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    ๊ต๋ž€ ๋นˆ๋„์™€ ํ™˜๊ฒฝ ๊ตฌ๋ฐฐ๊ฐ€ ํ† ์–‘ ๋ฏธ์ƒ๋ฌผ ๋‹ค์–‘์„ฑ๊ณผ ๊ตฐ์ง‘๊ตฌ์กฐ์— ๋ฏธ์น˜๋Š” ์˜ํ–ฅ์— ๊ด€ํ•œ ์—ฐ๊ตฌ

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    ํ•™์œ„๋…ผ๋ฌธ (๋ฐ•์‚ฌ)-- ์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› ์ž์—ฐ๊ณผํ•™๋Œ€ํ•™ ์ƒ๋ช…๊ณผํ•™๋ถ€, 2017. 8. Jonathan Adams.Microorganisms are the major component of global biodiversity, and it is found in the various habitats of terrestrial ecosystems. However, their ecological roles in nature and the patterns of microbial diversity are still poorly understood. Also the dominant factors regulating soil microbial community composition and diversity variation within these ecosystems are still unknown. In this study, the extent of soil microbial diversity was investigated in both experimental and Mountain ecosystem and the way microbial communities are affected by disturbance and environmental gradients, as well as the extent to which ecological processes or other environmental factors contribute to structuring the soil microbial communities. Firstly, I tested fungal community responses to disturbance gradients in a laboratory environment (Microcosms). Although disturbance is thought to be important in many ecological processes, responses of fungal communities to soil disturbance have been experimentally little studied and remained unknown about the responsiveness of soil fungal community structure to disturbance although there is a long history of the effects of disturbance on community structure in larger organisms. I subjected a soil microcosm to physical disturbance, at a range of frequencies designed to simulate ecological disturbance events. A soil microcosm is subjected to physical disturbance, sterilizing 90% of the soil volume each time, at a range of frequencies. The fungal community structure was analyzed using Illumina HiSeq sequencing of the ITS1 region. It was found that fungal diversity decline with the increasing disturbance frequencies, with no sign of the humpback pattern found in many studies of larger sedentary organisms. There is thus no evidence of an effect of release from competition resulting from moderate disturbance โ€“ which suggests that competition and niche overlap may not be important in limiting soil fungal diversity. Changing disturbance frequency also led to consistent differences in community composition. There were clear differences in OTU-level composition, with different disturbance treatments each having distinct fungal communities. The functional profile of fungal groups (guilds) was changed by the level of disturbance frequency. These predictable differences in community composition suggest that soil fungi can possess different niches in relation to disturbance frequency, or time since last disturbance. Fungi appear to be most abundant relative to bacteria at intermediate disturbance frequencies, on the time scale we studied here. Also, bacterial community responses to environmental gradients were tested in Mt.Norikura, Japan. Little is known about the factors affecting the relative influence of stochastic and deterministic processes on environmental gradients. The investigation on the community assembly, phylogenetic diversity and the relative role of both deterministic (niche-based) process and stochastic process may play in delimiting the bacterial phylogenetic community structure was conducted. Soil DNA from samples collected at a range of elevations was sequenced using Illumina MiSeq of the 16S rRNA gene. Mt. Norikura showed no increase in phylogenetic clustering in upper elevations, suggesting that this may not be a general pattern in elevational systems, no greater role of stochasticity towards upper elevations. However, the strength of phylogenetic clustering and the role of stochasticity was strongly related pH, with structuring and determinism being strongest at lower pH. This pattern follows that found in an earlier study of successional environments, where pH also dominates community structuring. The possibility that pH is a dominant factor in bacterial community structure, as well as in diversity, should be considered.ABSTRACTโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...i TABLE OF CONTENTSโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ....iii ABBREVIATIONโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆvi LIST OF FIGURESโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆvii LIST OF TABLESโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆx CHAPTER 1. SOIL MICROBIAL DIVERSITY AND RECENT TRENDS IN MICROBIAL ECOLOGY: AN INTRODUCTIONโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...1 1.1. The extent of Soil microbial diversity and its pattern in ecosystemโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.2 1.2. What makes soil microbial communities different?................................................4 1.2.1. Disturbance effects on soil microbial communitiesโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ4 1.2.2. Environmental gradients structuring soil microbial communitiesโ€ฆโ€ฆ..6 1.3. A general procedure of soil microbial diversity and community analysisโ€ฆโ€ฆโ€ฆ...7 1.3.1. Metagenomic approaches in Soil microbial studyโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..7 1.3.2. Microbial community analysis procedureโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..9 1.3.2.1. Initial processing and sequence quality controlโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..9 1.3.2.2. Sequence alignment, pre-clustering, chimera removal and taxonomic classificationโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...10 1.3.2.3. OTU based and phylogenetic analysisโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.11 1.4. Objectives of this studyโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.13 CHAPTER 2. CHANGES IN SOIL FUNGAL COMMUNITY STRUCTURE WITH INCREASING DISTURBANCE FREQUENCYโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ14 2.1. Introductionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..15 2.2. Materials and Methodsโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.21 2.2.1. Soil microcosmโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.21 2.2.2. Disturbance and Growth regimenโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.23 2.2.3. Autoclaving and Validation of Sterility and DNA Destructionโ€ฆโ€ฆโ€ฆ28 2.2.4. PCR Amplification and Sequencing of ITS1 Regionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ28 2.2.5. qPCR for Fungal ITS1 Regionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.29 2.2.6. Statistical Analysesโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..30 2.3. Resultsโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..31 2.3.1. Effect of Disturbance frequency on fungal abundance by qPCRโ€ฆโ€ฆ.31 2.3.2. Fungal diversity and community composition in relation to disturbance frequencyโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...33 2.3.3. Phylum-level pattern of fungal community in relation to disturbance frequencyโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...38 2.3.4. Ecological relevance of functional groups of fungal community in relation to disturbance frequencyโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...39 2.4. Discussionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ42 CHAPTER 3. SOIL PH RATHER THAN ELEVATION DOMINATES BACTERIAL PHYLOGENETIC COMMUNITY ASSEMBLY ON MT. NORIKURA, JAPANโ€ฆโ€ฆโ€ฆ56 3.1. Introductionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..57 3.2. Materials and Methodsโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ.60 3.2.1. Site description and Vegetationโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ60 3.2.2. Soil Sampling โ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..67 3.2.3. DNA extraction, PCR amplification and sequencingโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...68 3.2.4. Sequencing processing and taxonomic analysisโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...68 3.2.5. Phylogenetic analysisโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...69 3.2.6. Statistical analysisโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ72 3.3. Resultsโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ..73 3.3.1. Bacterial community compositionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ73 3.3.2. Phylogenetic signal and Phylogenetic diversityโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...78 3.4. Discussionโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ88 CHAPTER 4. GENERAL CONCLUSIONSโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ92 REFERENCESโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...97 APPENDIXโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...115 ๊ตญ๋ฌธ์ดˆ๋ก (Abstract in Korean)โ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆโ€ฆ...117Docto

    A Study on the Safety Education and Training for Hazardous Material Handlers in the Distripark Logistics Center

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    ์œ„ํ—˜๋ฌผ ์•ˆ์ „์‚ฌ๊ณ ๊ฐ€ ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž์˜ ๋ถ€์ฃผ์˜๋กœ ์‚ฌ๊ณ ์›์ธ์˜ ์ฆ๊ฐ€๋กœ ์ธํ•ด ํ˜„์žฅ์—…๋ฌด์—์„œ์˜ ๋ณ€ํ™”๋Š” ์•ˆ์ „๊ต์œกํ›ˆ๋ จ์„ ํ†ตํ•ด ์ธ์ ์ž์›์— ๋Œ€ํ•œ ํˆฌ์ž๋ฅผ ๊ฐ•ํ™”ํ•ด์•ผ ํ•œ๋‹ค. ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž์˜ ํ˜„์žฅ์—…๋ฌด์˜ ๋ณ€ํ™”๋ฅผ ๋ชฐ๊ณ  ์˜ฌ ๋‹ค์–‘ํ•œ ์š”์ธ์— ๋Œ€ํ•ด ๋ณธ ์—ฐ๊ตฌ๋Š” ๊ต์œก๊ธฐ๋Œ€, ๊ต์œกํ›ˆ๋ จ ํ™˜๊ฒฝ, ์œ„ํ—˜๋ฌผ ๊ด€๋ฆฌํ˜„ํ™ฉ์ด ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์˜ ์˜ํ–ฅ์„ ์•Œ์•„๋ณด๊ณ , ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์ด ๊ต์œกํ›ˆ๋ จ ์„ฑ๊ณผ์— ๋ฏธ์น˜๋Š” ๋งค๊ฐœํšจ๊ณผ๋ฅผ ํ™•์ธํ•˜๊ณ ์ž ํ•œ๋‹ค. ๋ถ€์‚ฐํ•ญ์— ์ทจ๊ธ‰๋˜๋Š” ์œ„ํ—˜๋ฌผ ์ข…๋ฅ˜ ๋ฐ ์ทจ๊ธ‰ํ˜„ํ™ฉ, ๋ฌผ๋ฅ˜๋‹จ์ง€ ์œ„ํ—˜๋ฌผ์ €์žฅ์†Œ ํ˜„ํ™ฉ, ์œ„ํ—˜๋ฌผ ์ฒ˜๋ฆฌ ์‹ค๋ฌด ๊ด€ํ–‰, ์œ„ํ—˜๋ฌผ ์‚ฌ๊ณ ํ˜„ํ™ฉ ๋ถ„์„, ์œ„ํ—˜๋ฌผ ๊ด€๋ จ ๋ฒ•๊ทœ์— ๋Œ€ํ•ด ์•Œ์•„๋ณด์•˜๋‹ค. ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž์˜ ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์˜ ํŠน์ง• ๋ฐ ํ˜„ํ™ฉ์œผ๋กœ ๊ต์œก๋Œ€์ƒ์ž, ๊ต์œก๋‚ด์šฉ, ๊ต์œก์‹ค์  ์ž๋ฃŒ๋ฅผ ๋‚˜ํƒ€๋ƒˆ๋‹ค. ๋ณ€์ˆ˜์˜ ์กฐ์ž‘์  ์ •์˜๋ฅผ ์œ„ํ•ด ๊ต์œกํ›ˆ๋ จ ์ด๋ก ์  ๊ณ ์ฐฐํ•˜์˜€๊ณ , ๊ต์œกํ›ˆ๋ จ ์„ ํ–‰์—ฐ๊ตฌ, ์œ„ํ—˜๋ฌผ์•ˆ์ „๊ด€๋ฆฌ ์„ ํ–‰์—ฐ๊ตฌ๋ฅผ ํ•˜์—ฌ ๊ฐ€์„ค์„ ์„ค์ •ํ•˜์˜€๋‹ค. ์‹ค์ฆ๋ถ„์„์„ ํ•˜๊ธฐ ์œ„ํ•ด ๋ชจ์ง‘๋‹จ์€ ๋ถ€์‚ฐํ•ญ ๋ฐฐํ›„๋‹จ์ง€ ๋ฌผ๋ฅ˜์„ผํ„ฐ ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž๋ฅผ ๋Œ€์ƒ์œผ๋กœ 124๋ถ€์˜ ์‘๋‹ต ์ž๋ฃŒ๋ฅผ ๋ถ„์„ํ•˜์˜€๋‹ค. ๋ณธ ์—ฐ๊ตฌ์˜ ๊ฐ€์„ค ๊ฒ€์ฆ์„ ์œ„ํ•ด ์˜ˆ๋น„ ๋ถ„์„์œผ๋กœ์„œ ๊ธฐ์ˆ ํ†ต๊ณ„ ๋ฐ ์š”์ธ๋ถ„์„์„ ํ•˜์˜€๊ณ , ๋ณ€์ˆ˜์˜ ์‹ ๋ขฐ์„ฑ ๋ฐ ํƒ€๋‹น์„ฑ, ๋ชจํ˜•์˜ ์ ํ•ฉ๋„๋Š” ๊ฒ€์ • ๋˜์—ˆ๋‹ค. ๊ตฌ์กฐ๋ฐฉ์ •์‹๋ถ„์„ ๊ฒฐ๊ณผ๋Š” ์ฒซ์งธ, ๊ต์œก๊ธฐ๋Œ€๋Š” ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์— ์ •(+)์˜ ์˜ํ–ฅ์„ ๋ฏธ์นœ๋‹ค. ๋‘˜์งธ, ๊ต์œกํ›ˆ๋ จ ํ™˜๊ฒฝ์€ ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์— ์ •(+)์˜ ์˜ํ–ฅ์„ ๋ฏธ์นœ๋‹ค. ์…‹์งธ, ์œ„ํ—˜๋ฌผ๊ด€๋ฆฌํ˜„ํ™ฉ์€ ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์— ์ •(+)์˜ ์˜ํ–ฅ์„ ๋ฏธ์นœ๋‹ค. ๋งค๊ฐœํšจ๊ณผ๋ถ„์„์œผ๋กœ ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ์€ ๊ต์œกํ›ˆ๋ จ ์„ฑ๊ณผ์— ๋ถ€๋ถ„๋งค๊ฐœํšจ๊ณผ๋ฅผ ๋ฏธ์น˜๋Š” ๊ฒƒ์œผ๋กœ ๋‚˜ํƒ€๋‚ฌ๋‹ค. ๋ณธ ์—ฐ๊ตฌ์˜ ๊ฒฐ๊ณผ๋Š” ๊ด€๋ จ ์‹ค๋ฌด์— ๋‹ค์–‘ํ•œ ์‹œ์‚ฌ์ ์„ ์ œ๊ณตํ•˜์˜€๋‹ค. | Hazardous material safety accidents must be strengthened investment in human resources through safety education and training, due to an increase careless handling of hazardous material handlers which causes of accidents and changes in the field work. On various factors driving the change of on-site operations of hazardous material handlers, In this research, we investigated the expectation of education and training, the education and training environment, the present state of hazardous material management on the influence of the education and training program, the education and training program wanted to confirm the mediating effect on the outcome of education and training. We examined the types and handling conditions of hazardous material handled at Busan Port, current state of hazardous material store in logistics park, practical practice of hazardous materials handling, analysis of hazardous material accident situation, hazardous material related laws and regulations. The characteristics of the education and training program of hazardous material handling persons and the subjects of education and training, contents of education and training, educational achievement materials are shown in the present situation. We examined education and training theory for operational definition of variables, and in hypothesis training preceding research, hypothesis was set up by prior research on hazardous material safety management. In order to conduct empirical analysis, the population analyzed response data of 124 copies of hazardous material handlers of logistics center in the port hinterland. Descriptive statistics and factor analysis, the reliability and validity of the variables, and the fitness of the model were performed as a preliminary analysis to verify the hypothesis of this research. Structural equation analysis results showed, firstly, educational expectations positively (+) influence on the education and training program. Second, the education and training environment has a positive (+) effect on the education and training program. Third, the current status of hazardous material management positively (+) influences on the education and training program. For the analysis of the mediating effect of education and training program found to affect the effect of partial parameters on the outcome of education and training. The results of this study provided various suggestions for related practices.1์žฅ ์„œ ๋ก  1 ์ œ1์ ˆ ์—ฐ๊ตฌ์˜ ๋ฐฐ๊ฒฝ ๋ฐ ๋ชฉ์  1 ์ œ2์ ˆ ์—ฐ๊ตฌ์˜ ๋‚ด์šฉ ๋ฐ ๊ตฌ์„ฑ 3 ์ œ2์žฅ ์œ„ํ—˜๋ฌผ ์ทจ๊ธ‰ํ˜„ํ™ฉ ๋ฐ ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž ๊ต์œกํ›ˆ๋ จํ˜„ํ™ฉ 4 ์ œ1์ ˆ ์œ„ํ—˜๋ฌผ ์ทจ๊ธ‰ํ˜„ํ™ฉ ๋ฐ ์ฒ˜๋ฆฌ ์‹ค๋ฌด ๊ด€ํ–‰ 4 1. ์œ„ํ—˜๋ฌผ ์ทจ๊ธ‰ํ˜„ํ™ฉ 4 2. ์œ„ํ—˜๋ฌผ ์ฒ˜๋ฆฌ ์‹ค๋ฌด ๊ด€ํ–‰ 10 3. ์œ„ํ—˜๋ฌผ ์‚ฌ๊ณ ํ˜„ํ™ฉ ๋ฐ ์œ ํ•ดํ™”ํ•™๋ฌผ์งˆ ์‚ฌ๊ณ ํ˜„ํ™ฉ 12 4. ์œ„ํ—˜๋ฌผ ๊ด€๋ จ๋ฒ•๊ทœ 17 ์ œ2์ ˆ ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž์˜ ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ ํŠน์ง• ๋ฐ ํ˜„ํ™ฉ 19 1. ์œ„ํ—˜๋ฌผ ์‹ค๋ฌด๊ต์œก 19 2. ์œ„ํ—˜๋ฌผ ์•ˆ์ „์šด์†ก ์ดˆ๊ธฐ๊ต์œก 21 3. ์œ ํ•ดํ™”ํ•™๋ฌผ์งˆ ์•ˆ์ „๊ต์œก 24 4. Tโ€™์‚ฌ์˜ ์ž์ฒด๊ต์œก ์‚ฌ๋ก€ 28 5. ๊ตฌ๊ธ€ํ”Œ๋ ˆ์ด ์•ฑ 30 ์ œ3์žฅ ์ด๋ก ์  ๊ณ ์ฐฐ ๋ฐ ์„ ํ–‰์—ฐ๊ตฌ 31 ์ œ1์ ˆ ์ด๋ก ์  ๊ณ ์ฐฐ 31 1. ๊ต์œกํ›ˆ๋ จ์˜ ๊ฐœ๋… ๋ฐ ๋ชฉ์  31 1. ๊ต์œกํ›ˆ๋ จ์˜ ๋ฐฉ๋ฒ• 32 1. ๊ต์œกํ›ˆ๋ จ ํšจ๊ณผ 32 ์ œ2์ ˆ ์„ ํ–‰์—ฐ๊ตฌ 33 1. ๊ต์œกํ›ˆ๋ จ์— ๊ด€ํ•œ ์„ ํ–‰์—ฐ๊ตฌ 33 2. ์œ„ํ—˜๋ฌผ ์•ˆ์ „๊ด€๋ฆฌ์— ๊ด€ํ•œ ์„ ํ–‰์—ฐ๊ตฌ 34 ์ œ4์žฅ ์œ„ํ—˜๋ฌผ์ทจ๊ธ‰์ž์˜ ์•ˆ์ „๊ต์œกํ›ˆ๋ จ์— ๊ด€ํ•œ ์‹คํƒœ์กฐ์‚ฌ ๋ถ„์„ 36 ์ œ1์ ˆ ์—ฐ๊ตฌ์„ค๊ณ„ 36 1. ์—ฐ๊ตฌ์„ค๊ณ„ 36 ์ œ2์ ˆ ๋ณ€์ˆ˜์˜ ์กฐ์ž‘์  ์ •์˜ 37 1. ๊ต์œก๊ธฐ๋Œ€ 37 2. ๊ต์œกํ›ˆ๋ จ ํ™˜๊ฒฝ 38 3. ์œ„ํ—˜๋ฌผ ๊ด€๋ฆฌํ˜„ํ™ฉ 38 4. ๊ต์œกํ›ˆ๋ จ ํ”„๋กœ๊ทธ๋žจ 39 5. ๊ต์œกํ›ˆ๋ จ ์„ฑ๊ณผ 40 ์ œ3์ ˆ ๊ฐ€์„ค์˜ ์„ค์ • 41 1. ๊ฐ€์„ค์˜ ์„ค์ • 41 ์ œ4์ ˆ ์กฐ์‚ฌ๋Œ€์ƒ์˜ ์„ ์ • ๋ฐ ๋ถ„์„๋ฐฉ๋ฒ• 43 1. ์กฐ์‚ฌ๋Œ€์ƒ์˜ ์„ ์ • ๋ฐ ์ž๋ฃŒ์ˆ˜์ง‘๋ฐฉ๋ฒ• 43 2. ์„ค๋ฌธ์ง€์˜ ๊ตฌ์„ฑ 43 3. ๋ถ„์„๋ฐฉ๋ฒ• 44 ์ œ5์ ˆ ๋ถ„์„๊ฒฐ๊ณผ 45 1. ์ผ๋ฐ˜์  ํŠน์„ฑ 45 2. ์š”์ธ๋ถ„์„ 46 3. ๋ณ€์ˆ˜์˜ ์‹ ๋ขฐ์„ฑ ๋ฐ ํƒ€๋‹น์„ฑ ๋ถ„์„ 49 4. ๊ตฌ์กฐ๋ฐฉ์ •์‹ ๋ถ„์„ 51 5. ๋งค๊ฐœํšจ๊ณผ ๋ถ„์„ 52 ์ œ5์žฅ ๊ฒฐ ๋ก  56 ์ œ1์ ˆ ์—ฐ๊ตฌ๊ฒฐ๊ณผ์˜ ์š”์•ฝ ๋ฐ ์‹œ์‚ฌ์  56 1. ์—ฐ๊ตฌ๊ฒฐ๊ณผ์˜ ์š”์•ฝ 56 2. ์—ฐ๊ตฌ์˜ ์‹œ์‚ฌ์  57 ์ œ2์ ˆ ์—ฐ๊ตฌ์˜ ํ•œ๊ณ„์  ๋ฐ ํ–ฅํ›„ ์—ฐ๊ตฌ ๊ณผ์ œ 58 ๋ถ€ ๋ก 59 ์ฐธ๊ณ  ๋ฌธํ—Œ 63 63 65Maste

    A Study on Control System of Wire Integrated Unmanned Surface Vehicle and Unmanned Underwater Vehicle

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    ํ•ด์–‘ ํƒ์‚ฌ ์‹œ ๋น„์šฉ์— ๋Œ€ํ•œ ์ œ์•ฝ, ํ•ด๋ฅ˜๋‚˜ ์ˆ˜์••์„ ํฌํ•จํ•œ ํ™˜๊ฒฝ์  ์ œ์•ฝ, ํ†ต์‹ ์˜ ์ œ์•ฝ ๋“ฑ์˜ ์–ด๋ ค์›€๊ณผ ๊ทธ ๋„“์ด๋งŒํผ ๋‹ค์–‘ํ•œ ํ™˜๊ฒฝ์œผ๋กœ ์ธํ•ด ๊ตฌ์ฒด์ ์ธ ๋ชฉํ‘œ, ์ž„๋ฌด ์ง€์—ญ์— ๋”ฐ๋ผ ํ•„์š”์— ๋งž๋Š” ํ”Œ๋žซํผ์„ ์‚ฌ์šฉํ•˜๋Š” ๊ฒฝ์šฐ๊ฐ€ ์ผ๋ฐ˜์ ์ด๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ๋Š” ๋„๋ฆฌ ์‚ฌ์šฉํ•˜๋Š” ํ”Œ๋žซํผ ์ค‘ ๋ฌด์ธ์ˆ˜์ƒ์ •(USV, Unmanned Surface Vehicle)์˜ ์œก์ƒ๊ณผ์˜ ํ†ต์‹ ์ด ๊ฐ€๋Šฅํ•˜๋‹ค๋Š” ์ , ์„ ๋ฐ• ๋Œ€๋น„ ๋น„์šฉ์ด ์ €๋ ดํ•˜๋‹ค๋Š” ์žฅ์ ๊ณผ ROV(Remotely Operated Vehicle)์˜ ๋†’์€ ์ œ์–ด์ž์œ ๋„, ์‹ค์‹œ๊ฐ„ ํ†ต์‹ ์ด ๊ฐ€๋Šฅํ•œ ์žฅ์  ๋“ฑ์„ ๊ฒฐํ•ฉํ•œ ์‹œ์Šคํ…œ์„ ๊ตฌ์„ฑํ•˜๊ณ  ์ œ์ž‘ํ•˜์˜€์œผ๋ฉฐ ํƒ‘์žฌ๋œ ์„ผ์„œ๋“ค์˜ ์„ฑ๋Šฅ ์‹œํ—˜๊ณผ ์™„์„ฑ๋œ ํ”Œ๋žซํผ์˜ ์‹คํ•ด์—ญ ์‹คํ—˜์„ ์ˆ˜ํ–‰ํ–ˆ๋‹ค. ๋ณธ ์—ฐ๊ตฌ์—์„œ ์ œ์•ˆํ•˜๋Š” ๋ณตํ•ฉ ํ”Œ๋žซํผ(Combined platform)์€ USV์™€ ๋ฌด์ธ ์ž ์ˆ˜์ •(Unmanned Underwater Vehicle, UUV)์ด ์ˆ˜์ค‘์ผ€์ด๋ธ”๋กœ ์—ฐ๊ฒฐ ๋˜์–ด ์žˆ์œผ๋ฉฐ ์ด๋ฅผ ์šด์šฉํ•˜๊ณ  ์‹ค์‹œ๊ฐ„์œผ๋กœ ํ”Œ๋žซํผ ๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์‹ ํ•  ํœด๋Œ€์šฉ ์šด์šฉ ์ฝ˜์†”๋กœ ๊ตฌ์„ฑ๋˜์–ด ์žˆ๋‹ค. UUV๋Š” USV๊ฐ€ ์ฃผํ–‰ ์‹œ ์˜ˆ์ธ์ฒด๋กœ์จ ์†Œ๋‚˜๋ฅผ ์ด์šฉํ•ด ํ•ด์ €๋ฉด ์ •๋ณด๋ฅผ ์ˆ˜์ง‘ํ•˜๊ณ  USV ์ •์ง€ ์‹œ ROV์˜ ํ˜•ํƒœ๋กœ ๋‹จ๋… ํƒ์‚ฌ๊ฐ€ ๊ฐ€๋Šฅํ•˜๋„๋ก ํ•˜์˜€์œผ๋ฉฐ GPS(Global Positioning System)์™€ USBL(Ultra Short Base Line)์„ ํ™œ์šฉํ•ด UUV์˜ ์ƒ๋Œ€์œ„์น˜๋ฅผ ์ถ”์ •ํ•  ์ˆ˜ ์žˆ๊ฒŒ ํ•˜์˜€๋‹ค. USV๋Š” ํŒŒ๋„๋‚˜ ํ•ด๋ฅ˜ ๋“ฑ ํ•ด์–‘ ํ™œ๋™์ด ํ™œ๋ฐœํ•œ ์—ฐ์•ˆ์—์„œ์˜ ์‚ฌ์šฉ์„ ๊ณ ๋ คํ•ด ๋ณต์›๋ ฅ๊ณผ ์ง์ง„ ์ฃผํ–‰์„ฑ์ด ์šฐ์ˆ˜ํ•œ ์Œ๋™์„ ํ˜• ์„ ์ฒด๋ฅผ ์‚ฌ์šฉํ•˜์˜€์œผ๋ฉฐ UUV๋Š” ์˜ˆ์ธ ์‹œ ์ €ํ•ญ์„ ์ตœ์†Œํ™”ํ•˜๊ธฐ ์œ„ํ•ด ์–ด๋ขฐํ˜• ํ˜•์ƒ์œผ๋กœ ์„ค๊ณ„ํ•˜์˜€๋‹ค. USV๋Š” ํ”Œ๋žซํผ์˜ ํ†ต์‹  ํ—ˆ๋ธŒ๋กœ์จ ์šด์šฉ ์ฝ˜์†”์—์„œ ์†ก์‹ ๋œ ์ œ์–ด ๋ช…๋ น์„ ์ˆ˜์‹ ํ•˜์—ฌ USV์™€UUV์˜ ์ œ์–ด๋ถ€์— ์ „๋‹ฌํ•˜๊ณ  ์„ผ์„œ ๋ฐ์ดํ„ฐ, ์‹œ์Šคํ…œ ์ƒํƒœ ์ •๋ณด๋ฅผ ์ทจํ•ฉํ•ด ์šด์šฉ ์ฝ˜์†”๋กœ ์†ก์‹ ํ•œ๋‹ค. ๋˜ํ•œ ํ”Œ๋žซํผ์˜ ์ „์›์œผ๋กœ์จ USV, UUV์— ์ „์› ๊ณต๊ธ‰์„ ๋‹ด๋‹นํ•˜๊ณ  ์ „์•• ๊ฐ•ํ•˜ ํ˜„์ƒ๊ณผ ์ˆ˜์ค‘ ์ผ€์ด๋ธ” ๊ตต๊ธฐ๋ฅผ ๊ณ ๋ คํ•ด 300VDC๋กœ ์Šน์••ํ•˜์—ฌ UUV์— ๊ณต๊ธ‰ํ•œ๋‹ค. UUV๋Š” ์ˆ˜์ค‘ ์˜์ƒ, ์†Œ๋‚˜ ๋ฐ์ดํ„ฐ๋ฅผ ์ทจ๋“ํ•˜๋Š” ์—ญํ• ์„ ์ˆ˜ํ–‰ํ•˜๊ณ  ์ถ”์ง„๊ธฐ๋ฅผ ์ด์šฉํ•ด USV์™€์˜ ์ง„ํ–‰๋ฐฉํ–ฅ๊ฐ ์˜ค์ฐจ๋‚˜ ์œ„์น˜ ์˜ค์ฐจ๋ฅผ ๋Šฅ๋™์ ์œผ๋กœ ๋ณด์ƒํ•˜๋Š” ์—ญํ• ์„ ์ˆ˜ํ–‰ํ•œ๋‹ค. ๋ณตํ•ฉ ํ”Œ๋žซํผ์˜ ์ฃผ์š” ์ œ์–ด ๊ธฐ๋Šฅ์€ ๊ฒฝ์œ ์  ์ถ”์ข… ์ œ์–ด(Waypoint Tracking)์™€ ๋™์  ์œ„์น˜ ์ œ์–ด(Dynamic Positioning, DP)์œผ๋กœ ๊ฒฝ์œ ์  ์ œ์–ด์˜ ๊ฒฝ์šฐ ์šด์šฉ ์ฝ˜์†”์„ ํ†ตํ•ด ์ž…๋ ฅ๋œ ๊ฒฝ์œ ์ ์„ ์ถ”์ข…ํ•˜๋Š” ์ œ์–ด๋ฐฉ์‹์ด๊ณ  ๋™์  ์œ„์น˜ ์ œ์–ด๋Š” ์šด์šฉ ์ฝ˜์†”์„ ํ†ตํ•ด ์ž…๋ ฅ๋œ DP ์ง€์ ์„ ํ•ด๋ฅ˜๋‚˜ ๋ฐ”๋žŒ์˜ ํ™˜๊ฒฝ ์˜ํ–ฅ์„ ์ด๊ฒจ๋‚ด๊ณ  ์œ„์น˜๋ฅผ ์œ ์ง€ํ•˜๋Š” ์ œ์–ด๋ฐฉ์‹์ด๋‹ค. ์ด๋Ÿฌํ•œ ์ œ์–ด ๋ฐฉ์‹์„ ์ˆ˜ํ–‰ํ•  ๋•Œ USV ์„ ์ฒด ํ›„๋ฏธ์— ๋ถ€์ฐฉ๋œ 2๊ฐœ์˜ ์ฃผ ์ถ”์ง„๊ธฐ๋กœ ํšจ๊ณผ์ ์ธ ์ง์ง„ ์ œ์–ด์™€ ์„ ํšŒ ์ œ์–ด๋ฅผ ์œ„ํ•ด ์ง์ง„ ์ œ์–ด๊ธฐ์˜ ์ถœ๋ ฅ๊ณผ ์„ ํšŒ ์ œ์–ด๊ธฐ์˜ ์ถœ๋ ฅ์— ๊ฐ๊ฐ ๊ฐ€์ค‘์น˜๋ฅผ ๋‹ค๋ฅด๊ฒŒ ๋ถ€์—ฌํ•˜๋Š” Weight Scheduling ๋ฐฉ์‹์„ ์‚ฌ์šฉํ–ˆ๋‹ค. UUV๋Š” USV๊ฐ€ ์ „์†กํ•˜๋Š” ๋ฐฉํ–ฅ๊ฐ๊ณผ USBL ๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์‹ ํ•˜์—ฌ USV์˜ ๋ฐฉํ–ฅ๊ฐ์„ ์ถ”์ข…ํ•˜๊ฑฐ๋‚˜ ์ƒ๋Œ€๊ฑฐ๋ฆฌ๋ฅผ ์ขํžˆ๋Š” ์ œ์–ด๋ฐฉ์‹ 2๊ฐ€์ง€๋ฅผ ๊ฒฝ์šฐ์— ๋”ฐ๋ผ ์„ ํƒํ•ด์„œ ์ œ์–ดํ•˜๋Š” ๋ฐฉ์‹์„ ์‚ฌ์šฉํ–ˆ๋‹ค. ์‹คํ—˜ ์ „ ํ”Œ๋žซํผ์˜ ๊ฑฐ๋™์„ ํ™•์ธํ•˜๊ณ  ์ œ์–ด๊ธฐ์˜ ์„ฑ๋Šฅ์„ ํ™•์ธํ•˜๊ธฐ ์œ„ํ•ด ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค. ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ์ˆ˜ํ–‰์„ ์œ„ํ•ด USV ๊ธฐ์ค€์œผ๋กœ ๋™์—ญํ•™ ๋ชจ๋ธ์„ ์œ ๋„ํ•˜์˜€๊ณ  ํ”Œ๋žซํผ์— ์ž‘์šฉํ•˜๋Š” ์—ฌ๋Ÿฌ ํ™˜๊ฒฝ ์˜ํ–ฅ ์ค‘ ํ’ ํ•˜์ค‘๊ณผ ์กฐ๋ฅ˜ํ•˜์ค‘์„ ๊ณ ๋ คํ•˜์—ฌ ๊ธฐ๋ณธ์ ์ธ ํ”Œ๋žซํผ์˜ ์šด๋™๊ณผ ๊ฒฝ์œ ์  ์ถ”์ข… ๋“ฑ์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•˜์˜€๋‹ค. ์ˆ˜์ƒ์—์„œ์˜ ์œ„์น˜, ๋ฐฉํ–ฅ๊ฐ ์ •๋ณด๋Š” GPS๋กœ ์ทจ๋“์ด ๊ฐ€๋Šฅํ•˜๋‚˜ ์ˆ˜์ค‘์—์„œ์˜ ์œ„์น˜ ์ •๋ณด๋Š” USBL์— ๋ฐฉํ–ฅ๊ฐ ๋ฐ ์ž์„ธ ์ •๋ณด๋Š” AHRS์— ์˜์กดํ•œ๋‹ค. ๋”ฐ๋ผ์„œ ์ˆ˜์ค‘์—์„œ ์›ํ™œํ•œ ์ œ์–ด ์„ฑ๋Šฅ ํ™•๋ณด๋ฅผ ์œ„ํ•ด ์„ผ์„œ ๊ฐœ๋ณ„ ์‹คํ—˜์„ ์„ ํ–‰ํ–ˆ๋‹ค. AHRS์˜ ๊ฒฝ์šฐ ์ •๋ฐ€ํ•œ ๋ฐฉํ–ฅ๊ฐ์„ ๋ฐ˜ํ™˜ํ•˜๋Š” GPS์™€ ๊ฐ™์€ ๋ฐฉํ–ฅ์„ ํ–ฅํ•˜๋„๋ก ๋ฌผ๋ฆฌ์ ์œผ๋กœ ๊ณ ์ • ํ›„ ์ž„์˜๋กœ ์ฃผํ–‰ํ•˜๋ฉด์„œ ๋ฐฉํ–ฅ๊ฐ ๋ฐ์ดํ„ฐ์˜ ์‹ ๋ขฐ๋„๋ฅผ ๋น„๊ตํ•˜์˜€๊ณ  USBL์€ ๊ณตํ•™์ˆ˜์กฐ์—์„œ ์ •์ ์ƒํƒœ, ๋™์ ์ƒํƒœ์—์„œ์˜ ๋ฐ์ดํ„ฐ๋ฅผ ์ทจ๋“ํ•ด ๊ฑฐ๋ฆฌ ๋ฐ์ดํ„ฐ์˜ ์‹ ๋ขฐ๋„๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค. ๋งˆ์ง€๋ง‰์œผ๋กœ, ์‹คํ•ด์—ญ ์‹คํ—˜์„ ์ˆ˜ํ–‰ํ•˜๋ฉด์„œ ๊ตฌ์„ฑ๋œ ์ œ์–ด ์‹œ์Šคํ…œ๊ณผ ํ”Œ๋žซํผ์˜ ์„ฑ๋Šฅ์„ ํ™•์ธํ•˜๊ณ  ์‹ค์‹œ๊ฐ„์œผ๋กœ ์ทจ๋“ํ•œ ์ˆ˜์ค‘ ์„ผ์„œ ๋ฐ์ดํ„ฐ๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค. DP ์‹คํ—˜์˜ ๊ฒฐ๊ณผ, DP ์ง€์ ์„ ์ค‘์‹ฌ์œผ๋กœ 3m์ด๋‚ด์—์„œ ์œ„์น˜๋ฅผ ์œ ์ง€ํ•  ์ˆ˜ ์žˆ์Œ์„ ํ™•์ธํ•˜์˜€๊ณ  ๊ฒฝ์œ ์  ์ œ์–ด์˜ ๊ฒฐ๊ณผ, ๊ธฐ์ค€์œผ๋กœ 4m ์ด๋‚ด์˜ ์˜ค์ฐจ๊ฐ€ ๋ฐœ์ƒํ•จ์„ ํ™•์ธํ•  ์ˆ˜ ์žˆ์—ˆ๋‹ค. ๋˜ํ•œ USV์™€ UUV์˜ AHRS ๋ฐฉํ–ฅ๊ฐ ์„ผ์„œ ๋ฐ์ดํ„ฐ์™€ USBL ๋ฐ์ดํ„ฐ ๊ธฐ์ค€์œผ๋กœ ๋‘ ํ”Œ๋žซํผ ๊ฐ„์˜ ์ถ”์ข… ์ •๋„๋ฅผ ํ™•์ธํ•˜์˜€๋‹ค.|Exploring ocean comes with certain limitations such as environmental disturbances, cost constraints and communication difficulties. As vast the ocean is, environments of mission areas differ widely. Hence, it is common to use platforms that meet needs of specific goals and mission areas. In this study, we designed a new platform that combines advantages of previously commercialized platforms in order to achieve reasonable coastal survey solution and real-time underwater exploration. The platform consists of unmanned surface vehicle (USV) and unmanned underwater vehicle (UUV), and both platforms are integrated via tether cable. This study introduces design, control and field experiments including sensor performance tests of the integrated platform. In order to withstand environmental disturbances such as waves and ocean currents, hull of USV is designed as catamaran-type with excellent resilience and surge motion capabilities. The USV is equipped with Global Positioning System (GPS) device and Ultra Short Base Line(USBL) device to estimate UUV's relative distance and orientation. The UUV is designed in the torpedo-type shape to minimize underwater resistance. The UUV is equipped with underwater camera and side scan sonar. Data acquired by these sensors are processed and transmitted to USV in real time. Also, UUV has 4 thrusters to control its attitude and position The USV is controlled to perform way point tracking and dynamic positioning. When carrying out these control methods, anti-windup PID control anc weight scheduling method was used in order to achieve both straight motion and turning motion effectively with two main thrusters attached to the rear of the USV hull. The UUV could be operated manually to acquire underwater camera vision or could set as autonomous control mode to cooperated with USV. The UUV has two autonomous control methods; that are relative heading angle control and relative position control. Operator can decide which control method to use, factoring the goal of the mission. Attitude and position values of UUV are dependent to Attitude/Heading Reference System(AHRS) and USBL sensor. To ensure the integrity of UUV control performance, AHRS and USBL test were conducted. Finally, the performance of the platform controller and hardware capability of the platform; (e.g. communication capability, operation hours and real-time underwater data acquisition) were verified through the field test. The results of the dynamic positioning experiment confirmed that the location can be maintained within 3 m from the set point. The result of way point control shows that platform could follow points within 4 m of distance errors. In addition, the control performance of UUV was confirmed through AHRS heading angle data and the USBL distance data. Through these tests, good performance of designed control system was shown.1. ์„œ ๋ก  1.1 ์—ฐ๊ตฌ ๋ฐฐ๊ฒฝ 1 1.2 ์—ฐ๊ตฌ ๋ชฉ์  3 1.3 ๋…ผ๋ฌธ ๊ตฌ์„ฑ 5 2. ๋ณตํ•ฉ ํ”Œ๋žซํผ ์™ธ๋ถ€ ๊ตฌ์กฐ ์„ค๊ณ„ 2.1 ๋ณตํ•ฉ ํ”Œ๋žซํผ ๊ตฌ์„ฑ 7 2.1 ๋ฌด์ธ์ˆ˜์ƒ์„  ๊ตฌ์กฐ 9 2.2 ๋ฌด์ธ์ž ์ˆ˜์ • ๊ตฌ์กฐ 13 2.3 ์œˆ์น˜์‹œ์Šคํ…œ ๊ตฌ์กฐ 16 3. ๋ณตํ•ฉ ํ”Œ๋žซํผ ์„ธ๋ถ€ ๊ตฌ์„ฑ 3.1 ๋ฌด์ธ์ˆ˜์ƒ์ • 17 3.1.1 ๋ฌด์ธ์ˆ˜์ƒ์ • ์ „์›๋ถ€ 17 3.1.2 ๋ฌด์ธ์ˆ˜์ƒ์ • ์ œ์–ด๋ถ€ 22 3.1.2 ๋ฌด์ธ์ˆ˜์ƒ์ • ์„ผ์„œ๋ถ€ 25 3.2 ๋ฌด์ธ์ž ์ˆ˜์ • 28 3.2.1 ๋ฌด์ธ์ž ์ˆ˜์ • ์ „์›๋ถ€ 28 3.2.2 ๋ฌด์ธ์ž ์ˆ˜์ • ์ œ์–ด๋ถ€ 31 3.2.3 ๋ฌด์ธ์ž ์ˆ˜์ • ์„ผ์„œ๋ถ€ 34 3.3 ์œˆ์น˜์‹œ์Šคํ…œ ์ œ์–ด๋ถ€ 35 3.4 ์šด์šฉ ์‹œ์Šคํ…œ 36 3.4.1 ์šด์šฉ ์ฝ˜์†” 36 3.4.2 ์šด์šฉ GUI ํ”„๋กœ๊ทธ๋žจ 37 4. ๋ณตํ•ฉ ํ”Œ๋žซํผ ํ†ตํ•ฉ ์ œ์–ด ์‹œ์Šคํ…œ 4.1 ๋ณตํ•ฉ ํ”Œ๋žซํผ ํ†ต์‹  ์‹œ์Šคํ…œ 39 4.1.1 ์šด์šฉ ์ฝ˜์†” - USV ํ†ต์‹  ์‹œ์Šคํ…œ 40 4.1.2 USV - UUV ํ†ต์‹  ์‹œ์Šคํ…œ 43 4.1.3 ๋ณตํ•ฉ ํ”Œ๋žซํผ ๋‚ด๋ถ€ ํ†ต์‹  ํ”„๋กœํ† ์ฝœ 44 4.2 ๋ฌด์ธ์ˆ˜์ƒ์ • ๊ฒฝ๋กœ ์ถ”์ข…, ๋™์  ์œ„์น˜ ์ œ์–ด 45 4.3 ๋ฌด์ธ์ž ์ˆ˜์ • ์ƒ๋Œ€ ๋ฐฉํ–ฅ๊ฐ, ์ƒ๋Œ€ ๊ฑฐ๋ฆฌ ์ œ์–ด 49 4.4 ๋ณตํ•ฉํ”Œ๋žซํผ ์ž๋™ ๋ณต๊ท€ ์ œ์–ด 51 4.5 ๋ณตํ•ฉํ”Œ๋žซํผ ์ถ”์ง„ ์ œ์–ด ์‹œ์Šคํ…œ 52 5. ์„ผ์„œ ์„ฑ๋Šฅ ์‹คํ—˜ ๋ฐ ์‹คํ•ด์—ญ ์‹คํ—˜ 5.1 ์„ผ์„œ ์„ฑ๋Šฅ ์‹คํ—˜ 54 5.1.1 USBL ์‹คํ—˜ 54 5.1.2 AHRS ์‹คํ—˜ 56 5.2 ๋ณตํ•ฉ ํ”Œ๋žซํผ ์‹คํ•ด์—ญ ์„ฑ๋Šฅ ์‹คํ—˜ 58 5.2.1 AP-bridge ํ†ต์‹  ์žฅ๋น„ ์‹คํ—˜ 59 5.2.2 ํ”Œ๋žซํผ ๊ตฌ๋™ ์‹œ๊ฐ„ ์‹คํ—˜ 60 5.2.3 ํ”Œ๋žซํผ ์ž๋™ ๋ณต๊ท€ ์‹คํ—˜ 62 5.2.4 ์ƒ๋Œ€ ๊ฑฐ๋ฆฌ ์ œ์–ด ์‹คํ—˜ 63 5.2.5 ๋™์  ์œ„์น˜ ์ œ์–ด ์‹คํ—˜ 65 5.2.6 ๊ฒฝ์œ ์  ์ถ”์ข… ์ œ์–ด ์‹คํ—˜ 69 6. ๊ฒฐ๋ก  77 ๋ถ€๋ก A ๋™์—ญํ•™ ๋ชจ๋ธ๋ง ๋ฐ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ 79 ๋ถ€๋ก B ์ œ์–ด ๊ตฌ์„ฑํ’ˆ ๋ฐ ํšŒ๋กœ 97 ์ฐธ๊ณ ๋ฌธํ—Œ 104 ๊ฐ์‚ฌ์˜ ๊ธ€ 106Maste

    A Study on the Determination of the Number of Yard Tractors Assigned to Vessels in Container Terminal

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    ํ˜„์žฌ ํ•ด์šดยทํ•ญ๋งŒ ์‚ฐ์—…์€ ๊ธ‰๋ณ€ํ•˜๋Š” ํŠธ๋žœ๋“œ์™€ ์น˜์—ดํ•œ ๊ฒฝ์Ÿ ์†์—์„œ ์‚ด์•„๋‚จ๊ธฐ ์œ„ํ•ด ํ•ญ๋งŒ๋ฌผ๋ฅ˜์ž์›์˜ ํ™•์ถฉ ๋ฐ ํšจ์œจ์ ์ธ ์šด์šฉ์„ ํ†ตํ•ด ํ•ญ๋งŒ ์ฒ˜๋ฆฌ๋Šฅ๋ ฅ์„ ํ–ฅ์ƒ์‹œํ‚ค๊ธฐ ์œ„ํ•œ ์ „๋žต์„ ํŽผ์น˜๊ณ  ์žˆ๋‹ค. ํ•ญ๋งŒ์˜ ์ฒ˜๋ฆฌ๋Šฅ๋ ฅ ์‚ฐ์ •์€ ๋ถ€๋‘์— ์„ค์น˜๋˜๋Š” ํ•˜์—ญ์žฅ๋น„์— ์˜ํ•˜์—ฌ ๊ฒฐ์ •๋˜๋Š” ๊ฒƒ์œผ๋กœ ํ•ญ๋งŒ์˜ ์ฒ˜๋ฆฌ๋Šฅ๋ ฅ์€ ๋ฌผ๋ฅ˜์ž์›์„ ์ถ”๊ฐ€์ ์œผ๋กœ ๋ฐฐ์น˜ํ•˜๊ฑฐ๋‚˜ ํ™œ์šฉ ์ค‘์ธ ์ž์›์„ ํšจ์œจ์ ์œผ๋กœ ์šด์šฉํ•˜๋Š” ๋“ฑ ๋‹ค์–‘ํ•œ ๋ฐฉ๋ฒ•์„ ํ†ตํ•ด ํ–ฅ์ƒ ์‹œํ‚ฌ ์ˆ˜ ์žˆ๋‹ค. ํ•˜์ง€๋งŒ ๋ฌผ๋ฅ˜์ž์›์˜ ์ถ”๊ฐ€ ๋ฐฐ์น˜๋Š” ์‹œ๊ฐ„๊ณผ ๋น„์šฉ์˜ ํ•œ๊ณ„๊ฐ€ ๋ช…ํ™•ํ•˜๊ธฐ ๋•Œ๋ฌธ์— ๋‹จ๊ธฐ๊ฐ„์— ํ–ฅ์ƒ ํšจ๊ณผ๋ฅผ ๊ธฐ๋Œ€ํ•˜๊ธฐ ์–ด๋ ต๋‹ค. ๋”ฐ๋ผ์„œ ์ฒ˜๋ฆฌ๋Šฅ๋ ฅ ํ–ฅ์ƒ์„ ์œ„ํ•ด์„œ๋Š” ํ™œ์šฉ์ค‘์ธ ์ž์›์— ๋Œ€ํ•œ ํšจ์œจ์ ์ธ ์šด์šฉ ๋ฐฉ๋ฒ•์„ ์ฐพ๋Š” ๊ฒƒ์ด ์‹คํ˜„์„ฑ์ด ๋†’๋‹ค. ๊ตญ๋‚ด ํ•ญ๋งŒ๋“ค ์—ญ์‹œ 4์ฐจ ์‚ฐ์—…ํ˜๋ช… ๊ธฐ์ˆ ์˜ ๋ฐœ๋‹ฌ์— ๋”ฐ๋ผ ์ •๋ณดํ™”, ๋””์ง€ํ„ธํ™”๋ฅผ ์ ๊ทน์ ์œผ๋กœ ์ถ”์ง„ํ•˜๊ณ  ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ํ˜„์žฌ ํ•˜์—ญ ํ”„๋กœ์„ธ์Šค์—์„œ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜ ์‚ฐ์ •์€ ์ „๋ฌธ๊ฐ€์˜ ๊ฒฝํ—˜์— ๋”ฐ๋ฅธ ๊ฐ๊ฐ์— ์˜์กดํ•˜๊ณ  ์žˆ๋Š” ์‹ค์ •์ด๋ฉฐ, ๊ด€๋ จ๋œ ์„ ํ–‰์—ฐ๊ตฌ ๋˜ํ•œ Y/T์˜ ๋ฐฐ์ฐจ ๋˜๋Š” ํ•ญ๋งŒ ์ „์ฒด์˜ ํ•„์š” ๋Œ€์ˆ˜ ์‚ฐ์ •์— ์ดˆ์ ์„ ๋‘๊ณ  ์žˆ๋‹ค. ์ด์— ๋ณธ ์—ฐ๊ตฌ๋Š” ์ž…ํ•ญ ์„ ๋ฐ•์˜ ํ•˜์—ญ์ •๋ณด๋ฅผ ํ™œ์šฉํ•˜์—ฌ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜์— ์˜ํ–ฅ์„ ๋ฏธ์น˜๋Š” ์š”์ธ์„ ๋ถ„์„ํ•˜๊ณ  ์ด๋ฅผ ๋ฐ”ํƒ•์œผ๋กœ ํšŒ๊ท€๋ถ„์„, ๊ตฐ์ง‘๋ถ„์„, DNN(Deep Neural Network : ์‹ฌ์ธต์‹ ๊ฒฝ๋ง)๋ชจํ˜•์„ ํ™œ์šฉํ•˜์—ฌ ๋ถ„์„ํ•˜์˜€๋‹ค. ์—ฐ๊ตฌ๊ฒฐ๊ณผ, Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜ ์‚ฐ์ •์— ์˜ํ–ฅ์„ ๋ฏธ์น˜๋Š” ์š”์ธ์€ ํ•˜์—ญ๋Ÿ‰ ๊ด€๋ จ ์š”์ธ๊ณผ ์ž…ํ•ญ์‹œ๊ธฐ ๊ด€๋ จ ์š”์ธ์œผ๋กœ ๋ถ„์„๋˜์—ˆ์œผ๋ฉฐ, ํ•ด๋‹น ์š”์ธ์„ ๋ฐ”ํƒ•์œผ๋กœ ๊ตฐ์ง‘๋ถ„์„์„ ์‹ค์‹œํ•œ ๊ฒฐ๊ณผ 5๊ฐœ์˜ ๊ตฐ์ง‘์œผ๋กœ ๊ตฌ๋ถ„๋˜์—ˆ๋‹ค. ๊ตฌ๋ถ„๋œ ๊ตฐ์ง‘์— ๋”ฐ๋ผ ์‹ฌ์ธต์‹ ๊ฒฝ๋ง ๋ชจํ˜•์„ ํ†ตํ•ด ๋‹จ์ผ ์„ ๋ฐ•์˜ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜๋ฅผ ์˜ˆ์ธกํ•˜์˜€๋‹ค. ๋‹จ์ผ ์„ ๋ฐ•์˜ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜ ์‚ฐ์ •์˜ ๊ฒฝ์šฐ ๋‹ค๋ฅธ ์„ ๋ฐ•๊ณผ ์„œ๋กœ ์•„๋ฌด๋Ÿฐ ์˜ํ–ฅ์„ ๋ฏธ์น˜์ง€ ์•Š๋Š” ๊ฒƒ์„ ๊ฐ€์ •ํ•˜๊ณ  ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์ปจํ…Œ์ด๋„ˆํ„ฐ๋ฏธ๋„์—๋Š” ๋‹ค์ˆ˜์˜ ์„ ๋ฐ•์ด ๋™์‹œ์— ํ•˜์—ญ์ž‘์—…์„ ์ˆ˜ํ–‰ํ•˜๋Š” ๊ฒฝ์šฐ๊ฐ€ ๋นˆ๋ฒˆํžˆ ๋ฐœ์ƒํ•˜๊ธฐ ๋•Œ๋ฌธ์— ๋‹ค์ˆ˜ ์„ ๋ฐ•์˜ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜๋ฅผ ์‚ฐ์ •ํ•  ๋•Œ์—๋Š” ํ„ฐ๋ฏธ๋„์ด ๊ฐ€์ง„ ํ•œ์ •๋œ ์ž์›์„ ๋‚˜๋ˆ„์–ด ํ™œ์šฉํ•˜์—ฌ์•ผ ํ•œ๋‹ค. ์ด์— ๋”ฐ๋ผ ์ˆ˜๋ฆฌ๋ชจํ˜•์„ ์ˆ˜๋ฆฝํ•˜์—ฌ ๋‹ค์ˆ˜ ์„ ๋ฐ•์˜ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜๋ฅผ ์‚ฐ์ •ํ•˜์˜€๋‹ค.๋ชฉ ์ฐจ Abstract vii ์ œ 1 ์žฅ ์„œ ๋ก  1 ์ œ1์ ˆ ์—ฐ๊ตฌ์˜ ๋ฐฐ๊ฒฝ ๋ฐ ๋ชฉ์  1 ์ œ2์ ˆ ์—ฐ๊ตฌ์˜ ๋ฐฉ๋ฒ• ๋ฐ ๊ตฌ์„ฑ 3 ์ œ 2 ์žฅ ์ด๋ก ์  ๊ณ ์ฐฐ 4 ์ œ1์ ˆ ์„ ํ–‰์—ฐ๊ตฌ ๊ณ ์ฐฐ 4 1. ํ•ญ๋งŒ์ž์› ๋ฐฐ์ • ๋Œ€์ˆ˜ ์‚ฐ์ • 4 2. ํ•ญ๋งŒ์ž์› ํ• ๋‹น๋ฌธ์ œ 4 ์ œ2์ ˆ ์‹œ์‚ฌ์  ๋ฐ ์ฐจ๋ณ„์  6 ์ œ3์ ˆ ํ˜„ํ–‰ Y/T ๋ฐฐ์ • ํ”„๋กœ์„ธ์Šค ๋ถ„์„ 6 ์ œ 3 ์žฅ ์—ฐ๊ตฌ ์„ค๊ณ„ 8 ์ œ1์ ˆ ๋ฌธ์ œ์˜ ์„ค์ • 8 ์ œ 4 ์žฅ ์ปจํ…Œ์ด๋„ˆ ์„ ๋ฐ•์˜ Y/T ๋Œ€์ˆ˜ ์‚ฐ์ • ๋ฌธ์ œ 11 ์ œ1์ ˆ ๋‹จ์ผ ์„ ๋ฐ•์˜ Y/T ๋Œ€์ˆ˜ ์‚ฐ์ • ๋ฌธ์ œ 11 1. Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜์˜ ๊ฒฐ์ • ์š”์ธ 11 2. ์„ ๋ฐ• ์œ ํ˜•๋ณ„ ๊ตฐ์ง‘ํ™” 12 2. ์˜ˆ์ธก๋ชจํ˜• 16 3. ์˜ˆ์ธก ๊ฒฐ๊ณผ์— ๋”ฐ๋ฅธ ๋ชจํ˜• ๋น„๊ต 16 4. Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜ ์˜ˆ์ธก ๋ชจํ˜•์˜ ํ™œ์šฉ 18 ์ œ2์ ˆ ๋‹ค์ˆ˜ ์„ ๋ฐ•์˜ Y/T ๋ฐฐ์ • ๋Œ€์ˆ˜ ์‚ฐ์ • ๋ฌธ์ œ 20 1. ๋Œ€ํ˜• ์„ ๋ฐ•๊ตฐ์˜ Y/T ๋ฐฐ์ • ๋ฌธ์ œ 24 2. ์†Œํ˜• ์„ ๋ฐ•๊ตฐ์˜ Y/T ๋ฐฐ์ • ๋ฌธ์ œ 30 3. ๋Œ€ํ˜•/์†Œํ˜• ํ˜ผํ•ฉ ์„ ๋ฐ•๊ตฐ์˜ Y/T ๋ฐฐ์ • ๋ฌธ์ œ 36 ์ œ 5 ์žฅ ๊ฒฐ๋ก  42 ์ œ1์ ˆ ์—ฐ๊ตฌ๊ฒฐ๊ณผ ์š”์•ฝ 42 ์ œ2์ ˆ ์—ฐ๊ตฌ์˜ ํ•œ๊ณ„์  ๋ฐ ํ–ฅํ›„ ์—ฐ๊ตฌ ๋ฐฉํ–ฅ 42 ์ฐธ๊ณ ๋ฌธํ—Œ 44 ๊ตญ๋ฌธ์ดˆ๋ก 47Maste

    ๋ฌผ๋ฆฌ/๊ฐ€์ƒ์˜ ํ˜ผํ•ฉ์ œ์•ฝ์กฐ๊ฑด ํ•˜์—์„œ์˜ ๋‘ ๋Œ€์˜ ์ด๋™๋กœ๋ด‡์— ๋Œ€ํ•œ ํ–…ํ‹ฑ์›๊ฒฉ์กฐ์ข…

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    ํ•™์œ„๋…ผ๋ฌธ (์„์‚ฌ)-- ์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› : ๊ธฐ๊ณ„ํ•ญ๊ณต๊ณตํ•™๋ถ€, 2014. 8. ์ด๋™์ค€.A novel framework of haptic teleoperation of a pair of nonholonomic wheeled mobile robots with mixed physical/virtual constraints is presented in this thesis. The proposed framework enables a remote single user to teleoperate the overall motion, while cooperatively squeeze-grasping a common deformable object. Under the mixed constraint, although master interface is free to move, the slave robots have limitation about their motion. To accept/accommodate the mixed constraint, we design haptic feedback and local autonomous control following human command with feasible set, which is defined by all possible motion under mixed constraint on the instant. For mathematical expression, nonholonomic passive decomposition \cite{djlee2010TRO, djlee2008IFAC08} is utilized to decompose the overall motion into the two aspects: grasping shape system and locked overall system. Using theses two aspects, we design semi-autonomous teleoperation architecture where a haptic feedback is designed to inform the human user of feasible command direction, while a local autonomous control drives the pair to follow the human command as much as permissible by the mixed constraint. Real experiment is also performed to support the theory.Acknowledgement List of Figure Abbreviations Symbols 1.Introduction 1.1.Motivation and Objectives 1.2.Challenges 1.3 Relevant Work and Contribution 2.System Description 2.1.System Model 2.2.Grasping Shape Map 3.Nonholonomic Passive Decomposition 3.1.Nonholonomic Passive Decomposition 3.1.1.Locked Distribution 3.1.2.Grasping Shape Distribution 3.2.Grasping Shape Control 4.Haptic Teleoperation 4.1.Haptic Interface 4.2.Feasible set 4.3.Locked Control to follow Human Command 4.4.Haptic Feedback 5.Experiment 5.1.Hardware 5.2.Experiment Setup 5.3.Experiment Results 6.Conclusion and Future Work 6.1.Conclusion 6.2.Future WorkMaste

    China's FDI Policy Goals: Its Development, Outcomes, and Challenges

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    ๊ฐœํ˜โ€ค๊ฐœ๋ฐฉ ์ด๋ž˜ ์ค‘๊ตญ์ด ๋Œ€๋Ÿ‰์œผ๋กœ ์œ ์น˜ํ•ด์˜จ ์™ธ๊ตญ์ธ์ง์ ‘ํˆฌ์ž(FDI)๋Š” ์ค‘๊ตญ์˜ ํˆฌ์ž, ์ƒ์‚ฐ, ์ƒ์‚ฐ์„ฑ ๋ฐ ๋Œ€์™ธ๋ฌด์—ญ์˜ ์ฆ๋Œ€๋ฅผ ์ด‰์ง„์‹œ์ผฐ๊ณ , ์™ธ์ž๊ธฐ์—…์€ ์ค‘๊ตญ ์‚ฐ์—…์˜ ๋Œ€์™ธ ๊ฒฝ์Ÿ๋ ฅ ํ–ฅ์ƒ์„ ์ฃผ๋„ํ•ด์™”๋‹ค. ์˜ค๋Š˜๋‚  ์ค‘๊ตญ์˜ ์™ธ์ž์œ ์น˜ ์ •์ฑ…์€ ์ „ํ†ต์ ์ธ ๊ตญ์ œํˆฌ์ž์ด๋ก ์—์ƒ๋‹นํ•œ ๋ณ€ํ™”๋ฅผ์ผ์œผํ‚ค๊ณ  ์žˆ๋‹ค. ํŠนํžˆ ๊ตญ์ œ๋ถ„์—…๊ตฌ๋„์—์„œ ์ค‘๊ตญ์ด ์„ธ๊ณ„์ ์ธ ์ œ์กฐ๊ฑฐ์ ๊ณผ ๊ตฌ๋งค๊ฑฐ์ ์œผ๋กœ ์ž๋ฆฌ์žก์Œ์— ๋”ฐ๋ผ ๋‹ค๊ตญ์ ๊ธฐ์—…๋“ค์€ ์ค‘๊ตญ์— ๊ฒฝ์Ÿ์ ์œผ๋กœ ์ง„์ถœํ•˜๋ฉด์„œ ์„ ์ง„์ ์ธ ๊ธฐ์ˆ ๊นŒ์ง€ ํˆฌ์ž…ํ•˜๊ณ  ์žˆ๋‹ค. ์ค‘๊ตญ์€ FDI๋ฅผ ์ž๊ตญ์— ๋ณด๋‹ค ์œ ๋ฆฌํ•œ ๋ฐฉํ–ฅ์œผ๋กœ ์œ ์น˜ํ•˜๊ธฐ ์œ„ํ•ด, ์ž๊ตญ์˜ ๊ฑฐ๋Œ€ํ•œ ์‹œ์žฅ ์ž ์žฌ๋ ฅ์—์„œ ์˜ค๋Š” ์ˆ˜์š”๋…์ ์ž์ (monopsonistic) ์ด์ ๋“ฑ ๋น„๊ต์šฐ์œ„๋ฅผ ์ ๊ทน ํ™œ์šฉํ•˜๊ณ  ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์ตœ๊ทผ ์™ธ์ž์˜ ๊ณผ๋„ํ•œ ์œ ์ž…์€ ๊ฑฐ์‹œ๊ฒฝ์ œ์˜ ๋ถˆ์•ˆ์ •, ๊ตญ๋‚ด์ž์›์˜ ์œ ํœดํ™”, ๊ฒฝ์ œ๊ตฌ์กฐ์˜ ๋ถˆ๊ท ํ˜• ์‹ฌํ™”, ๋Œ€์™ธ์˜์กด๋„ ์ฆ๊ฐ€ ๋“ฑ ๋ถ€์ž‘์šฉ์„ ๋‚ณ๊ณ  ์žˆ๋‹ค. ์ด์ œ ์ค‘๊ตญ์€ FDI๋ฅผ ์ ์ •๊ทœ๋ชจ๋กœ ์œ ์น˜ํ•˜๋ฉด์„œ ๊ฑฐ์‹œ๊ฒฝ์ œ ์šด์šฉ์˜ ์•ˆ์ •ํ™”๋ฅผ ์ด๋ฃจ๊ณ  ์™ธ๊ตญ๊ธฐ์—…์˜ ์ค‘๊ตญ์‹œ์žฅ ์ž ์‹์„ ์ œ์–ดํ•˜๋Š” ๋™์‹œ์—, FDI์˜ ๊ธฐ์ˆ ์ด์ „ํšจ๊ณผ๋ฅผ ์ตœ๋Œ€ํ™”ํ•˜๊ณ  ์ž์ฃผ์ ์ธ ์‚ฐ์—…๋ฐœ์ „ ์—ญ๋Ÿ‰์„ ํ–ฅ์ƒ์‹œ์ผœ์•ผ ํ•˜๋Š” ํž˜๋“  ๊ณผ์ œ์— ๋‹น๋ฉดํ•ด ์žˆ๋‹ค.During the past two decades, China has attracted a large amount of FDI (foreign direct investment) inflows, which have facilitated growth of investment, output, productivity and overseas trade of Chinese industries. Today, China's FDI policy even acts a factor to change some traditional theories of international investment. Especially, as China plays the role of dual hub of manufacturing and purchasing in the global supply chain or international division of labor, multi-national companies become increasingly competing to invest into China, even committing advanced technologies to the investment. China now actively utilizes its relative advantages including monopsonistic one derived from the potential of the domestic market, so that it might attract FDI to be more favorable. Recently, however, excessive inflow of foreign capital including FDI has brought forth some undesirable side effects such as macro-economic instability, idle cost of domestic capital, growing imbalance of economic structure, and excessive overseas dependence. From now on the Chinese government should find a solution that not only brings in an adequate amount of FDI so as not only to stabilize macro-economic operation, but also to control the market-stealing effects of FDI, while at the same time maximizing its effects of technology transfer so as to enhance the capability to develop Chinese industries independently

    (A) Study on Improving Power Characteristics of AlGaNGaN HEMTs by Reducing Current Collapse Phenomenon

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    ํ•™์œ„๋…ผ๋ฌธ(์„์‚ฌ) --์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› :์ „๊ธฐ. ์ปดํ“จํ„ฐ๊ณตํ•™๋ถ€, 2009.2.Maste

    On the Relationship between Philosophy and History for Nietzsche

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    ํ•™์œ„๋…ผ๋ฌธ(์„์‚ฌ) -- ์„œ์šธ๋Œ€ํ•™๊ต๋Œ€ํ•™์› : ์ธ๋ฌธ๋Œ€ํ•™ ์ฒ ํ•™๊ณผ(์„œ์–‘์ฒ ํ•™์ „๊ณต), 2023. 2. ๊น€์ƒํ™˜.๋‹ˆ์ฒด๋Š” ์ฒ ํ•™์ž์ด๊ธฐ ์ „์— ๋ฌธํ—Œํ•™์ž์˜€๋‹ค. ๋‹ˆ์ฒด์—๊ฒŒ ์žˆ์–ด ๋ฌธํ—Œํ•™์€ ์—ญ์‚ฌํ•™์ด๊ธฐ๋„ ํ–ˆ๋‹ค. ๊ทธ๋ ‡๊ธฐ์— ๋‹ˆ์ฒด๊ฐ€ ์ž์‹ ์˜ ์ฒ ํ•™์  ์ €์ž‘๋“ค์ด ์—ญ์‚ฌ์˜ ๊ตํ›ˆ์„ ๋ณด์—ฌ์ค€๋‹ค๊ณ  ์ฃผ์žฅํ•œ ๊ฒƒ์€ ์šฐ์—ฐ์ด ์•„๋‹Œ ๊ฒƒ์ด๋‹ค. ๊ทธ๋Ÿผ์—๋„ ๋ถˆ๊ตฌํ•˜๊ณ  ๋‹ˆ์ฒด์—๊ฒŒ ์žˆ์–ด ์ฒ ํ•™๊ณผ ์—ญ์‚ฌ์˜ ๊ด€๊ณ„๋Š” ์ฒ ํ•™์ ์œผ๋กœ ์ฃผ๋ชฉ ๋ฐ›์ง€ ๋ชปํ•˜๊ณ  ์žˆ๋‹ค. ๋ณธ ์—ฐ๊ตฌ๋Š” ์•„์ง๊นŒ์ง€ ์ถฉ๋ถ„ํžˆ ์ฃผ๋ชฉ ๋ฐ›์ง€ ๋ชปํ•œ ๋‹ˆ์ฒด์˜ ์ฒ ํ•™๊ณผ ์—ญ์‚ฌ์˜ ๊ด€๊ณ„๋ฅผ ํ•ด๋ช…ํ•˜๊ณ , ๋‹ˆ์ฒด ์ฒ ํ•™์—์„œ ์—ญ์‚ฌ๊ฐ€ ์ฐจ์ง€ํ•˜๋Š” ์ค‘์š”์„ฑ์„ ๊ฐ•์กฐํ•˜๋Š” ๊ฒƒ์„ ๋ชฉํ‘œ๋กœ ์ˆ˜ํ–‰๋˜์—ˆ๋‹ค. ๋‹ˆ์ฒด ์ฒ ํ•™์—์„œ ์—ญ์‚ฌ๊ฐ€ ์ฐจ์ง€ํ•˜๋Š” ์ค‘์š”์„ฑ์€ ๋‹ค์Œ๊ณผ ๊ฐ™์ด ์ฃผ์žฅ๋œ๋‹ค. ๋‹ˆ์ฒด์—๊ฒŒ ์žˆ์–ด ์ธ๊ฐ„์€ ์—ญ์‚ฌ์  ์กด์žฌ๋กœ์„œ ๊ทœ์ •๋œ๋‹ค. ์ฒ ํ•™์  ์‹ค์ฒœ ๋˜ํ•œ ์—ญ์‚ฌ์  ์กด์žฌ๋กœ์„œ์˜ ์ธ๊ฐ„ ํ™œ๋™์ด๋‹ค. ์ฒ ํ•™์ด ์—ญ์‚ฌ์  ์กด์žฌ๋กœ์„œ์˜ ์ธ๊ฐ„ ํ™œ๋™์ด๊ธฐ์— ๊ทธ ์œ ์˜๋ฏธ์„ฑ์€ ์—ญ์‚ฌ ํˆฌ์Ÿ์ผ ์ˆ˜๋ฐ–์— ์—†๋‹ค. ๊ทธ๋Ÿฌ๋ฏ€๋กœ ๋‹ˆ์ฒด ์ฒ ํ•™์˜ ์œ ์˜๋ฏธ์„ฑ์€ ์—ญ์‚ฌ ํˆฌ์Ÿ์œผ๋กœ์„œ์˜ ์œ ์˜๋ฏธ์„ฑ์— ๊ทผ๊ฑฐํ•œ๋‹ค. ๋ณธ ์—ฐ๊ตฌ๋Š” ๋‹ˆ์ฒด ์ฒ ํ•™์˜ ์—ญ์‚ฌ ํˆฌ์Ÿ์  ์„ฑ๊ฒฉ์— ์ฃผ๋ชฉํ•จ์œผ๋กœ์จ ๋‹ˆ์ฒด ์ฒ ํ•™์—์„œ ์—ญ์‚ฌ๊ฐ€ ์ฐจ์ง€ํ•˜๋Š” ์ค‘์š”์„ฑ์„ ์ฃผ์žฅํ•œ๋‹ค. ํ•˜์ง€๋งŒ ์ด๋Ÿฌํ•œ ์ค‘์š”์„ฑ์€ ๋„๊ตฌ์ ์ธ ๊ฒƒ์ผ ์ˆ˜ ์žˆ๋‹ค. ์ด ๊ฒฝ์šฐ ๋‹ˆ์ฒด ์ฒ ํ•™์€ ๊ทธ ์ž์ฒด๋กœ๋Š” ์—ญ์‚ฌ์ ์ด์ง€ ์•Š์„ ์ˆ˜ ์žˆ๋‹ค. ๋ณธ ์—ฐ๊ตฌ๋Š” ๋ชจ์ˆœ์ ์ด๋ผ๊ณ  ์—ฌ๊ฒจ์ง€๋Š” ๋‹ˆ์ฒด ์ฒ ํ•™์˜ ์ผ๊ด€์„ฑ์„ ์—ญ์‚ฌ๋ฅผ ํ†ตํ•ด ํ•ด๋ช…ํ•จ์œผ๋กœ์จ ๋‹ˆ์ฒด ์ฒ ํ•™๊ณผ ์—ญ์‚ฌ๊ฐ€ ๋ถ„๋ฆฌ๋  ์ˆ˜ ์—†์Œ์„ ์ฃผ์žฅํ•œ๋‹ค. ๋‹ˆ์ฒด์—๊ฒŒ ์žˆ์–ด ์—ญ์‚ฌ๋Š” ์ฒ ํ•™์˜ ์ˆ˜๋‹จ์ด ์•„๋‹ˆ๋ผ ์ฒ ํ•™๊ณผ ๋ถ„๋ฆฌ๋  ์ˆ˜ ์—†๋Š” ์ฒ ํ•™์˜ ์กฐ๊ฑด์ด๋ผ๋Š” ๊ฒƒ์ด๋‹ค. ์ด๋Ÿฌํ•œ ์ฃผ์žฅ์„ ์œ„ํ•ด ๋ณธ ์—ฐ๊ตฌ๋Š” ์ดˆ๊ธฐ ์ €์ž‘์ธ ใ€Ž๋ฐ˜์‹œ๋Œ€์  ๊ณ ์ฐฐใ€์—์„œ๋ถ€ํ„ฐ ํ›„๊ธฐ ์ €์ž‘์ธ ใ€Ž๋„๋•์˜ ๊ณ„๋ณดํ•™ใ€์— ์ด๋ฅด๊ธฐ๊นŒ์ง€ ๋‹ˆ์ฒด๊ฐ€ ์ผ๊ด€์ ์œผ๋กœ ์ฒ ํ•™์„ ์—ญ์‚ฌ ํˆฌ์Ÿ์œผ๋กœ์„œ ์ˆ˜ํ–‰ํ•˜๋ฉฐ ๋ฐœ์ „์‹œ์ผฐ์Œ์„ ๋ณด์ผ ๊ฒƒ์ด๋‹ค.Before being a philosopher, Nietzsche was a philologist. For Nietzsche, philology was also history. It is no coincidence, therefore, that Nietzsche insisted that his philosophical writings reveal "the lessons of history". Nevertheless, for Nietzsche, the relationship between philosophy and history has not received philosophical attention. This study was conducted with the goal of clarifying the relationship between Nietzsche's philosophy and history, which has not received enough attention, and emphasizing the importance of history in Nietzsche's philosophy. The significance of history in Nietzsche's philosophy is asserted as follows. For Nietzsche, human beings are defined as historical beings. Philosophical practice is also a human activity as a historical being. As philosophy is a human activity as a historical being, its significance is bound to be a historical struggle. Therefore, the significance of Nietzsche's philosophy is based on its significance as a historical struggle. This study asserts the importance of history in Nietzsche's philosophy by paying attention to the nature of historical struggle in Nietzsche's philosophy. However, this importance can be instrumental. In this case, Nietzsche's philosophy may not be historical in itself. This study argues that Nietzsche's philosophy and history cannot be separated by elucidating the consistency of Nietzsche's philosophy, which is considered contradictory, through "history". For Nietzsche, history is not a means of philosophy, but a condition of philosophy that cannot be separated from philosophy. For this claim, this study will show that Nietzsche consistently developed philosophy as a historical struggle, from his early work Untimely Meditations to his later work On Genealogy of Morals.์ œ1์žฅ ๋“ค์–ด๊ฐ€๋ฉด์„œ - ์žฌ๊ณ  1 ์ œ2์žฅ ์ธ๊ฐ„, ์—ญ์‚ฌ์  ์กด์žฌ 6 ์ œ1์ ˆ ์ž์•„์™€ ํ–‰์œ„ 6 ์ œ2์ ˆ ๋„๋•์˜ ํƒ„์ƒ โ€“ ์„ ์‚ฌ์‹œ๋Œ€์—์„œ ์—ญ์‚ฌ์‹œ๋Œ€๋กœ 10 ์ œ3์ ˆ ์—ญ์‚ฌ๋ฅผ ์“ฐ๋‹ค โ€“ ์„ธ ์ข…๋ฅ˜์˜ ์—ญ์‚ฌ์„œ์ˆ  13 ์ œ3์žฅ ์—ญ์‚ฌํ•™์„ ํ†ตํ•œ ์ฒ ํ•™์  ํˆฌ์Ÿ 18 ์ œ1์ ˆ ์ง„๋ฆฌ์˜ ์‹œ๋ จ โ€“ ์—ญ์‚ฌ์„œ์ˆ ์—์„œ ์—ญ์‚ฌํ•™์œผ๋กœ 18 ์ œ2์ ˆ ๋‹ˆ์ฒด์˜ ์—ญ์‚ฌ์„œ์ˆ , ์ด๊ฒƒ์ด ํ•™๋ฌธ์ ์ผ ์ˆ˜ ์žˆ๋Š”๊ฐ€? 20 ์ œ3์ ˆ ๋‹ˆ์ฒด์˜ ์—ญ์‚ฌํ•ด์„ ๋ฐฉ๋ฒ•๋ก  25 ์ œ4์žฅ ์ƒˆ๋กœ์šด ์—ญ์‚ฌํ•™์„ ํ–ฅํ•˜์—ฌ 28 ์ œ1์ ˆ ์—ญ์‚ฌ์ฒ ํ•™ ๋น„ํŒ 28 ์ œ2์ ˆ ์‚ฌ์‹ค์ฃผ์˜ ์—ญ์‚ฌํ•™ ๋น„ํŒ 33 ์ œ5์žฅ ์ƒˆ๋กœ์šด ์—ญ์‚ฌํ•™ - ๋น„ํŒํ•˜๋Š” ์—ญ์‚ฌํ•™, ์ž…๋ฒ•ํ•˜๋Š” ์—ญ์‚ฌํ•™ 38 ์ œ1์ ˆ ์—ญ์‚ฌํ•™์˜ ํํ•ด โ€“ ์—ญ์‚ฌ์˜ ๊ณผ์ž‰ ๊ทธ๋ฆฌ๊ณ  ๋ฌธํ™”์˜ ์‡ ํ‡ด 38 ์ œ2์ ˆ ๋น„ํŒํ•˜๋Š” ์—ญ์‚ฌํ•™ 40 ์ œ3์ ˆ ์ž…๋ฒ•ํ•˜๋Š” ์—ญ์‚ฌํ•™ 47 ์ œ6์žฅ ๋‚˜์˜ค๋ฉด์„œ 51์„
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