오픈소스 기반 Pixhawk 미션모드 비행제어법칙 구조 분석

이영호,신승찬,목지현,고상호,Lee, Yeongho,Shin, Seungchan,Mok, Jihyun,Ko, Sangho 항공우주시스템공학회 2018 항공우주시스템공학회지 Vol.12 No.3

본 논문에서는 현재 대표적으로 사용되고 있는 멀티콥터 오픈소스 기반 비행제어 컨트롤러인 Pixhawk의 내부루프 알고리즘 분석에 대해 연구한 내용을 다룬다. Pixhawk의 내부루프 알고리즘은 위치제어기, 자세제어기로 나눌 수 있는데, 위치 제어기는 목표로 이동하기 위한 멀티콥터의 자세를 제시하며 자세제어기는 원하는 자세로 변할 수 있도록 구동기에 작용하는 요구 추력과 모멘트 변화를 발생시킨다. 여기서 위치제어기는 멀티콥터의 급격한 자세변화를 방지하기 위해 적절한 관계식을 이용하여 요구 가속도 및 속도에 대해 제한을 하고 있는 것을 확인 할 수 있다. This paper deals with the analysis of the inner-loop algorithm of the Pixhawk which is a representative multi-copter open source. The algorithm is based on flight control-law structure. The inner-loop algorithm of the Pixhawk can be divided into a position controller and an attitude controller. The position controller generates the attitude of the multi-copter to move to the destination The position controller also generates the demand force and moment acting on each actuator. We confirm that the position controller saturates the desired acceleration and speed by using a proper relational expression. The expression can be used in order to prevent the sudden change in the attitude of a multi-copter.

운동선수에 있어 체중조절필요성에 따른 식사특성, 성격특성, 우울성향 및 기타병리의 차이에 대한 연구

이영호,박세현,정영조,Lee, Young-Ho,Park, Se-Hyun,Chung, Young-Cho 한국정신신체의학회 1995 정신신체의학 Vol.3 No.1

This study was designed to investigate the role of weight control in the formation of underlying pathology in eating disorder or eating related problems. The subjects were 304 college athletes(Male : 187. Female: 121) and they were divided into two groups according to need for weight control(Weght control group: 110, Weght non control group: 194). The authors used self report questionnaire which was composed of epidemiologic data, food habit scale, eating attitude test, scale for locus of control for weight, scale for food preference and eating behavior. And we also used Eysenck Personality Questionnaire of Korean standardized edition for assessment of personality characteristics, Beck depression inventory, and the scale of hypochondriasis. The results were as follows: 1) Body mass index and the amount of cigarrette smoking and alcohol drinking showed significant differences by sex but not by need for weight control. 2) Eating habit of female athletes was the worst in all athletes. The score of eating attitude test of female athletes was higher than that of male athletes but there was no significant difference by need for weight control. Food preference and eating related behavior was also different by sex. 3) There were no significant differences in all subscales of Eysenck Personality Questionnaire, Beck depression inventory, and the scale of hypochondriasis between two groups which were divided by need for weight control. Neuroticism score was higher in female atheletes and psychoticism score was the highest in weight control male atheletes. 4) There was no significant difference in number of population with abnormal EAT score(to-tal score$\geq$26) between two groups which were divided by need for weight control. 5) The score of eating attitude test had positive correlation with the score of psychoticism and the tendency of depression in weight control male athletes but not in non-weight control male athletes. In non-weight control male athletes, the score of eating attitude test had positive correlation with the score of lie scale. so its correlation is different from those of weight control male athletes. But in female athletes, the score of eating attitude test had significant positive correlation with the score of psychoticism in both groups. In conclusion, these results suggest that the differences of eating traits in athletes are depend upon the sex difference, not upon the need for weight control. and that the role of weight control in eating disorder or abnormal eating attitude differs according to sex.

DVD의 현황과 전망

이영호,Lee, Yeong-Ho 한국전자정보통신산업진흥회 1997 電子振興 Vol.17 No.4

하와이 이민과 '인하공과대학'의 설립

이영호,Lee, Young-Ho 한국기록학회 2001 기록학연구 Vol.0 No.3

'Inha University' (Inha Institute of Technology) was founded on April 1954. The establishment of Inha University has several special meanings. First, I tried to examine the establishing process of Inha University in the context of emigrations and nationalist movements. Inha University was established to commemorate the 50th anniversary of emigration to Hawaii, with the seed money of $150,000 which came from the sale of 'Korean Christian Institute' in Hawaii. Korean Christian Institute had taken charge of teaching the children of Korean residents in Hawaii. Rhee Syhngman, the fist president of Republic Korea was the leader in founding Korean Christian Institute and Inha University, but behind him there were donations of both Korean residents in Hawaii and common Korean people of the 1950's. The establishment of Inha University has a nation-wide and national meaning in that the spirit of nationalist movements in Hawaii and donations of Korean people at home and abroad were linked together. Second, I tried to examine the economic and educational policies after the liberation in 1945. In the 1950's Korea planned to set up self-supporting economy with the aid of America. Accordingly, the educational policy had to be considered in view of economic independence, too. 'Inha Institute of Technology' was the result of these national economic and educational demands. Consequently Inha Institute of Technology took a special position of carrying out national policies with the intervention and protection of the Government, including the president Rhee Syungman in person, even though it was neither national not public but private college. Third, I tried to examine the local history of Incheon. How did Inha Institute of Technology come to be built in Incheon? That's because the emigrant ships departed from Incheon. For those Korean emigrants, it is quite natural that the city of Incheon has a symbolic and commemorative meaning. In addition, Incheon is a port city neighboring the capital Seoul and has 'Seoul-Incheon Industrial Complex' in it. Graduates from Inha Institute of Technology were expected to act as competent scientists and technical leaders of that complex. Really Inha Institute of Technology trained many a good technicians with short-term courses and re-educated them after. The history of university has been usually underestimated as that of mere institution. In dealing with the history of Inha University as an example, I tried to re-examine the history of university in the context of Korean history and to emphasize the importance of keeping any all records relating universities.

미국 연방교육부(USDE)의 대학인증평가기구 지정에 대한 고찰1)

이영호,Lee, Yeong-Ho 한국대학교육협의회 2006 大學敎育 Vol.143 No.-

동아시아 국가의 글로벌 대학경쟁력과 대학평가

이영호,Lee, Yeong-Ho 한국대학교육협의회 2007 大學敎育 Vol.146 No.-

연화(軟化) Gutta-percha 충전법(充塡法)에서 Sealer의 조도(稠度)가 근관폐쇄(根管閉鎖)에 미치는 영향(影響)

이영호,Lee, Young-Ho 대한치과보존학회 1989 Restorative Dentistry & Endodontics Vol.14 No.2

이 연구의 목적은 연화 gutta-percha 주입 근관충전법에서 효과적인 근관폐쇄를 얻기위해 함께 사용하는 sealer의 척절한 조도률 측정하는데 있다. 실험에 사용된 sealer는 $0.5m{\ell}$의 유지놀에 산화아연 분말을 혼화하여 얻은 $0.5m{\ell}$의 혼합물이 두 유리판 사이에서 120gm의 무게에 의하여 퍼지는 정도로써 측정한 조도에 상응하는 분말액비(比) 대로 산화아연 분말과 유지놀을 혼합하여 조도 65.45mm, 46.80mm, 28.95mm 및 22.60mm의 sealer를 제조하였다. 발거된 125개의 하악 대구치에서 원심근을 절취하여 step-back 방법으로 근관형성, 제조된 sealer를 근관벽에 피복하고 $70^{\circ}C$에서 연화된 gutta-percha를 주입, 근관충전하였다. 실험치근은 2% methylene-blue 색소용액에 침적시켜 $37^{\circ}C$의 항온기에서 48시간 경과시킨후 근단공을 통한 색소침투의 정도를 측정하여 다읍의 결과를 얻었다. 연화 gutta-percha 주입 근관충전법에서 sealer를 사용하지 않은 군이 sealer를 사용한 군보다 색소침투는 더 크게 나타났다(p<0.05). 일정한 조도의 범위 65.45mm~22.60mm에서 조도 65.45mm의 sealer는 조도 28.9mm 및 22.60mm보다 폐쇄효과는 더 높게 나타났고(p<0.05) 조도 46.80mm의 sealer 보다도 더 높게 나타났으나 통계학적 유의성은 없었다. The purpose of this study was to investigate the proper consistency of root canal sealer needed in obtaining an efficient canal obturation in injection-thermoplasticized low-temperature ($70^{\circ}C$) gutta-percha method. The sealer was made by incorporating zinc oxide powder into $0.5m{\ell}$ of eugenol and then the $0.5m{\ell}$ of mixture slurry was placed between two flat glass plates. The consistency was determined by measuring the degree of spread of the slurry at loading the 120gm of weight from the top plate. The sealer was prepared according to P/L ratio corresponding to the acquired consistency of 65.45mm, 46.80mm, 28.95mm and 22.60mm. The distal roots were obtained by cutting off from 125 extracted human lower molars and the root canals were prepared by using step-back method. The prepared canals were coated with the sealers on their walls and obturated by using the injection-thermoplasticized low-temperature ($70^{\circ}C$) gutta-percha method. All specimens were immersed in 2% methylene blue dye solution for 48 hours at $37^{\circ}C$. Calipers was used to measured the dye penetration into the root canals from apical constrictions. The results were as follows : The canals obturated without sealer showed significantly more leakage than the canals obturated with sealer. Within the consistency from 65.45mm to 22.60mm, the sealer of 65.45mm appeared significantly better than that of 28.95mm and 22.60mm in the canals obturated by injection-thermoplasticized gutta-percha method, and better than that of 46.80mm without statistical significance.

인구구조 변화에 따른 대학의 미래

이영호,Lee, Yeong-Ho 한국대학교육협의회 2004 大學敎育 Vol.131 No.-

대학의 위기는 대학진학 인구의 감소가 가져온 위기 외에도 교육기능 뿐만 아니라 새로운 지식창출을 통한 국가 경쟁력 강화의 견인차가 되어 줄 것을 요구받고 있으며, 대학인들의 적극적인 사회봉사와 참여를 통한 건전한 시민사회 형성에도 그 책임을 다해줄 것을 요구받고 있다.

여수광양항의 물동량 예측과 대응에 관한 연구

이영호,고용기,나정호,Young-ho Lee,Yong-Ki Koh,Jung-ho Na 한국국제상학회 2015 國際商學 Vol.30 No.2

본 연구에서는 항만운영의 주요 이슈를 반영하여 여수광양항의 물동량을 예측하였다. 연 구목적은 여수광양항의 물동량을 예측하여 향후 경영전략을 수립하는데 근거 자료를 제시하 는 데 있다. 여수광양항의 수출입 화물 처리현황을 분석하고 잠재적인 북극항로의 수요를 파악하기 위하여 기종점 분석을 실시하였고, 선행문헌을 참고하여 변수를 설정하고 인과지 도를 구성하여 시뮬레이션을 통하여 물동량을 예측하였다. 분석결과 여수광양항의 물동량 예측과 대응방안을 다음과 같이 제시할 수 있다. 첫째, 중 장기적인 관점에서 여수광양항의 물동량은 지속적으로 증가할 것으로 예상된다. 둘째, 대형 화주들이 입주한 특성을 감안하여 화주와 선사의 요구사항을 적절히 반영해야 한다. 셋째, 여수광양항의 특색에 맞는 운영전략이 필요하다. 넷째, 중국 지역에 대한 고도화된 마케팅 전략이 요구된다. 다섯째, 북극항로 개발 이슈에 대한 적극적 대응이 필요하다. Purpose : The purpose of this paper is to present the results of cargo volume prediction to help in establishing the future business strategies for Yeosu Gwangyang port. Research design, data, methodology : In line with this purpose, O/D analysis was undertaken examining the port’s import and export cargo and the potential needs of the Northern Sea Route. A causal loop was made and the variables were set using the System Dynamics method. Data analysis simulation and scenario prediction were also deployed. Results and Conclusions : The research findings can be summarized as follows. Firstly, Yeosu Gwangyang port’s volume is expected to continue to increase. Secondly, Yeosu Gwangyang Port Authority needs to work with their customers who are both shippers and shipping companies. Thirdly, the operational strategies selected should fit with the port’s traffic characteristics. Fourthly, sophisticated marketing strategies are required to access the Chinese market. Lastly, Yeosu Gwangyang Port Authority needs to pro-actively provide a Northern Sea Route service.

수처리기계분야 연구동향

이영호,Lee, Young-Ho 한국유체기계학회 2006 한국유체기계학회 논문집 Vol.9 No.1