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차량 자세 추정을 위한 6축 관성센서와 속도계의 센서 융합 기법
유성식,이흥식 한국기계기술학회 2021 한국기계기술학회지 Vol.23 No.6
This research propose a vehicle attitude estimation method using sensor fusion of speedometer and six-axis inertial sensor. External acceleration generated in a dynamic environment such as high-speed movement of a vehicle causes a considerable error in the attitude angle measured by the accelerometer. The external acceleration is estimated using velocity data obtained from speedometers mounted on most vehicles. The vehicle velocity is decomposed into three vector components using the angular velocity and attitude angle measured by the inertial sensor in the previous time step. The attitude angle estimated by the speedometer and the accelerometer is used to correct the error of the gyro sensor in the Kalman filter. In order to verify the performance of the proposed algorithm, experiments on a scenario of rapid acceleration/deceleration of a truck in a straight section and a scenario of high-speed driving on a long-distance highway are conducted.
Hole 의 Nonrandomness 를 고려한 격자 모델
유성식,이철수 고려대학교 공학기술연구소 1990 고려대학교 생산기술연구소 생기연논문집 Vol.26 No.1
Okada and Nose applied the quasichemical approximation proposed by Guggenheim to the hole theory with fixed cell volume, but they did not obtain closed form expressions. ft was the objective of this work to establish an EOS and related thermodynamic quantities for mixtures by expanding, the Helmholtz energy by Taylor series in the energy parameter. This model was applied to pure supercritical solvent widely used, and calculated PVT behavior was in good agreement with data.
두유(豆乳)를 이용(利用)한 요구르트 제조(製造)에 대하여
유성식,이상갑,김진호,박우철 경북대학교 농업과학기술연구소 1989 慶北大農學誌 Vol.7 No.-
대두(大豆)를 이용(利用)한 요구르트 및 유산균(乳酸菌) 음료(飮料)의 제조(製造)를 위(爲)하여 두유(豆乳) 요구르트에 대한 유산균(乳酸菌) 생육(生育)과 산생성(酸生成) 및 여러가지 첨가물(添加物)에 대한 영향(影響)을 조사(調査)하였다. 시비조건(施肥條件)에 차이(差異)를 두어 재배(栽培)한 대두(大豆)를 이용(利用)한 두유(豆乳)에서의 유산균(乳酸菌) 생육(生育) 및 산생성(酸生成)은 큰 차이(差異)가 없었으나 개발복비(開發複肥)를 사용(使用)한 Soybean D가 다소(多少) 양호(良好)한 것으로 나타났으며, 두유(豆乳), 탈지두유 및 분리대두단백(分離大豆蛋白)에서의 산생성(酸生成)은 두유(豆乳)가 탈지두유보다 양호(良好)했으며 분리(分離) 대두단백(大豆蛋白)으로 조제(調製)한 두유(豆乳)에서는 현저(顯著)히 낮았다. 두유(豆乳) 요구르트의 제조(製造)에 사용(使用)한 균주별(菌株別) 산생성능력(酸生成能力)은 L. bulagricus와 L. acidophilus가 우수(優秀)하였다. 당(糖)과 각종(各種) 발육촉진물질(發育促進物質)의 첨가(添加)에 의해 균증식(菌增殖) 및 산생성(酸生成)이 촉진(促進)되었으며 특(特)히 Glucose와 Yeast Extract의 첨가(添加)는 현저(顯著)한 효과(效果)를 나타내었다. This experiment was performed to investigate the growth and acid production of lactic acid bacteria in soy yoghurts prepared from soybeans produced using various nitrogen sources and the ability of the bacteria to utilize the available carbohydrates in the medium. Various soybeans did not show significant difference in the growth and acid production of lactic acid bacteria, soybean D with newly developed complex fertilizer being the best. The acid production in soy milk by L. acidophilus was better than those in defatted soy milk and in isolated soy protein, that in isolated soy milk being significantly poor. Of lactic acid bacteria tested, L bulgaricus and L. acidophilus exhibited more population and acid production in soy yoghurts. The population and acid production of lactic acid bacteria was increased by the addition of various carbohydrates, and significantly by glucose and yeast extract.