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본 논문에서는 직류 전동기의 위치 제어를 함에 있어서 문제가 측정잡음이 있을 때의 제어출력의 개선에 대해 연구하였다. 제어기로는 Algorithm이 가장 간단하면서도 성능이 우수한 P.I Algorithm을 사용하였다. P.I 제어기는 원래가 출력궤환영 제어기인데 출력을 궤환시키기 위해서 측정을 할 때는 항상 측정잡음이 수반되어 정확한 제어가 어렵다. 본 논문에서는 잡음의 영향을 억제하고 출력특성을 개선하기 위해 Kalman Filter를 사용하여 DㆍC motor의 위치제어에 적용하여 컴퓨터로 시뮬레이션 해 본 결과 아주 만족스러운 결과를 얻을 수 있었다.
Inspecting offshore structures is a challenging task due to the harsh ocean environment. This task is often required to obtain ocean seafloor information to monitor the cables and pipelines. In this regard, this study developed an Autonomous surface vehicle (ASV)-based real-time online structural monitoring system to inspect an offshore power plant under the ocean surface. In particular, the ASV was equipped with a multibeam echosounder for bathymetry measurement and combined with a precisely estimated vehicle pose to generate the point clouds of the seafloor. A globally consistent map was developed using the orthometric height as a vertical datum estimated based on the geoid height received from the National Marine Electronics Association 0183 packet. Furthermore, dedicated outlier removal methods considering the sonar sensing characteristics were proposed to preserve the sparse inlier point cloud. Finally, a field test was conducted in an ocean environment with a real offshore structure to verify the capabilities of the proposed inspection system.
Shin Heum, an administrative officer in mid-Chosun dynasty, was a prolific poet as well as famous writer. He had an open mind and a pluralistic outlook on the world which were not limited by the orthodox Neo-Confucianism, and special desire to pursue the nature. Reviewing his poetry, his character reveals the following ; 1. Taoism and Buddhism were reflected in many of his works. This concludes his conception that a good poetry should come from the mind and include the Tao of the nature. 2. Many of his works express his inner world which had the desire to study the reasons of the nature and to live along by them. 3. He left many works that expressed his wishes to live in the country, assimilating himself with the reasons of the nature, and not being distracted by honor and disgrace in the social life. 4. Some of his works had very natural expressions rather than poetic skills. 5. He was a very unique poet who expressed the pluralistic outlook on the world by his thought of literature, not involved in the tendency of that tune.
During the past decade, motion simulators have been effectively used for studying the vehicle interaction and developing vehicle system and components in highly controlled and repeatable test environment. Most of motion simulator use a six degree of freedom stewart platform driven hydraulically. Thanks to a high performance 3D graphic accelerator, the visual system generates high fidelity visual scenes, which are displayed on a monitor on the motion platform. But this type of motion simulator has a limited rotational motion. In this paper we designed a new type motion simulator for endless rotational motion and controller for it. This has four degrees of freedom, three rotational and one vertical motion. The real-time simulation system, based on a personal computer with a digital signal processor, supervises overall operation of the simulator.
Choi, Gyeng-chang is the poet at the age of the King Seonjo(宣祖) in the Yi dynasty who reformed the poetic tendency of the Sung(宋) age into that of the Tang(唐) age. He made a kind of the emotional poetry in which the emotion and the refined form are more important than the logic and the speculative element. His poetic tendency is like these. First, he wrote poems about the national condition. In his poems, there are the irony for the politician, the criticism for the faction and the dignity of the soldier in the border. Second, he expressed the real emotion for the social condition and the human feeling : for example, love, friendship, sorrow of departure, pain of people, feeling of travel, etc.... Third, he expressed the willing of the honesty in the official life and the hope of the quietness in the hermit life.
In this paper two kinds of character recognition systems were constructed and experimented with 2350 printed KOREAN characters. The one was constructed directly by the prototype of the BPN and the other was constructed by 11 BPNs(one BPN for character type classifier and 10 BPNs for individual recognition systems). According to the experimental results the performance of the latter was much better than that of the former. This fact shows that the performance of the recognition system can be improved by using the structural information of special target character set.