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PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증
박성국,이필엽,박상웅,권순태,정훈상,박민수,Park, Sung-kook,Lee, Phil-yeop,Park, Sangwoong,Kwon, Soon T.,Jung, Hunsang,Park, Min-su 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
박성국 한국민중신학회 2013 Madang: Journal of Contextual Theology Vol.0 No.19
Asiahas been known as the icon and expression of Variety,Diversity and Cultural richness. Asia - as a continent - forms the largest piece of soil on earth and is home to almost 4 billion people. Asia is often associated with the term cultural richness,which refers to an expression of a huge variety of diverse forms of cultures; different languages (probably the most languages in numbers in the world) and different religions and religious practices. While Asia bears the birthplace of three significant world religions, it shows the least evangelized peoples but on the contrary the largest local churches. Looking into the history of mission and evangelization in Asia, it becomes evident that Christianity came to show its presence mainly through missionaries from overseas and hence we cannot think of the Asian context without taking seriously into account the reality as the fieldof mission and evangelism. That is to say, the Asian continent - with exception of a few - has received Christianity through external sources, in a way that has put the Asian context on the receiving end. A discourse on mission in the Asian context must pay attention to the huge spectrum of diversity and variety. Without paying respect and accepting the difference,while repeating the old paradigmof mission of the past,31)the church and many other Christian faith-based organizations will not be able to play an active part in the diversity of the Asian context, but all sides will only get trapped in isolation. This brief contribution tries to shed light on the cultural differences between the missionizingand missionized ends through the metaphor of a dining table (table community) of a rectangular shape or a round table. These two metaphors show illustratively the distorted human-human relationship, but also the relationship of humans to God. Reconciliationas a theological term in the field of mission goes beyond fixing and recovering of broken or distorted relationships. The biblical message of reconciliation goes beyond healing of wounds in our hearts and relations. Be reconciled in Godis a declaration towards recovering the whole creation in Gods image and goes beyond any imagination and system of defining good and evil. The invitation be reconciled in Godis Gods divine invitation out of Gods own sovereign initiative. It is the primary declaration of Gods righteousness. The call to be reconciled in Godas an invitation gives the human community, along with all Gods created household a room, a safe room to encounter each other towards a common future. According to scripture,being reconciled in Godmeans that we have become a new creature. As a new being, we no longer judge the otheraccording to flesh.
20세 이상 성인에서의 아데노이드 증식증에 대한 임상적, 병리학적 연구
박성국,최은석,최정배,강미선 대한이비인후과학회 2004 대한이비인후과학회지 두경부외과학 Vol.47 No.5
:The adenoid increases progresively in size during early childhood, reaching a maximum at the age betwen 3 and 7. It begins to atrophy and involute after puberty and almost disappears before the age of 20. However, a few authors stated that persistence of the adenoid in adult life is not uncomon and the nasopharyngeal lymphoid tissue can undergo prominent or even marked hyperplasia in adults. We investigated clinical and pathological features of the patients who underwent adenoidectomy at ages beyond 20. Subjects and Method:A retrospective study was performed on 18 patients who underwent adenoidectomy due to adenoid vegetation from October 1997 to December 2002 at Pusan Paik Hospital and they compared the results with children of ages 3 to 10 years. To evaluate hypertrophy, adenoidal-nasopharyngeal ratios (A/N ratio) obtained using simple linear measurements from lateral skull radiographs were described. To investigate pathologic features, all excised adenoids were fixed in neutral 10 % formalin and serial sections of 5 μm thick were prepared and stained by Haematoxylin and Eosin.