배송용 쿼드 로터 비행체의 추력 제약 아래 허용 제어 입력 범위의 효율적 산정

김성복 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.4

In this paper, an efficient method of computing the allowable control input range of a quadrotor aircraft is presented, which can be used for flight control under the constraint of thrust due to a given delivery object. For a quadrotor aircraft, the squares of the angular velocity of four rotors are considered as the actuation input, and the resulting thrust and three torques applied to the vehicle are considered as the control input, and the relationship between the actuation input and the control input can be approximated by a linear mapping. The entire actuation input range of a quadrotor aircraft is defined as a cube in the 4-dimensional actuation space, and the thrust requirement, which varies depending on the weight of a given delivery object, is expressed as a hyperplane in the 4-dimensional actuation space. Then, the allowable acuation input range of a quadrotor aircraft is obtained as the intersection of the entire actuation input range (the 4-dimensional cube) and the actuation space thrust constraint (the 3-dimensional hyperplane). Finally, through the linear mapping of the obtained allowable actuation input range into the 4-dimensional control space, the allowable control input range of a quadrotor aircraft under the control space thrust constraint can be determined as a 3-dimensional polyhedron.

애국가의 첫 학습시기 및 부르는 형태에 대한 연구 : -진주시 국민학교 3학년 대상- -Centering on the 3rd Students in the Elementary Schools in Jinju City

김성복 진주교육대학교 1983 論文集 Vol.27 No.1

The Korean National Anthem, along with the national flag of Korea (the Taegeuk flag),'is regarded very significant for us, because it is ar anthenl which syfnboliges our country in· e31e internafioeal society and it is recogniged as fur rational symbol or emblem. As the Korean National Anthem is an anthem to be sung by all our'BeoBle in the atatf of the nUnd of haying affections for our cou?try and in the posture of giving allegiance and loyalty to our fatherland, it is very imrortant to give .:orrect educations on the Anthem to the children or stlidents fesfeciallf in the lewer grades of primary school. ) who learn'the Anthem for the first time This atudf .has mafe a solver of the 3earnieg of the Anthem on three thousaBld stu-dents in the third rear grade o.』 the frinlarr achoots· in fiHju City by siring question-aires concerning the problems. The following items ·af the questionaires are anrwered and the results are investigfted analytically : 1. The tiue of the first Beaming 2. The media of the first learning 3. The ability If singing before entering school 4. teaming in the school 5. Teaching in the school 6. The time and flare sung rnosf frequently 7. Present ability to sing 8. Which stanga do you waat to sing 9. The ohject relnecered while singing 10. 7hf attitude of rlind while singing 11. Conception and intention 12. The inclination of recosnition To put together the results of this study : 1. It is thought to be ncessary to have correct education on the Anthem in the frinarr school curriculum. 2. It is to he But an emphasis on the necessity of effectiye teaching of the true meaning of the Anthem, the attitude of mind whild singing, courtesr and historical tackgrounds by ufing nudie-visual aids. 3. It is thought'to be necesfarr for the teachers to egert themselves to teach the Anthfm well, by reflecting on the adurating on the Anthem whi,ch is considered to have some inaefficiency hitherto. and by having lesronsibllities to teach the children to grow to be rartriotic persons by sincer and correct education.

어선기관의 취급기준(상)

김성복,Kim, Seong-Bok 선박안전기술공단 1980 漁船 Vol.5 No.-

중소형 내연기관의 저질연료유 사용에 관한 분석 및 전망

김성복,Kim, Seong-Bok 선박안전기술공단 1980 漁船 Vol.4 No.-

Liszt의 중기(Weimar시대)작품활동에 관한 연구

金聲福 이화여자대학교 한국문화연구원 1983 韓國文化硏究院 論叢 Vol.43 No.-

The author tried to understand the musical works and activities of Franz Liszt in his middle years along with his human nature and musical background. An estimation was made to his piano works played most often by the pianists, particularly as to their meaning and values. The author came to realize how instructive and valuable they were, the artistic creations of Liszt, a man of faith, always vivid and renovating. The author could also realize that the will and the capability of a human being, trained and developed through the repeated studies and experiments, and the painful path of life, are infinite. While his earlier works were characterized for the most by the transcriptions which were extrovert and technical, those produced in his middle years consisted mostly of original works which showed higher degree technique but were also introvert, meditative and religious, We also cannot overlook that Liszt, through his works of those years, showed an important insight and an infinite possibility toward future, and these became in this way an influence upon the impressionist composers of 20th century. The authors expects that all those who are interested in the performance and creative works would realize the importance of the experimental works of Liszt an make their efforts to understand them more deeply to give them their support more actively.

재가노인의 생활체육 참여가 생활만족과 복지에 미치는 영향

김성복 조선대학교 스포츠과학연구소 1999 스포츠科學硏究 Vol.10 No.-

This study has researched the reality about aged people for interest in their life exercise, satisfaction degree in life and the welfare system in the society for them. The findings in this study can be summarized as the following. In the society, in these days, the problems about aged People according to the phenomenon that population’s ages are becoming great have been raised. Now the Problems are seriously accepted not only in the advanced countries but also in Korea for approaching to the problems in the light of knowledge. In recent years, researches have been centrically performed about problems such as physical, psychological and economic dependency of aged people and their formal or informal supportive problems, the continuity or the change of social network for aged People in the society, and role conversion in old age period. In these circumstances, the participation of old people who have been considered as alienated group from sports and life exercises in the past is becoming increased day by day as much interest and participation of general public for the activities of life exercise has been increased. According to this reality, the efforts have been actively progressed for defining the influence of activities of sports and life exercise which have been considered as informal life physical training and physical recreation field on the old people’s psychological and social orientation. It implies the fact that the life exercise is recognized as a very desirable form of human behavior which provides all the people with the core element of human life. In other words, the life exercise is not merely physical activity but it is a means to enable people to pursue their happiness through their self-promotion of health. The function and the role of aged people’s participation in life exercise can be listed as prevention of various diseases, promotion of physical power, maintenance and enhancement of health, rest and recreation, satisfaction about the pleasure of life, sound leasure activity, improvement of content and level of life, management of merry life, and increase of happiness and welfare. In this context, interest in the old age group has been largely raised and the aged’s welfare is gradually presented as the main interest in making policy by the government. Furthermore, it can be said that such sociological interest in the aged group implies the fact that the society should urge people to convert their recognition into the new viewpoint which demands re-illumination about the aged people as social group who can cope with various problems that are yielded in the society more positively and actively avoiding the view which recognizes the aged as alienated group until now.

글룩의 오페라 개혁 이전의 프랑스, 독일, 영국 오페라의 사적고찰(17∼18세기)

김성복 진주교육대학교 1980 論文集 Vol.21 No.-

Opera which wart generated at Firenze, Italy, at the clone of 16c was spread across the whole of Europe in all directions, and it went on extending throngh France, Germany, and England. By the way, among these three countries that imported Italian opera, the most aucesaful country was France. France which imported opera at the middle of 17c made good use of their Ballot, so they bad come to make Italian opera that is the national opera. This opera has the originality and individuality at the beginning of 18c in accordance with a sort of French temper. R. Cambert, J. B. Lully. A. Campra. J. P. Rameau and etc can be said to be the representative composers of French opera of 17∼18c. R. Cambert was the founder of French opera, and he had been holding the right to a monopoly of French opera performances until J.B, Lnlly's appearance. J. B. Lully con be considered as the man who made opera take ell a French style. He came from Firenze, Italy, and was naturalized in France. He left many works and achievements under Louis's XIV love and care cooperating with the literary man Molie´re and the poet P. Quinault. A. Campra was famous as an early opera composer of France after J. B Lully, and an another conspicuous man was J. P. Rameau. He was the composer who succeeded French opera after J. B Lully rind left the largest achievements as a composer. He left immortal traces as opera composer and musical theorist, also. At the time of Bouffon's Quarrel, he was the man who continued to support the value of French music and opera by safeguarding French opera and was one of the moat famous compasers at the time of the late Baroque music. On the one hand, there was Singspiel which had been called a musical in Germany, but it could not be regarded as an opera. Though Germany imported opera earlier from Italy than France and England, because they didn't use the opera style originally, the development. of German opera had fellen behind. Italian opera had been extended across the whole of Germany from about 1618, Germany played a role as a branch office of Italian opera, so German opera composers could'nt succeed in life unless they composed opera to Italian styles. But, only the Diatrict of Hamburg had gotten out of the influences of Italian opera, and the national music sect of Germany was generated under free sovereign power of that district from 1678, so we came to call this the Hamburg music sect. But about 60 years later even Hamburg was with drawn because of the power of Itaiian opera from about 1738, so German opera had. gradually disappeared. After that, they had to wait far Mozart's appearance in order to get their own real German opera. H. Schiitz who is known ns the founder of German opera can be regarded as the representative opera composer of Germany and we can suppose that R. Keiser, J. Matteson and etc fire the representatives of Hamburg music sect. At the clave of loc in English opera, though there was a light musical combined with dance and play, because this had use to be performed at oxy the Royal-Court by a part of the aristocracy, it was not thought of opera. At the beginning of 17c this Came to appeal on open stage from about 1635, and had been called "Masque". A myth or an allegorical character was its contents. Because opera was developed γacidly In 1655 after the restoration of Imperial regime of Charles II, opera had been imported from France. It can be said that the representative composers of English opera are P. Humphrey, M. Lock. J. Blow, and H. Purcell. Among them, H. Purcell was the cost conspicuous composer who left immense achievements on English music and the history of opera. There is "Dido and Apneas" as his masterpiece that is opera on a small scale style. This skillfully expressed. a transparent color sense of rich Ballet music and dramatic power of expression. He is the first and last man who was thought to composer of a full-length English opera, at came time in spite of his short life of 36 years, he left many achievements in musical history.

패션디자인과 해체주의

김성복 漢城大學校 1994 論文集 Vol.18 No.1

PC조달 단가계약의 불합리성

김성복,Kim, Seong-Bok 한국전자정보통신산업진흥회 1998 電子振興 Vol.18 No.10

'98 COMDEX FALL을 다녀와서

김성복,Kim, Seong-Bok 한국전자정보통신산업진흥회 1999 電子振興 Vol.19 No.1