empty houses during normal working hours is rising. As a result, the number of uninspected electric installation for general use is increasing. To define the potential risk of the electric installation, measurement of leakage current has been getting considered, but because the measured leakage current value also contained leakage current by capacitance, the measured value can not be adapted to absolute reference to the installation. Therefore, in this paper, the correlation between the condition of electric installation and leakage current were analyzed.

• Journal of English Language & Literature
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• v.57 no.4
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• pp.581-598
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• 2011

The recent revival of phenomenology and aesthetics is deeply connected to the development of neuroscience which studies the nervous system and the brain with particular regard to cognition and memory. How are those fields gathered into building up the basis for the communication not only between human beings but also between humanity and its environment? This paper examines the human mind considered unseparable from the body, with reference to Merleau-Ponty's two major works: Phenomenology of Perception (1962) and The Visible and the Invisible (1968). While reading these texts, I investigate the way he overturns the Cartesian cogito and establishes the body as the ground of perception. According to him, human perception is chiefly obtained through the body rather than consciousness. Influenced by William James, who produced the unique concept of cognition and memory through his experiments with the brain, Merleau-Ponty extends Heideggerian Desein to the field of the embodied mind. James also anticipates Bergson, who regards memory as the product of interaction between consciousness and matter (or the body). The intervention of the body which stores the past experiences makes it impossible for us to capture the present moment in itself. This failure, however, is viewed as positive by Merleau-Ponty because the human body is not only a medium of social interaction, but also that of ecological communion.

• Fire Science and Engineering
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• v.31 no.3
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• pp.88-96
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• 2017

The subway can transport a lot of people at a certain route at once, and the railway and the platform are underground, so it is advantageous to use the ground space efficiently. But If a fire occurs in a subway that is used by an unspecified number of people, such as the Daegu Subway Fire Disaster, many casualties can occur. As a result of the previous research, it was confirmed that the performance of the ventilation system of the old subway platform was remarkably degraded. Therefore, in this study, based on the experimental results of the previous research, we confirmed the flow of the hot and CO flows according to the ventilation mode in the case of fire by three - dimensional numerical analysis. As a result, it was found that the old ventilation system could not maintain the hot air temperature below the reference value for 4 minutes based on the evacuation time of the platform, and when the ventilation performance was enhanced by adding Oversized Exhaust Ports at the upper part of the platform, And the temperature of the heat flow can be maintained.

• Agricultural and Biosystems Engineering
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• v.6 no.2
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• pp.47-53
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• 2005

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.

• Journal of the Korean Home Economics Association
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• v.40 no.10
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• pp.141-159
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• 2002

The purpose of this study is to find plan of practical using websites as welfare support system for present single-parent family practically. The subject websites were chosen by search in twice using Yahoo(http://www.yahoo.co.kr),Naver(http://www.naver.com).Empas(http://www.empas.com). The first search was accomplished by reference to these websites from the eighth of December to the twelfth of December in 2001. With the use of key words‘widowed mother & widower’,‘divorce’,‘single parent’,‘single-parent home’,‘single-parent family’. The second search was conducted on March 27, 2001. Finally 10 websites were selected. Chosen websites were analysed by structural element measure and structural technique measure of the contents. The following are summary of results and conclusion of this study. First, counsel program, self-help group, legal advice of the legal system and legal question area in the field of psychology·emotion·health problem of subject websites satisfied desire of single-parent family comparatively. Second, subject websites were classified into two types which are after the assessment of contents and structural technique of subject websites, a imaginary site was designed to solve the problem of single-parent family and to support single-parent family by means of prior research. Putting the result mentioned above together, As a step to solve the problem of single-parent family, to use practically website as a place single-parent family can be provided what the country and community cannot offer. It was accomplished by expanding self-help group extremely through the connection with ground to acquire strategy of dealing with single-parent family's desire and problem, volunteer supports and specialists.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.14 no.10
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• pp.1071-1078
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• 2003

In this paper, the planar, compact, and broadband phased array antenna system for IMT-2000 applications has been investigated. Two methods far designing a low-cost and low-complex beam-farming network are proposed. First, a new compact and broadband phase shifter with continuously controlled phase bits is designed by using parallel coupled lines. Second, its equivalent phase delay line is suggested to be capable of replacing the complex phase shifter with a reference phase bit on a phased array antenna. For the purpose of achieving the broadband system, in addition to the broadband phase shifter, a wide-slot antenna with a ground reflector is utilized as an element antenna. Therefore, the phased array antenna system has achieved compact size, broad bandwidth, and wide steering angle, although it has low complexity and low fabrication cost. The 3${\times}$1 phased array antenna system has a compact size of 1.6 λ${\times}$ l.6 λ, which is the sufficient ground plane of the wide-slot antenna. Experimental results present that the S$\_$11/ has less than 15 dB within the band and its radiation patterns on an E-plane have the capability of steering an antenna beam from -29$^{\circ}$to +30$^{\circ}$.

• Journal of Astronomy and Space Sciences
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• v.33 no.4
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• pp.323-333
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• 2016

In this study, the uncertainty requirements for orbit, attitude, and burn performance were estimated and analyzed for the execution of the $1^{st}$ lunar orbit insertion (LOI) maneuver of the Korea Pathfinder Lunar Orbiter (KPLO) mission. During the early design phase of the system, associate analysis is an essential design factor as the $1^{st}$ LOI maneuver is the largest burn that utilizes the onboard propulsion system; the success of the lunar capture is directly affected by the performance achieved. For the analysis, the spacecraft is assumed to have already approached the periselene with a hyperbolic arrival trajectory around the moon. In addition, diverse arrival conditions and mission constraints were considered, such as varying periselene approach velocity, altitude, and orbital period of the capture orbit after execution of the $1^{st}$ LOI maneuver. The current analysis assumed an impulsive LOI maneuver, and two-body equations of motion were adapted to simplify the problem for a preliminary analysis. Monte Carlo simulations were performed for the statistical analysis to analyze diverse uncertainties that might arise at the moment when the maneuver is executed. As a result, three major requirements were analyzed and estimated for the early design phase. First, the minimum requirements were estimated for the burn performance to be captured around the moon. Second, the requirements for orbit, attitude, and maneuver burn performances were simultaneously estimated and analyzed to maintain the $1^{st}$ elliptical orbit achieved around the moon within the specified orbital period. Finally, the dispersion requirements on the B-plane aiming at target points to meet the target insertion goal were analyzed and can be utilized as reference target guidelines for a mid-course correction (MCC) maneuver during the transfer. More detailed system requirements for the KPLO mission, particularly for the spacecraft bus itself and for the flight dynamics subsystem at the ground control center, are expected to be prepared and established based on the current results, including a contingency trajectory design plan.