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자율주행 버스의 종방향 제어를 위한 질량 및 종 경사 추정기 개발
조아라,정용환,임형호,이경수,Jo, Ara,Jeong, Yonghwan,Lim, Hyungho,Yi, Kyongsu 한국자동차안전학회 2020 자동차안전학회지 Vol.12 No.2
This paper presents a vehicle mass and road grade estimator for developing an automated bus. To consider the dynamic characteristics of a bus varying with the number of passengers, the longitudinal controller needs the estimation of the vehicle's mass and road grade in real-time and utilizes the information to adjust the control gains. Discrete Kalman filter is applied to estimate the time-varying road grade, and the recursive least squares algorithm is adopted to account for the constant mass estimation. After being implemented in MATLAB/Simulink, the estimators are evaluated with the dynamic model and experimental data of the target bus. The proposed estimators will be applied to complement the algorithm of the longitudinal controller and proceed with algorithm verification.
기능적 다리 길이 차이가 압력 중심점과 안정성 한계에 미치는 영향
조아라,손광희,이유리,하민주,민지원,구현모,Jo, A-Ra,Min, Ji-Won,Son, Kwang-Hee,Lee, Yu-Ri,Ha, Min-Ju,Koo, Hyun-Mo 대한고유수용성신경근촉진법학회 2014 PNF and Movement Vol.12 No.4
Purpose: The purpose of this study was functional leg length inequality effect on COP(Center Of Pressure) and LOS(limits Of Stability) and EMG activation. Methods: The participants were consisted of fourteen. Subjects were distributed 2 groups; control group, leg length inequality ${\leq}3mm$, n=8), experimental group(leg length inequality${\geq}10mm$, n=8). The participants were measured leg length wearing comfortable clothes through tape measure method(TMM). All subjects was measured COP(Center Of Pressure), LOS(limits of stability) using by Balance Trainer BT4(HUR, Finland). Results: The results COP was not exist statistical significant differences(p>0.05). LOS was not exist statistical significant difference(p>0.05). Conclusion: The results was not statistical significant differences COP and LOS depending on Leg Length Inequality. But between experimental group and comparison group was exist mean differences on COP, LOS(COP:Ex.>Com, LOS:Ex. <Com/excepted some data). Somewhat COP and LOS was affected on by Leg Length Inequality. Balance is affected on Leg Length Inequality partly.
지중배전케이블의 허용전류용량 증대를 위한 적정 회선배치 및 관로 이격거리 분석
조아라(Ara Jo),문원식(Won-Sik Moon),이승재(Seung-Jae Lee),김재철(Jae-Chul Kim) 한국조명·전기설비학회 2016 조명·전기설비학회논문지 Vol.30 No.2
Power demand has continuously increased with technological and economical development. The load density is also growing in the center of downtown area. In particular, underground facilities have been increased on the purpose of the prevention of urban disasters and pedestrian environment improvement. Based on this situation, the underground space in urban surroundings has gradually decreased because of the limited space. The ampacity of buried cables is affected by various factors such as cable size, soil thermal resistance, burial depth and filling material. The thermal capacity of the facilities is determined by the absorb heat surrounding the cable and the soil. The maximum operating temperature of cable is the highest temperature when the insulator of cable is not damaged in the case of high enough temperature. In this paper, the most effective cabling configuration is suggested using the duct array adjustment. It was also considered to increase the number of cable line. This underground distribution system was simulated by using ETAP(Electrical Transient Analysis Program).
조아라 ( A-ra Jo ),정치윤 ( Chi-yoon Jeong ),장범환 ( Beom-hwan Chang ),나중찬 ( Jung-chan Na ) 한국정보처리학회 2009 한국정보처리학회 학술대회논문집 Vol.16 No.1
최근 웹 서비스 환경에서 공격자가 자신의 근원지를 은닉하기 위하여 여러 단계의 경유지를 거쳐 공격을 시도하는 사례가 증가하고 있으며, 이에 대한 법률적 증거 확보 및 능동적인 대처를 위하여 웹 어플리케이션에서의 역추적 기술이 필요하다. 현재 자바 애플릿이나 ActiveX, 플러그인, 웹 로그 등을 이용한 응용 계층의 추적 기술이 개발되고 있지만, 웹 클라이언트에 의하여 차단될 가능성이 높고, 플러그인 종류 및 호환되지 않는 운영 환경 등 제약조건으로 인하여 사용에 제한이 있다. 본 논문에서는 액션 스크립트를 이용한 웹 클라이언트 모니터링 시스템을 제안한다. 제안된 시스템은 웹 클라이언트가 실행을 인식하지 못하고 수행되어 웹 클라이언트에 의한 차단을 막을 수 있고, 다양한 운영 환경에서 사용이 가능하다.
다물체계 동역학을 기반으로 한 와이어로프와 조선용 블록 외판 사이의 간섭 시뮬레이션
조아라(A Ra Jo),구남국(Nam Kug Ku),차주환(Ju Hwan Cha),박광필(Kwang Phil Park),이규열(Kyu Yeul Lee) (사)한국CDE학회 2012 한국CDE학회 논문집 Vol.17 No.5
In this paper, a method for calculating the contact force and the frictional force caused by contacts between the wire rope and the rigid body is introduced based on multibody dynamics. And the method is applied to a simulation of contacts between the wire rope and the shell plate of a block that can occur during shipbuilding. The wire rope is composed of a number of lumped masses and the wire rope segments that connect the masses. After calculating the position of interference, we inserted a contact node into the wire rope. We then derived the equations of motion of the wire rope and the rigid body using augmented formulation based on multibody dynamics taking into account the constraints between the contact node and the rigid body. Using the equations, we were able to obtain the constraint force between the contact node and the rigid body, and calculate the contact force and the frictional force, based on which the position of the contact node was corrected. Finally, we applied our results to perform simulation of contacts between the wire rope and the shell plate of a block in order to verify the efficacy of the method proposed in this paper.
세계유산 보존관리와 지역의 지속가능한 발전을 위한 지역공동체 참여: 화성과 남한산성의 비교
조아라 ( Ah Ra Jo ),김숙진 ( Sook-jin Kim ) 한국도시지리학회 2016 한국도시지리학회지 Vol.19 No.2
최근 세계유산의 보존과 관리 부분에서 지역공동체의 참여를 강조하고 있다. 하지만 국내의 상황은 지역주민의 참여 및 역량강화에 대한 부분이 미흡한 실정이다. 이러한 상황에서 본 연구는 1997년 세계유산으로 등재된 화성과 2014년 등재된 남한산성을 대상으로 지역주민의 세계유산에 대한 의식과 참여도 등을 설문조사를 통해 알아보았다. 또한 세계유산 보존관리 등에의 지역주민 참여에 영향을 미칠 요소로 사회연결망과 마을 만들기 사업도 함께 분석하였다. 연구결과를 바탕으로 몇 가지 제안을 하자면, 화성에서는 현재 활발히 진행 중인 마을 만들기 사업을 화성과 관련한 사업과 연계한다면 세계유산의 보존관리에 지역주민의 참여율을 높일 수 있을 것이다. 한편 남한산성에서는 행정기관과 소통이 잘 되지 않는다는 것이 주민들의 가장 큰 불만사항인 것으로 보이며, 이를 해소하기 위하여 지역에서 오랜 기간 동안 형성되어온 사회적 자본을 바탕으로 주민과의 원활한 소통을 할 수 있는 좌담회 등을 정기적으로 개최하고 남한산성의 보존관리, 활용에 지역주민들의 참여를 보장하는 마을 만들기 사업을 진행한다면 지역의 지속가능한 발전에 기여할 수 있을 것으로 보인다. Local community involvement has recently been highlighted as a key factor to ensure the sustainable conservation and management of World Heritage sites. In reality, however, there has been lack of support and any attempts for participation and capacity-building of local communities in the World Heritage sites in Korea. In this context, this study examines two real cases: Hwaseong Fortress and Namhansanseong. The investigation includes local residents` awareness and participation in World Heritage conservation and management, and their social networks and Maeulmandeulgi(Community-Building Projects) as potential facilitators for increased local community participation. This study offers several suggestions to promote local community involvement. In case of Hwaseong Fortress of which site is large and highly urbanized with little social capital, Maeulmandeulgi can be used as a local community participatory project for conservation and management of World Heritage Sites. In case of Namhansanseong where local authorities had been implementing a top-down approach in not only World Heritage inscription but also Maeulmandeulgi, social capital historically developed can be used as a good source to facilitate local community involvement in sustainable development of local community as well as effective conservation and management of World Heritage Sites.