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UAV Control System Design Using Backstepping-Sliding Mode Controller
한종호,황명환,김동현,이계성,차현록 조선대학교 공학기술연구원 2018 공학기술논문지 Vol.11 No.3
This paper presents a backstepping sliding mode controller for UAV(unmanned aerial vehicles) to implement the attitude and position tracking control. First, dynamic model is introduced for the UAV. The Newton-Euler method has been used to derive the defining equations of motion of the six-degree system. The method was obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Secondly, the backstepping sliding mode controller is proposed to develop the attitude and position control system for the UAV system and the system was conducted by Matlab/Simulink. Comparative simulation results with other control systems such as backstepping and sliding mode controller and the proposed control scheme show the efficiency of other control systems.
韓鐘縞 한국중국언어학회 2000 중국언어연구 Vol.10 No.-
等韻學的硏究, 在唐宋時代就已經開始, 當時的音韻學家爲了表現切韻系韻書的反切, 將反切所反映的字音排列在一個個韻書的反切, 宋代刊行的『韻鏡』, 是中國現在所能見到的最早的等韻圖中之一. 此書的著者無考, 著述年代尙無定說, 卷首有張麟之紹興辛巳識語, 以及泰三年序, 識語後有慶元丁巳重刊本記等資料而已. 因此學術界尙待得新資料以便考究. 關於『韻鏡』的著述年代, 歷代音韻學家衆說紛紛, 유인인위타작우당조, 야유인인위타작우송조. 所以我們分析歸納歷來音韻學家的見解, 推論『韻鏡』的著述年代, 又拿『韻鏡』, 『七音略』用字和唐宋時代切韻系韻書的小韻首字來作比較, 深入探討『韻鏡』的著述年代, 而提出『韻鏡』的著述年代的新見解. 這裏我抄下對於『韻鏡』的著述年代的結論: 韻圖最早産生於唐代, 又『韻鏡』的原型作成於唐代天寶以後(즉손면『唐韻)和玄宗『天寶韻英)以後). 韻圖産生後, 經歷了一個不斷發展過程, 陸續有人根據後出的韻書對韻圖進行修訂. 其中比較大幅度的修訂有二次, 一次是『韻鏡』的原型依據五代本伯希和編號2014號『切韻』殘片一類的韻書進行增補, 二次是『韻鏡』依據『廣韻』進行增補. 正好像韻書有由陸法言『切韻』經過『全王』, 而成『廣韻』的'切韻系韻書'一樣, 韻圖也經歷了一個不斷增補的過程, 形成了一串'切韻系韻圖', 『韻鏡』只是這一系列中的一個環節, 타적원형시, 就像『唐韻』之對於『切韻』一樣, 必有一個經過增補後的堆積層.
한종호 한국중국언어학회 2000 중국언어연구 Vol.12 No.-
現代的音韻學者在證明韻圖四等分等時, 都把現代漢語方言爲第一重要的佐證, 同時參照域外譯音(如梵語、藏語、日本語、韓國語、越南語等)。 這自然是有根據, 因而也是可信的。 但是我們把現代漢語方言中常用漢字考査一下, 可以發現大量一二等、二三等無別的證據, 又可以發現有別的證據。 由此可見: 주장분등설적인가이종현대한어방언중조도례증설명자기지지유고, 주장혼등설적인역가이종현대한어방언중조도예증설명자기언지성리。 기연주장분등화혼등적인도가이종현대한어방언중조도좌증, 나마, 我們不得不可以得出一條'方言不能作爲分等說或混等說之論據'的結論。 等者, 等韻學家作韻圖之時, 시종합방음차이이재고대체상'等齊'、'等平'和'類比', 不如現代的音韻學者所謂四等各異。現代漢語方音的差異絶不能證明四等有別。
고압설비에 강인한 고장위치인식 알고리즘을 적용한 마이크로폰 어레이
한종호,한순신,이장명 제어로봇시스템학회 2010 제어로봇시스템학회 합동학술대회 논문집 Vol.2010 No.12
In this paper we proposed an accidental position of the robust high pressure equipment. because it’s difficult to measure high pressure accidental position so this study receives the noise transmitted in a constant audio frequency range through a microphone array in which the noise(like grease in a pan)occurs on the power supply line due to the troublesome partial discharge(arc). then by going through a series of signal processing of removing noise, it measures the distance and direction up to the noise caused by the troublesome partial discharge(arc) when the signal sound transmitted by the signal source of bad insulator is received on each microphone. then, this signal is entered in a digital value of digital signal processing (TMS320F2812) through the 16 bit A/D conversion. so we knew the sound distance, direction and coordinate of bad insulator from the arriving time difference occuring on each microphone and the algorithm of detecting maximum time difference
韓鍾鎬 한국중국언어학회 2001 중국언어연구 Vol.13 No.-
宋元時期的韻圖, 除把韻書中的各個韻部歸納爲十六攝以外, 還把這十六攝分爲兩大類, 一類叫做'內轉', 一類叫做'外轉'。 內外轉之分, 시대표십요구체적함의니? 야유십요부동니? 저종부동위십요요칭위'內' '外'之分? 這個問題, 歷來有幾種不同的解釋。 一種說法認爲, 把內外轉之區別是就開, 合口的不同。 령일종설법시파내외전적구별설성시취성음적'치엄'。 령일종간법시중국전통등운학계적설법, 就是從韻攝之中有無眞正的二等韻字來區分內外轉的。 령일종설법인위내외전지구분취시이'三等韻'爲根據的。 綜觀本文所論, 我們認爲: 內外轉揭示了中古漢語許韻母系統普遍存在的一種陣式。 中古韻圖中所分的內外轉, 是從攝的觀念出發, 以三等韻爲立足點的。 同一攝中的照二組字的反切下字歸納爲三等韻之內的屬內轉, 不歸納爲三等韻的屬外轉。 當然, 僅有三等韻字而不與照二組字相關聯的也稱爲內轉, 有二等韻字無關和三等韻的也稱爲外轉。