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2자유도 차동 구륜이동로보트의 기구학 모델링과 Backstepping 기법을 이용한 궤적추적
김종수(Chong-Soo Kim),문종우(Jong-Woo Moon) 한국정보기술학회 2007 한국정보기술학회논문지 Vol.5 No.2
This paper deals with kinematic modeling and trajectory tracking for a differential wheeled-mobile robot with 2 d.o.f., The kinematic motion equation is derived by using a transformation matrix and its time-derivative and a Jacobian matrix transforms wheel velocities into body velocities. We derive the forward and the inverse kinematics to decompose wheel velocity into actuated/unactuated and sensed/unsensed components. And we derive an error model and apply the backstepping method to construct a controller. To justify the methods proposed in this paper and show their efficiency, we experiment on a different wheeled-mobile robot with 2 d.o.f. and discuss the results.
생활폐기물 서비스 효과성 증진을 통한 시민 갈등저감 방안 연구: 의정부시를 중심으로
김종수 ( Kim Chong-soo ),김창진 ( Kim Chang-jin ),안윤주 ( Yoon-ju Ahn ),고대유 ( Go Dae-yoo ) 단국대학교 분쟁해결연구센터 2021 분쟁해결연구 Vol.19 No.3
생활폐기물 서비스는 시민의 관점에서 일상적인 정부의 행정서비스이다. 따라서 생활폐기물 서비스 단절과 비효율성은 ‘주민과 정부 간’의 큰 갈등을 촉발하는 요인이 될 수 있다. 현재 생활폐기물 서비스는 민간위탁 방식을 채택하고 있다. 그럼에도 불구하고 선행연구들은 민간위탁의 효과성을 충분히 검증하지 못하고 있다. 이 연구의 목적은 생활폐기물 서비스에 있어 민간방식의 효과성을 입증하는 것이다. 연구의 대상은 의정부시이며, 분석 방법은 총 3단계로서 주민만족도 조사, 전문가 평가, 서면 평가이다. 분석을 위한 측정도구는 14개의 지표와 42개의 세부지표이다. 분석 결과, 의정부시의 민간위탁 사업은 효과적이라는 결론을 도출하였으며, 전년 대비 성과도 향상된 것으로 확인되었다. 이상의 과정을 통해 실무적, 정책적, 이론적 함의점을 제안하였다. Municipal solid waste service is a daily administrative service. Therefore, the disconnection and inefficiency of municipal solid waste services trigger a great conflict between residents and the government. Currently, municipal solid waste services are adopt a contracting-out method. Nevertheless, previous studies have not sufficiently verified the effectiveness of contracting-out. The purpose of this study is to prove the effectiveness of municipal solid waste services in a private way. The subject of the study is Uijeongbu City. The analysis method is a total of three stages, including a survey of resident satisfaction, expert evaluation, and written evaluation. Measurement tools are 14 indicators and 42 detailed indicators. As a result of the analysis, Uijeongbu City’s private consignment project is effective. In addition, performance improved compared to the previous year. Through the above process, practical, policy, and theoretical implications were proposed.
주민의식 측정・분석을 통한 낙후지역 재생수단의 선택에 관한 연구 - 경기도 포천시 관인면 중심상점가를 중심으로 -
김종수(Chong Soo Kim),허훈(Hun Huh) 한국지방행정학회 2017 한국지방행정학보 (KLAR) Vol.14 No.3
The village community has been attracting attention as a way to resolve the aging problem and revitalize the region. This is because village-based regeneration can be a realistic strategy as a concrete means to improve the quality of life of residents by maximizing the potential resources of the region. To this end, efforts are being made to revitalize communities and lead local residents. The subjects of this study are Tandong-ri & Chogwa-1ri, Gwanin-myeon, Pocheon-si. The center of the town, built by the US Army in 1954, is one of the most underdeveloped in the metropolitan area. Especially, the redevelopment of this area has been hardly achieved, and the scenery of shops and shops in the 1960s and 1970s is well preserved, and it can be regarded as a foundation to revitalize this area by cultural power. By taking the concept of the Museum as it is(Eco Museum) , we sought to revitalize the area by highlighting the history of the area. In order to find out the specific means of recycling that can make use of local characteristics, we conducted interviews and surveys with various subjects such as local residents, central merchants associations, residents self-governing committees, and public officials. Based on the results of the survey and analysis, it suggested the resurgence of the economy of the alley and the direction of developmental town development project.
김종수(CHONG SOO KIM),김명숙(KIM Myoungsook) 한국방송통신대학교 미래원격교육연구원 2008 평생학습사회 Vol.4 No.2
Because the quantity of knowledge and information is increasing tremendously because of the development of science and technology nowadays, and there are limits to being adapted to the 21st century knowledge-based society changing rapidly through the formal school education alone, we must continue to learn all through the life. Also, it is necessary to give the educational opportunity that they can be educated whenever at the time they want to for the underprivileged that cannot receive educational benefits at the level of welfare state realization. Furthermore, Life-long Learning is required also as the course of self-realization through self development and achievement. Life-long Learning is to support to be able to apply those things with self-confidence, creativity and pleasure under all the roles, environments and situations by acquiring all the knowledge, values and technologies being required throughout their life. This treatise is for presenting the promotion plan for Life-long Learning to improve the quality of life by combining them with the residents' real life by realizing Life-long Learning society and providing various and beneficial Life-long Learning information and opportunity for the residents through the positive survey and analysis for the resident's participation condition and desire for Life-long Learning program that Life-long Learning facility situated in Seogu, Incheon Metropolitan City provides.