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On the Synthesis of an Underwater Ship Hull Cleaning Robot System
이만형,이길수,박원철,이석희,홍신표,박형규,최재원,전호환 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.11
A design of an underwater ship hull cleaning robot system is presented in this paper. The design of the underwater robot is focused on the robot body and positioning system. Optimal body design process to satisfy conflicting design requirements is described. A sensor fusion model of the integrated navigation sensor system for underwater positioning is given. A numerical simulation and sea test are conducted with an integrated navigation system that is implemented with low cost sensors. Analysis on the experimental results on the navigation system is also given.
이만형,전성자 충북대학교 건설기술연구소 1998 建設技術論文集 Vol.17 No.2
This study focuses on the issues concerned with the diffusion and locational alternatives for large-scale discount stores in recent Korea. Starting from the hypothetical theory buildings, this paper utilizes various research methods including data analyses from the existing documents of governmental units and private organizations. This paper diagnoses that irregular location of large-scale discount stores would aggravate both social and urban problems including excessive investment and competition, inappropriate concentration of people and traffics, and depression of regional economic conditions. In addition, it reveals that new mode utilizing the natural green zone for the proposed site of large-scale discount store would contribute to further confusion of the urban zoning systems. In conclusion, the paper develops several policy alternatives. First of all, in order to minimize the negative impacts, it proposes that location of large-scale discount stores should be strictly guided by zoning regulation as well as results of impact assessment. At the same time, it is imperative for the governmental units to develop concrete facility criteria, harmonizing with urban land use planning. Lastly, it is also extremely important that, in any case, these facilities should not be invited without due consideration of their impact upon regional economic situation.