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자율 이앙 작업 진출입 오차 개선 선회 경로 생성 및 추종 기술 개발
새머리 선회 구간으로 진입하거나 탈출할 때, 경로 곡률의 변화 혹은 차량의 동적 요인에 의해 진입 오차가 발생할 수 있다. 진입 오차는 심어진 작물의 직접적인 손상을 일으킬 수 있고, 적절한 선회 경로를 결정하는 것을 어렵게 한다. 따라서, 이앙기 자율 주행을 위해서는 이러한 진입 오차가 고려되어야만 한다. 본 연구에서는 진입 오차를 감소시킬 수 있는 이앙기 자율주행 기술을 개발하였다. 진입 오차 거리를 포함한 기하학적 경로 모델을 제시하였으며, 기구학적 차량 모델과 추종 알고리즘을 통해 진입 오차 거리를 예측하였다. 추종 알고리즘은 모델 기반 조향각 생성 시스템, 조향 반응 시간으로 인한 진입 오차를 감소시킬 수 있는 look-ahead search method 그리고 불규칙한 노면에 대응하는 위치 기울어짐 보상 알고리즘을 도입하였다. EPS가 적용된 대동공업 DRP60D 상용 이앙기와 Synerex사 TDR- 3000 dual antenna real-time kinematic global navigation satellite system, SBG 사 Inertial Measurement Unit을 통해 무논 환경에서 개발한 기술을 검증하였다. 주행 속도 1km/h, 최대 선회 각도 35도에서 실험 결과, 진입 오차 거리는 진입 오차 거리를 포함하지 않은 경로의 추종 결과 대비 30.49% 감소하였다. 이 때, 직진 작업 구간 추종 결과는 작업기 기준 평균 횡편차 RMS 5.95cm, 평균 방향각 오차 RMS 약 1.37도로 나타났고, 최대 횡편차는 상용 자율주행 이앙기와 유사한 범위로 나타났다. 이러한 결과는 본 연구가 이앙기의 선회 전후 진입 오차를 감소시킬 수 있으며, 실제 농작업 환경에서 작업 효율성을 향상시킬 수 있음을 보여준다. When entering and exiting straight lines before and after headland turning, the entry errors may occur due to changes of the curvature of the paths and dynamic factors of the vehicle. The entry errors cause damage to the planted crop and make it difficult to determine the turning path. Therefore, this error should be considered for autonomous driving of the rice transplanter. In this study, we proposed an autonomous driving method that can reduce the entry errors for the rice transplanters. Geometric path models were defined including the entry error distance. The entry error distances were estimated through the kinematic vehicle model and tracking algorithm. A tracking algorithm used a model-based control system for steering angle generation. A look-ahead search method, and an GNSS tilt compensation also applied. We validated the newly developed method in the paddy field, through a Daedong DRP60D rice transplanter with an electronic power steering actuator, a global navigation satellite system system and inertial measurement unit. As a result of the validation, the entry error distance decreased by as much as 30.49% compared to tracking path that did not include the entry errors. At the same time, the results of the straight driving showed an average lateral deviation RMS of 5.95cm and an average direction angle error RMS of about 1.37 degrees from the implement, and the maximum lateral deviation did not exceed 15cm. These results confirmed that the presented method could reduce the entry errors of the rice transplanter and increase productivity.
Design methodology for mesh based clock networks
The clock distribution network in a synchronous digital circuit delivers a clock signal to every storage element i.e., clock sink in the circuit. However, since the continued technology scaling increases PVT (process-voltage-temperature) variation, the increase of clock skew variation is highly likely to cause performance degradation or system failure at run time. Recently, to mitigate the clock skew variation, many researchers have taken a profound interest in the clock mesh network. However, though the structure of clock mesh network is excellent in tolerating timing variation, it demands significantly high power consumption due to the use of excessive mesh wire and buffer resources. Thus, optimizing the resources required in the mesh clock synthesis while maintaining the variation tolerance is crucially important. The three major tasks that greatly affect the cost of resulting clock mesh are (1) mesh segment allocation, (2) mesh buffer allocation and sizing, and (3) clock sink binding to mesh segments. Previous clock mesh optimization approaches solve the three tasks sequentially, one by one at a time, to manage the run time complexity of the tasks at the expense of losing the quality of results. However, since the three tasks are tightly inter-related, simultaneously optimizing all three tasks is essential, if the run time is ever permitted, to synthesize an economical clock mesh network. In this dissertation, we propose an approach which is able to tackle the problem in an integrated fashion by combining the three tasks into an iterative framework of incremental updates and solving them simultaneously to find a globally optimal allocation of mesh resources while taking into account the clock skew tolerance constraints. The core parts of this dissertation are a precise analysis on the relation among the resource optimization tasks and an establishment of mechanism for effective and efficient integration of the tasks. In particular, to handle the run time problem, we propose a set of speed-up techniques i.e., modeling RC circuit for eliminating redundant matrix multiplications, exploiting sliding window scheme, and fast buffer sizing effect estimation, which are fitted into our context of fast clock skew estimation in mesh resource optimization as well as an invention of early decision policies. In summary, this dissertation presents the efficient design methodology for clock mesh synthesis with consideration on integration of three tasks and reduction of runtime complexity.
기타 및 상세불명코드를 이용한 건강보험 청구상병코드의 질 평가
The coding quality is an important factor to improve the accuracy of diagnosis codes. Coding Quality is used to evaluate if a diagnosis code is designed to conform to coding standards and include as much further information as possible. Both other code and proportion of unspecified code are assessment indicators to evaluate whether the code includes detailed information. A high ratio code means that examination is needed as an indirect indicator in respect of deficit medical records and erroneous summarized data and so on. Thus, we tried to evaluate the coding quality of health insurance claims data, using the proportion of other and unspecified codes. The result of the study shows that difference between inpatient and outpatient varies according to provider types. In the case of general hospitals and hospitals inpatient shows a higher proportion of unspecified code than outpatient, whereas outpatient shows a higher proportion of unspecified code than inpatient in the case of clinic. In addition, the proportion of unspecified and other codes varies in the same provider types and same departments. That result is caused by the lack of professionalism of coding personnel. This thesis has some limitations. It analyzed sample data instead of whole data for diagnosis code of health insurance claims data, and used an indirect indicator such as the proportion of other and unspecified codes to estimate coding quality To increase the quality of diagnosis codes, it is important to monitor coding quality consistently and feedback the result for management. Therefore, a wider range of quality assessment indicators consulting PICQ should be developed, and consistent monitoring of diagnosis codes based on the developed assessment indicators is required. In addition, standardized coding manual should be developed and popularized, and education is required to increase the professionalism of coding personnel and induce their proper use of codes.
활성슬러지를 이용한 폐수중의 시안화합물의 생물학적 처리
Biological Treatment of Cyanide Compounds from Wastewater by Activated Sludge Min-Seok Kang Advisor : Prof. Kyung-Hoon Cheong Ph. D. Department of Environmental Engineering Graduate School, Chosun University Large amounts of cyanide are released in solid waste and wastewaters of different industrial activities related to metal plating , aluminum electrolysis, coal gasification, coal coking, and the production of pharmaceuticals. In metal-bearing wastewater, most of the cyanides are present in the form of metal (such as Fe, Ni, Cu, and Zn) complexes rather than as free cyanide. Such metal-cyano complexes are highly stable and more resistant to biological attack compared with free cyanide. Since cyanide is highly toxic to ecosystems, cyanide-containing effluents cannot be discharged without being subjected to treatment to reduce to very low levels (0.1 <mg dm-3 of CN-). To prevent the access of cyanide to ecosystems, many biological detoxifications of cyanide have been tried, for the biological system has been considered to be the most effective and ultimate method. Many microorganisms have an inherent capacity to degrade the toxic organic compounds that enter the environment as a result of pollution and natural activities. However, there are few examples of biological degradation for cyanide compounds in the field. The activated sludge utilized of Ni(CN)42- as a nitrogen source. During cyanide degradation, ammonia and carbon dioxide were found as final products. The utilization of ammonia formed by Ni(CN)42- degradation was investigated by adding the glucose as carbon source. In the batch experiments, the effects of a substrate concentration, pH, contain of sludge, phenol, COD, thiocyanate on the removal of cyanide compounds were investigated a maximum condition with an activated sludge. In continuous experiments operational conditions is HRT 48~24hrs, pH 7.0, MLSS 4000 mg/L. The higher degradation activity was obtained at pH 7.0. In case that pH was beside 6~9, relative activity was dramatically decreased. The cyanide degradation decreased with increasing of initial cyanide concentration. Although cyanide degradation was inhibited above 200 mg/L of cyanide. The cyanide degradation increased with increasing of MLSS. COD at 600 mg/L had no inhibition on cyanide degradation with glucose addition. Phenol above 300 mg/L had slightly inhibitory effect on cyanide degradation. SCN- ion at 800 mg/L did not inhibited cyanide degradation. Ferric cyanide, most stable in the metal complexed cyanide compounds, of CN- at 50 mg/L was completely degraded at the same degradation rate as Nickel(Ⅱ) cyanide. Ammonia was formed at the time of complete cyanide degradation. In continuous experiments, the hydraulic retention time of 36hr, the higher degradation efficiency of cyanide was shown. As decreasing the hydraulic retention time further down to 24hr, the degradation efficiency of cyanide degreased to 90%. The removal efficiency of COD and cyanide were 92%, 98%, while HRT was 36hrs.
전북특별자치도 공공기관의 소방안전관리 실태와 개선에 관한 연구 : 소방안전관리자 역량을 중심으로
강민석 원광대학교 일반대학원 2025 국내석사
대구 지하철 화재, 천안초등학교 화재 및 여수 출입국관리사무소 화재 등 대형 공공기관의 화재로 수많은 재산 및 인명피해와 사회적 비용을 치르면서 그때마다 우리 사회의 안전불감증을 탓하고 문제점을 해결하는 미봉책으로 대처하여 왔다. 이제 다시는 공공기관에 이러한 불행한 사고가 재발하지 않고 국민들이 안 전하고 편안히 살 수 있도록 체계적이고 효율적인 공공 소방안전관리 시스템 을 개발하고 이에 대한 국민들의 엄격한 준수와 실행이 필요한 때이다. 우리나라는 경제성장과 더불어 급속한 경제 발전을 통해 도시화와 산업의 가속 화 속에 건축물이 거대해지고, 다양해져서 일반 건축물에 대한 화재 대책은 화재예 방법과 소방시설설치법으로 분법 하는 등 지속적으로 발전하고 있으나 모범을 보 여야 하는 공공기관은 오히려 완화된 규정으로 도태되어 있는 실태에 있다. 이에「화재예방법」에서 규정하고 있는 소방안전관리 제도를 바탕으로 공공기 관 소방안전관리의 특수성과 전기, 가스 등 다른 안전관리 제도와 비교 분석하여 문제점을 파악하여 실태조사를 통해 제도의 개선방안을 도출하고자 하였다. 실태 조사는 공공기관의 현직 소방안전관리자를 대상으로 설문조사를 통하여 공공기관 현장에서 나타나는 소방안전관리 실태, 역량을 조사하였다. 연구의 목적을 달성하 기 위해 전북지역 소방안전관리자 154명을 대상으로 실증연구를 실시하였고 유효 한 설문지 총 154부를 SPSS 30.0프로그램으로 빈도, 백분율, 독립 t-test 등 기술 통계분석과 신뢰도를 분석하였다. 이 연구에서는「화재예방법」,「공공기관의 소방안전관리에 관한 규정」등 관련 법률을 검토하였고, 공공기관 소방안전관리자들에게 설문조사를 통하여 소방안전관리자 역량 강화와 업무환경 개선방안을 여섯 가지 방안으로 나누어 제시하였고 세부사항은 다음과 같다. 첫째, 대형 공공기관 소방안전관리자의 다른 안전관리자와 겸직이 금지되어야 한다. 둘째, 공공기관의 소방안전관리자는 안전관리 실무자로서 상시 상주하는 사람이 선임될 필요가 있다. 셋째, 공공기관 소방안전관리자가 되기 위한 자격시험을 도입해야 한다. 넷째, 공공기관의 소방안전관리 등급을 화재 위험성, 건축물의 크기에 따라 세분화해야 한다. 다섯째, 주말, 야간에 운영하여 화재발생시 대형 인명피해가 예상되는 공공기관에 소방안전관리를 보조할 전문인력을 두어야 한다. 여섯째, 모든 공공기관에 합동소방훈련을 의무화해야 한다. Fires in large public institutions, such as the Daegu subway fire, Cheonan Elementary School fire, and Yeosu immigration office fire, have caused numerous property and life damages and social costs, and have been dealt with as a stopgap measure to blame our society's insensitivity to safety and solve problems. Now is the time to develop a systematic and efficient public fire safety management system so that such unfortunate accidents do not recur in public institutions again and that the people can live safely and comfortably. In Korea, buildings have become huge and diversified amid rapid urbanization and industrial acceleration through economic growth and rapid economic development, and fire countermeasures for general buildings are continuously developed by the Fire Prevention Act and the Fire Facility Installation Act, but public institutions that must set an example are being culled into relaxed regulations. Accordingly, based on the fire safety management system stipulated in 「The Fire Prevention Act」, it was intended to identify problems by comparing and analyzing the specificity of fire safety management in public institutions with other safety management systems such as electricity and gas, and to derive measures to improve the system through a fact-finding survey. Through a survey of incumbent fire safety managers in public institutions, the survey investigated the effect of fire safety management status, capabilities, and interest. To achieve the purpose of the study, an empirical study was conducted on 154 fire safety managers in Jeonbuk, and a total of 154 valid questionnaires were analyzed using the SPSS 30.0 program for technical statistics and reliability such as frequency, percentage, and independent t-test. In this study, related laws such as the Fire Prevention Act and the Fire Safety Management Regulations of Public Institutions were reviewed, and through a survey, fire safety managers in public institutions were divided into eight measures to strengthen fire safety managers' capabilities and improve the work environment, and the details are as follows. First, fire safety managers in large public institutions should be prohibited from concurrently holding positions with other safety managers. Second, fire safety managers in public institutions need to be appointed as safety management practitioners. Third, qualification tests should be introduced to become fire safety managers in public institutions. Fourth, the fire safety management level of public institutions should be subdivided according to the fire risk and the size of the building. Fifth, professional personnel should be assigned to public institutions that operate on weekends and at night to assist in fire safety management in the event of a fire. Sixth, joint fire drills should be mandatory in all public institutions.