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공공하수처리시설 부근 갑천 하류부의 수질 특성 및 개선방안
박정수,곽영지,임봉수 大田大學校 産業技術硏究所 2017 산업기술연구소 論文集 Vol.28 No.2
본 연구는 대전시 갑천 하류부에서 주요지점의 수질 변화의 특성을 조사하고 하천 수질악화의 원인 가 개선방안을 제시하고자 한다. 2016년에 대덕대교의 평균 수질은 대전시 하천수질환경기준에 좋음 (Ib) 수준이나 공공하수처리시설의 방류수 유입후 갑천5-1 지점에서 BOD와 TP는 보통(III) 수준이고, COD는 나쁨(V) 수준으로 수질이 악화되고 있다. 갑천5-1 지점의 수질오염총량관리 목표수질 TP는 0.2 mg/L이하이나 최근 증가 추세이므로 방류수의 효율적인 인제거와 갑천하류부의 퇴적물의 인조사를 하 여 대책을 세우는 것이 필요하다. 갑천교에서 BOD 상승원인은 동절기에 방류수의 질소제거가 원활하 지 못하므로 하수처리시설에서 질소제거의 획기적인 개선이 요구된다. This study reported the actual cause of deterioration and improvement measures for water quality by investigating the characteristics of water quality at the main point around downstream of Gap stream. In 2016, the average water quality level was good(Ib) at the Daeduck bridge, but after the inflow of discharge water from wastewater treatment plant, BOD and TP were average(III) level and COD was bad(V) level at the Gapchun 5-1. The target water quality of TP should be less than 0.2 mg/L at the Gapchun 5-1, but TP reported to be increased recently. Therefore, it is required to plan an efficient method for phosphorus removal from discharge water and the investigation of phosphrus in the sediment around downstream of Gap stream. The cause of BOD increase is not convenient to remove the nitrogen from discharge water. Therefore, the upgrade improvement measures are required to remove nitrogen at the wastewater treatment plant.
직접구동 평면 다관절 로봇의 동역학적 모델에 따른 피드포워드 제어의 실험적 평가
홍윤식,강봉수,김수현,박기환,곽윤근,Hong, Yun-Sik,Kang, Bong-Su,Kim, Su-Hyeon,Park, Gi-Hwan,Kwak, Yun-Geun 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.1
A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.