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환경 외란을 고려한 다중 자율잠수정의 제한적 기법 기반 주행 계획기
지상훈,고우현,정연수,이범희,Ji, Sang-Hoon,Ko, Woo-Hyun,Jung, Yeun-Soo,Lee, Beom-Hee 한국군사과학기술학회 2008 한국군사과학기술학회지 Vol.11 No.2
This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them.
유사 체구성성분의 운동선수와 비운동선수의 최대하운동에 따른 혈장량 및 체수분조절호르몬 비교
박승한(Seng Han Park),류호상(Ho Sang Ryu),권영우(Young Woo Kwon),정연수(Yeun Soo Jung),이종삼(Jong Sam Lee),김진형(Jin Heung Kim) 한국사회체육학회 2010 한국사회체육학회지 Vol.0 No.41
The purpose of this study was to investigate the effects of submaximal exercise on plasma volume and fluid regulatory hormones (ACTH, renin, aldosterone) between ski athletes and non-athletes. A total of 19 male subjects (10 athletes and 9 non-athletes) were participated in the study and their mean age was 22 years old. Submaximal exercise sessions took place on a bicycle ergometer performing 4 minutes of pedalling to reach targeted intensity (75% V·O2peak) and continued during 20 minutes. Blood samples extracted during rest and immediately after exercise. The Plasma volume decreased immediately after exercise in the both groups, but there were no significant difference between the athletes and the non-athletes. The ACTH, renin and aldosterone concentrations were significantly elevated immediately after exercise in the both group. In particular, the increase was significantly greater in the non-athletes compared to the athletes in the blood renin concentration.