초음파 및 적외선 센서를 이용한 자율이동로봇의 확률지도 형성에 관한 연구

안양준,진광식,윤태성 國立 昌原大學校 産業技術硏究所 2002 産技硏論文集 Vol.16 No.-

For the navigation of an autonomous mobile robot in complex environment, the map building of the environment is needed using sensors. The ultrasonic sensor is low cost, easy to install and has high-speed information processing persormance. Environment recognition using ultrasonic sensors, however, has two major problems: the uncertainty information of sensor and false readings caused by specular reflection and multipath effect. In order to resolve these problems, an map building method using Bayesian update model was proposed previously[5]. In this paper, we present an improved method of probability map building that uses infrared sonsors and shift division Gaussian probability distribution with the existed Bayesian update model using ultrasonic sensors. The validity and the persormance of the improved map building method are examined by simulation and experiment with real mobile robot.

제조에 對한 文獻的 考察

안태규,최병렬,송기철,이용연,유화승,서상훈,최우진,조정효,이연월,손창규,조종관 대전대학교 한방병원 2001 惠和醫學 Vol.10 No.1

In the literatual study on Holotrichia, the results were obtained as follows ; 1. Holotrichia is larva of Holotrichia diomphalia Bates etc. powder or liquor of Holotrichia is used medically. 2. Appearance of Holotrichia is shape of kidney, yellowish color. 3. The oriental characters of Holotrichia is warm, toxicant, salty. 4. The significant efficancy of Holotrichia is breaking the stagnant blood. 5. Holotrichia can be applied to the diseases related to thrombosis, and recover the demage of liver. 6. Holotrichia avails Liver diseases such as Hepatitis, Liver cirrhosis, Hepatosplenomegaly, Hepatoma etc.

18개월 유아의 S. mutans와 Lactobacillus 감염수준과 우식위험요인의 상관성에 관한 연구

안진공,정진,정태성,김신 대한소아치과학회 2006 大韓小兒齒科學會誌 Vol.33 No.3

소유역에서 홍수조절용 펌프 및 유수지 규모의 결정

안태진,류희정 안성산업대학교 2002 論文集 Vol.33 No.-

A hydrological method has been performed to determine the capacity of pump and detention pond in small-sized urban basin for flood management. The critical duration of design rainfall and the effective storage ratio have been conventionally used to determine the size of pumps and ponds. The 11 pump-pond facilities in Dongdu-chun have been selected to analyze the critical duration for design rainfall and the storage ratio for ponds in this study. It has been then shown that the criteria of the maximum storage ratio is not reasonable for determining the detention pond. Thus, size of the detention pond should be selected by simulating the operation of pump and pond with the design flow hydrograph. The costs of pump and the pond should be also considered to determine the size of the pump and the pond.

안성천 수위관측소 지점의 갈수량 빈도 해석

안태진,류희정 안성산업대학교 1997 論文集 Vol.29 No.1

This paper presents the applicability of transformation method for estimating the 7-days low flows for return periods at An-sung stream. Since low flows of a stream very randomly and the durations of low flows are critical, analysis of low flows should consider both the magnitude and duration. Four stations with continuous streamflow records exceeding 20 years were selected. Power and SMEMAX transformation are adopted to transform the sample to a near normal distribution. The results show that Power transformation is the superior ability to SMEMAX transformation.

정상 성인에서 등척성 운동과 등장성 운동이 신체대사에 미치는 효과

안태순,정순열,정진상 건국대학교 1995 學術誌 Vol.39 No.2

This study was undertaken to investigate effects of isometric and isotonic exercise on the plasma levels of creatine phosphokinase (CPK), total cholestrol (TC), triglyceride (TG), high density lipoprotein (HDL), low density lipoprotein (LDL), glucose, and cortisol and heart rate (HR) in twenty healthy adults. Prior to the exercise the baseline level was taken from blood sampling after resting for thirty minutes. The subjects were divided Into two groups by ten ; one for isometric, the other for isotonic exercise. Physical exercise was performed by twenty minutes a day for 5 days. As compared with the baseline level, the plasma cortisol level increased significantly after isometric exercise and the plasma CPK level increased significantly after isotonic exercise (p<0.05). There is no significant change in the levels of plasma TC, TG, HDL, LDL, and glucose after exorcise in both groups. Heart rate increased more rapidly in isometric exercise than in isotonic exercise (p<0.05). Key words : isometric exercise, isotonic exercise

장거리 달리기 선수에서 횡문근융해와 생화학적 지표의 변화에 대한 연구

안선호,최석채,김태현,나용호,송주흥,이영진,조지현,최석준 대한신장학회 2000 대한신장학회잡지 Vol.19 No.5

용담 수위관측소지점의 갈수량 분석

안태진,류희정 안성산업대학교 2000 論文集 Vol.32 No.-

The Power transformation, the modified Power transformation, the logarithmic transformation, the square-root logarithmic transformation, the SMEMAX transformation, the Extreme value type Ⅲ, the Weibull, the log-Pearson type Ⅲ, the lognormal distribution, and he log-Boughton based on plotting position are considered to estimate 7-day, 10-day, 20-day, and 30-day low flows for return periods at the Yongdam sage station. The method of moment and the maximum likelihood procedure are adopted to calculate the parameters of the Extreme value type Ⅲ, the Weibull and the log-Pearson type Ⅲ distribution, and the Kolmogorov - Smirnov (K-S) test is performed to test the goodness of fit for each distribution. The main advantage of the transformation methods is to transform a given sample data in a such manner that the transformed sample is a near normal distribution. The fitting procedure for the Extreme value type Ⅲ performed poorly. The maximum likelihood procedure only produced results in 7-day flow series. The two parameters in the Weibull distribution are not sufficient to adequately describe the shape. The log-Pearson type Ⅲ performs relatively well in most cases. It is found that the Power, the modified Power, the logarithmic, the square-root logarithmic, the log-Boughton distribution consistently provide a good fit to low flows for the Yongdam station.

축산 폐수의 효율적 처리를 위한 광합성 미세조류인 Spirulina platensis 배양 공정의 최적화

안주희,김성수,김태호,이준엽,오상집,이진하,이현용 한국미생물생명공학회 ( 구 한국산업미생물학회 ) 1996 한국미생물·생명공학회지 Vol.24 No.4

돈분 폐수의 효율적인 처리를 위해 6 W/㎡, 12 W/㎡와 24 W/㎡의 조도 하에서 온도를 15℃에서 40℃까지 각각 변화시켜, 광합성 미세 조류인 Spirulina platensis의 생육에 관한 최적 생육 조건 결정에 관한 실험을 하였다. 균체의 비생육속도는 30℃까지는 온도 증가에 따라 증가하였다. 균체의 생육에 있어서 온도의 영향을 설명하기 위해서 Arrhenius 식을 이용하여서 얻은 활성화 에너지 값은 13.5kal/mol이었다. 순수 배지에서 배양된 균체의 비생육속도가 0.31(1/day)인 반면 30% 돈분 첨가 배양시 얻은 균체의 비생육속도는 0.24(1/day)였다. 폐수내의 총 질소량과 이의 제거속도로 균체의 폐수 처리 능력을 평가할 수 있었다. 돈분 농도를 달리 첨가한 회분배양에 있어서 70~93%(PO_4^3- -P), 67~93%(inorganic nitrogen), 80~90% (COD) 그리고 37~56%(organic nitrogen)의 감소율을 보였다. 총-질소와 총-인의 1차반응 감소 속도 상수는 각각 0.17(1/day)와 0.14(1/day)로 계산되었다. 20% 돈분을 첨가하는 연속배양에 있어서 회석률이 0.20(1/day)일 때 최대 균체농도가 1.52(g/L)를 유지했다. 돈분처리 후 얻은 균체의 성분은 단백질이 58.7%, 지방 11.0% 그리고 회분이 15.6%였다. The kinetics of growing microalga, Spirulina platensis was investigated to treat swine wastes with optimum growth conditions. Temperature was varied from 15 to 40℃ at three different light intensities, 6 W/㎡, 12 W/㎡ and 24 W/㎡. The specific growth rate was increased as temperature increased up to 30℃. The activation energy was estimated as 13.5 kcal/mol by an Arrhenius relationship. 0.24(1/day) of specific growth rate was obtained from batch cultivation with 30% swine wastes, compared to 0.31 (1/day) from clean culture. It was found that Spirulina platensis was able to reduce 70~93% of PO_4^3- -P, 67~93% of inorganic nitrogen, 80~90% of COD and 37~56% organic nitrogen by adding various concentrations of swine wastes for 12 days of batch cultivation. Rate constants for removing nitrates and phosphates in treating swine wastes were estimated as 0.17 (1/day) and 0.14 (1/day) in the first order reaction, respectively. 1.52(g/L) of maximum cell density was maintained at 0.20(1/day) of dilution rate in continuous culture, adding 20% swine wastes for 30 days. The chemical composition of the biomass obtained from the process showed 58.7% of protein, 11.0% of lipid and 15.6% of ash.

강우강도식의 결정을 위한 회기모형

안태진,류희정 안성산업대학교 1998 論文集 Vol.30 No.2

강우량은 미계측유역에서 배수구조물을 설계하기 위한 확률홍수량 결정에 기본적인 수문량이다. 본 연구는 인천지방에서 8개 확률분포형을 적용하여 11개 강우지속기간별 확률강우량을 추정하였고, 적합한 확률강우강도식을 유도하였다. Kolmogorov - Smirov법과 Chi-square법을 통하여 최적 분포형을 추정하고 재현기간별 확률강우량을 결정한 후, ⅰ) 최소자승법(least squares, LS), ⅱ) 최소 중간치자승법(least median squares, LMS), ⅲ) 재가중최소자승법(reweighted least squares, RLS) 및 ⅳ) 2개 선형제약회기모형(constrained regression, CR)을 이용하여 인천지방 확률강우강도식을 결정하였다. 강우강도식은 Talbot형, Sherman형, Japanese형, 통합-l(Unified-1)형 및 통합-2(Unified-2)형으로 유도하였으며 결정된 강우강도식을 평가하기 위하여 평균제곱근오차를 계산하였다. 강우강도 형식으로는 통합-1과 통합-2형이 가장 적합한 공식이었으며 공학적인 견지에서 볼 때 계수결적을 위한 본 연구에서의 5개 모형은 모두 적합한 것으로 나타났다.