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Ca ( NO3 ) 2 수용액순환계에서의 냉동기동관부식과 방식대책
이형기,신철순,기문봉,박충근 한국부식학회 1979 Corrosion Science and Technology Vol.8 No.1
42% Ca(NO₃)₂水溶液의 循環系中에서 發生한 DCuT₁-H의 腐蝕은 Brine의 不適正 pH, 異物質의 混入 및 水流速度 등등이 單獨 또는 複合的인 作用에 基因하였음을 實驗 및 硏究를 通하여 確認하고, 防蝕 方法으로서 Brine의 製造法改善, 適正 pH의 決定, 異物質의 分離除去 및 設計 流速 維持 등 諸方法中 異物質의 分離 除去法-化學的 處理法-이 가장 效果的이었고 Brine의 循環適正 pH가 가장 큰 影響을 미치는 要素임을 알았다.
이형기 한국상사판례학회 2004 상사판례연구 Vol.0 No.17
In this thesis, I studied how to come up with efficient ways to regulate conflicting interests of financial analysts who play a critical role in investors' protection and both quantitative and qualitative growth of the capital market. It is important because a distorted analysis can end up undermining the confidence in the fair securities market. To secure fairness and independence for research and analysis of analysts, it is very important to form complementary relations between legislative regulations and self-regulations. It is because self-regulations without authority, empowered by law, cannot effectively discipline offenders. Therefore, in order to create efficient regulations with constant affinity to prevent the conflict of interests of analysts like the regulations in the United States and the United Kingdom, it is critical and necessary to clarify requirements for registered analysts, substantiate the content of disclosure regarding the conflict of interest for independent research and analysis, and create realistic private relief regulations apart from the private law in order to guarantee the accuracy of research and analysis.
Self-calibration of Gyro using Monocular SLAM for an Indoor Mobile Robot
이형기,명현,최기환,박지영 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.3
Rate gyros are widely used to calculate the heading angle for mobile robot localization. They are normally calibrated in the factory using an expensive rate table prior to their use. In this paper, a self-calibration method using a monocular camera without a rate table is proposed. The suggested method saves time and cost for extra calibration procedure. SLAM (Simultaneous Localization And Mapping) based on visual features and odometry gives reference heading (yaw) angles. Using these, the coefficients of a scale factor function are estimated through Kalman filtering. A new undelayed fea-ture initialization method is proposed to estimate the heading angle without any delay. Experimental results show the efficiency of the proposed method.