13 research outputs found

    ์ „์ž„์ž์˜ ๋น„์ž๋ฐœ์  ์‚ฌ์ž„์ด ์ƒˆ๋กœ ์ž„๋ช…๋œ ๊ฒฝ์˜์ž์˜ ์ด์ต ์กฐ์ •์— ๋ฏธ์น˜๋Š” ์˜ํ–ฅ

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    ํ•™์œ„๋…ผ๋ฌธ(์„์‚ฌ)--์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› :๊ฒฝ์˜๋Œ€ํ•™ ๊ฒฝ์˜ํ•™๊ณผ,2019. 8. ํ™ฉ์ธ์ด.This study explores whether forced turnovers influence the newly appointed CEOs opportunistic behavior. Prior literature finds that CEOs overstate earnings greater in the early years than later years of tenure. However, this study finds that this earnings overstatement trend is disappeared when predecessor is likely to be forced to leave. In this case, the newly appointed CEOs hesitate to overstate earnings in the early years, and this mitigates the difference in earnings manipulation between two periods.๋ณธ ์—ฐ๊ตฌ๋Š” ์ตœ๊ณ  ๊ฒฝ์˜์ž์˜ ๋น„์ž๋ฐœ์  ์‚ฌ์ž„์ด ์ดํ›„ ์ž„๋ช…๋˜๋Š” ์ƒˆ ๊ฒฝ์˜์ž์˜ ์ด์ต ์กฐ์ •์— ์–ด๋– ํ•œ ์˜ํ–ฅ์„ ์ฃผ๋Š”์ง€์— ๋Œ€ํ•ด ๋‹ค๋ฃจ๊ณ  ์žˆ๋‹ค. ์„ ํ–‰ ์—ฐ๊ตฌ์— ๋”ฐ๋ฅด๋ฉด ์ตœ๊ณ  ๊ฒฝ์˜์ž์˜ ์žฌ์ž„๊ธฐ๊ฐ„ ์ค‘ ์ดˆ๊ธฐ ์ด์ต ์กฐ์ •์ด ๋ง๊ธฐ ์ด์ต์กฐ์ •๋ณด๋‹ค ํฌ๋‹ค๋Š” ๊ฒƒ์„ ๋ฐํ˜”๋‹ค. ๋ณธ ์—ฐ๊ตฌ๋Š” ์ด๋Ÿฌํ•œ ๊ฒฝํ–ฅ์ด ์ „์ž„์ž์˜ ์ž๋ฐœ์  ์‚ฌ์ž„๊ณผ ๋น„์ž๋ฐœ์  ์‚ฌ์ž„์— ๋”ฐ๋ผ์„œ ๋‹ฌ๋ผ์ง€๋Š”์ง€ ๋ถ„์„ํ•˜์˜€๊ณ  ๊ทธ ๊ฒฐ๊ณผ ๋น„์ž๋ฐœ์  ์‚ฌ์ž„์˜ ๊ฒฝ์šฐ ์žฌ์ž„ ์ดˆ๊ธฐ์™€ ๋ง๊ธฐ์˜ ์ด์ต ์กฐ์ • ์ฐจ์ด๊ฐ€ ์‚ฌ๋ผ์ง€๋Š” ๊ฒƒ์„ ๋ฐœ๊ฒฌํ•˜์˜€๋‹ค. ํŠนํžˆ, ๋น„์ž๋ฐœ์ ์œผ๋กœ ์‚ฌ์ž„๋œ ๊ฒฝ์˜์ž ์ดํ›„ ์ƒˆ๋กœ ์ž„๋ช…๋œ ์ตœ๊ณ  ๊ฒฝ์˜์ž๊ฐ€ ์žฌ์ž„ ์ดˆ๊ธฐ์— ์ด์ต ์กฐ์ •์„ ์ฃผ์ €ํ•จ์œผ๋กœ์จ ์ดˆ๊ธฐ์™€ ๋ง๊ธฐ์˜ ์กฐ์ • ์ฐจ์ด๊ฐ€ ์ค„์–ด๋“œ๋Š” ๊ฒƒ์„ ๋ฐœ๊ฒฌํ•˜์˜€๋‹ค.1. Introduction 1 2. Hypothesis Development 5 3. Empirical Research Design 10 3.1 Type of CEO turnover 10 3.1. Earnings Management 12 3.2. Estimation Methodology 14 4. Sample and Descriptive Statistics 18 5. Empirical Results 19 5.1. Earnings overstatement analysis based on type of CEOs departure 19 5.2. The difference in Earnings overstatement of newly appointed CEOs 20 6. Limitation and Further Study 22 7. Conclusion 23Maste

    ๋ธํŒŒ์ด๊ธฐ๋ฒ•์„ ํ™œ์šฉํ•œ ํŠน๋ณ„๊ฑด์ถ•๊ตฌ์—ญ ์šด์šฉ์— ๊ด€ํ•œ ์—ฐ๊ตฌ

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    ํ•™์œ„๋…ผ๋ฌธ (์„์‚ฌ)-- ์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› : ํ–‰์ •ํ•™๊ณผ, 2017. 2. ๋ฐ•์ •ํ›ˆ.์ •๋ถ€๋Š” 2007๋…„ ๊ฑด์ถ•ํ™˜๊ฒฝ ๊ฐœ์„ ์„ ์œ„ํ•ด ํŠน๋ณ„๊ฑด์ถ•๊ตฌ์—ญ ์ œ๋„๋ฅผ ๋„์ž…ํ•˜์˜€์œผ๋‚˜ ๋„๋ฆฌ ํ™œ์šฉ๋˜์ง€ ๋ชปํ•˜์˜€๊ณ , ์ด์— ๋Œ€ํ•ด ์„œ์ˆ˜์ • ๋“ฑ(2010)์€ ํ•ด๋‹น ์ œ๋„์˜ 8๊ฐ€์ง€ ๋ฌธ์ œ์ ์„ ์ œ๊ธฐํ•˜์˜€๋‹ค. ์ดํ›„ ํ–‰์ •์ค‘์‹ฌ๋ณตํ•ฉ๋„์‹œ๊ฑด์„ค์ฒญ์ด ์„ธ์ข…ํŠน๋ณ„์ž์น˜์‹œ์˜ ๊ด€ํ•  ์‚ฌ์—…์ง€์—ญ์— ํŠน๋ณ„๊ฑด์ถ•๊ตฌ์—ญ์„ ๋‹ค์ˆ˜์ง€์ •ํ•˜์—ฌ ์ฃผํƒ์‚ฌ์—…์„ ์ถ”์ง„ํ•œ ๋ฐ”, ๋ณธ ์—ฐ๊ตฌ๋Š” ๊ธฐ ์ง€์ ๋œ 8๊ฐœ์˜ ๋ฌธ์ œ์ ๊ณผ ๋”๋ถˆ์–ด, ํ–‰์ •์ค‘์‹ฌ๋ณตํ•ฉ๋„์‹œ ์‚ฌ๋ก€์˜ ์ œ๋„์šด์šฉ ๊ณผ์ •์—์„œ ๋‚˜ํƒ€๋‚œ ๋ฌธ์ œ์ ์„ ์‚ดํŽด๋ณด๊ณ  ๊ทธ ๊ฐœ์„ ๋ฐฉ์•ˆ์˜ ๋‹จ์ดˆ๋ฅผ ๋งˆ๋ จํ•˜๊ธฐ ์œ„ํ•œ ์˜๋„๋กœ ๊ธฐํš๋˜์—ˆ๋‹ค. ํ•ด๋‹น ํŠน๋ณ„๊ฑด์ถ•๊ตฌ์—ญ ์ง€์ • ์‚ฌ๋ก€์˜ ๊ฑด์„ค๊ณผ์ •์— ์ฐธ์—ฌํ•œ ์ „๋ฌธ๊ฐ€ ์ง‘๋‹จ(์œ„์›, ๊ณต๋ฌด์›, ๋ฏผ๊ฐ„์‚ฌ์—…์ž)์„ ๋Œ€์ƒ์œผ๋กœ ๋ธํŒŒ์ด ๊ธฐ๋ฒ• ์„ค๋ฌธ์กฐ์‚ฌ๋ฅผ ์‹ค์‹œํ•œ ๋ฐ”, 6๊ฐœ ๋ถ„์•ผ, ์ด 21๊ฐœ์˜ ๋ฌธ์ œ์ ์ด ๋„์ถœ๋˜์—ˆ๋‹ค. ์ด ์ค‘๋ชจ๋‹ˆํ„ฐ๋ง, ํ‰๊ฐ€, ํ”ผ๋“œ๋ฐฑ ์ ˆ์ฐจ์˜ ํ•„์š”์— ๋Œ€ํ•œ ์˜๊ฒฌ์ด ๊ฐ€์žฅ ๋†’์€ ์ˆ˜์ค€์˜ ๋™์˜๋ฅผ ๋ฐ›์•˜์œผ๋ฉฐ,๋ฉด์ œ, ์™„ํ™”์กฐํ•ญ์— ๋Œ€ํ•œ ๊ฐ€์ด๋“œ๋ผ์ธ ํ•„์š” ๋ฐ์‚ฌ์—…์„ฑ ์œ„์ฃผ์˜ ์ ‘๊ทผ์— ๋Œ€ํ•œ ํ†ต์ œ ํ•„์š”๊ฐ€ ๊ทธ ๋’ค๋ฅผ ์ด์—ˆ๋‹ค. ์ด์™€ ๋”๋ถˆ์–ด, ๊ธฐ์กด ์—ฐ๊ตฌ์—์„œ ์ œ๊ธฐ๋œ 8๊ฐœ์˜ ๋ฌธ์ œ์  ๋˜ํ•œ ๋ชจ๋‘ ์œ ์˜๋ฏธํ•œ๊ฒƒ์œผ๋กœ ์กฐ์‚ฌ๋˜์—ˆ๋‹ค. ์—ฐ๊ตฌ์˜ ๊ฒฐ๋ก ์œผ๋กœ,๊ฒฝ๊ด€๋ฌธ์ œ์— ๋Œ€ํ•œ ๊ณต๊ฐ๋Œ€ ํ˜•์„ฑ๊ณผ๋ช…ํ™•ํ•˜๊ณ  ๊ตฌ์ฒด์ ์ด๊ณ  ๊ฒฝ๊ด€๋ชฉํ‘œ์˜ ๋งˆ๋ จ์ด ๊ฒฝ๊ด€๊ด€๋ฆฌ์ œ๋„์˜ ๊ฐœ์„ ๋ฐฉ์•ˆ์œผ๋กœ ์ œ์•ˆ๋˜์—ˆ๋‹ค.In 2007, the South Korean government introduced the concept of special building zones (SBZs) to enhance the architectural environment. As a result of the fact that only a handful of SBZ applications were filed by 2010, Seo Soojeong et al. wrote a paper that identified eight problematic issues concerning SBZs. Later, in Sejong, which was considered a test bed for the SBZ concept in the initial stage of its enactment, the National Agency for Administrative City Construction (NAACC) designated SBZs in residential areas. By conducting a survey, this paper investigates the operational issues encountered in the process of designating SBZs in Sejong. The survey utilizes the Delphi technique to discover the collective opinion of the professionals who participated in the designation process. The participants were divided into three groups: committee, public, and private. As a result, 21 problematic issues, categorized into six groups, were identified by the survey participants. Among the issues identified, the necessity of monitoring and the feedback process appear to be the most significant, followed by the need for guidelines when making regulation exemptions and the prevention of hindrances caused by business-oriented controls. To create better cityscapes, it is suggested that the individuals concerned should develop shared interestsin addition, a solution, with a clear target and adequate timeframe, should be developed. As a result, a genuinely Korean cityscape might arise.1. Introduction 1 1.1. Special Building Zone 2 1.2. Sejong 4 1.3. National Agency for Administrative City Construction 5 1.4. Research Question 6 2. Research Background 7 2.1. SBZs in the Administrative City 7 2.2. Literature Review 10 2.3. Delphi Technique 14 2.4. Survey Plan 14 3. Survey Result 16 3.1. Results of the First Survey 16 3.2. Results of the Second Survey 28 3.3. Results of the Third Survey 34 4. Discussion and Conclusion 38 References 42 Appendix I The First Survey Questionnaire 43 Appendix II (1) The Second Survey Questionnaire 46 Appendix II (2) The Second Survey Result 50 Appendix III (1) The Third Survey Questionnaire 53 Appendix III (2) The Third Survey results (Tables) 71 ์š”์•ฝ(๊ตญ๋ฌธ์ดˆ๋ก) 73Maste

    Study on creep densification of metal powder compact

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    Maste

    ๋Œ€๊ธฐ์—…์˜ ๊ณต์‹์  ๋ฉ˜ํ† ๋ง ํ”„๋กœํ…Œ์ œ๋“ค์ด ์ธ์‹ํ•œ ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์‚ฌํšŒํ™” ๋ฐ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„

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    ํ•™์œ„๋…ผ๋ฌธ (์„์‚ฌ)-- ์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› : ๋†์‚ฐ์—…๊ต์œก๊ณผ, 2012. 8. ๊น€์ง„๋ชจ.์ด ์—ฐ๊ตฌ์˜ ๋ชฉ์ ์€ ๋Œ€๊ธฐ์—… ๊ณต์‹์  ๋ฉ˜ํ† ๋ง ํ”„๋กœ๊ทธ๋žจ ํ”„๋กœํ…Œ์ œ๊ฐ€ ์ธ์‹ํ•œ ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„์— ์žˆ์–ด ์กฐ์ง์‚ฌํšŒํ™”์˜ ๋งค๊ฐœํšจ๊ณผ๋ฅผ ๊ตฌ๋ช…ํ•˜๋Š”๋ฐ ์žˆ์—ˆ๋‹ค. ์ด๋ฅผ ์œ„ํ•œ ๊ตฌ์ฒด์ ์ธ ์—ฐ๊ตฌ ๋ฌธ์ œ๋กœ ์ฒซ์งธ, ๋Œ€๊ธฐ์—…์˜ ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์˜ ํ”„๋กœํ…Œ์ œ๊ฐ€ ์ธ์‹ํ•œ ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ ์ˆ˜์ค€ ๊ตฌ๋ช…, ๋‘˜์งธ, ๋Œ€๊ธฐ์—… ๊ณต์‹์  ๋ฉ˜ํ† ๋ง ํ”„๋กœํ…Œ์ œ๊ฐ€ ์ธ์‹ํ•˜๋Š” ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์œ ํšจ์„ฑ์˜ ์˜ํ–ฅ๊ด€๊ณ„ ๊ตฌ๋ช…, ์…‹์งธ, ๋Œ€๊ธฐ์—… ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์˜ ํ”„๋กœํ…Œ์ œ๊ฐ€ ์ธ์‹ํ•˜๋Š” ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„์— ์žˆ์–ด ์กฐ์ง์‚ฌํšŒํ™”์˜ ๋งค๊ฐœํšจ๊ณผ ๊ฒ€์ฆ์„ ์„ค์ •ํ•˜์˜€๋‹ค. ์ด ์—ฐ๊ตฌ์˜ ๋ชจ์ง‘๋‹จ์€ ๊ตญ๋‚ด ๋Œ€๊ธฐ์—… ๊ณต์‹์  ๋ฉ˜ํ† ๋ง ํ”„๋กœ๊ทธ๋žจ์˜ ํ”„๋กœํ…Œ์ œ์ด๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ์‹ค์ œ ๋ชจ์ง‘๋‹จ์ธ ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์„ ์‹œํ–‰ํ•˜๊ณ  ์žˆ๋Š” ๋Œ€๊ธฐ์—… ์ „๋ถ€๋ฅผ ํŒŒ์•…ํ•˜๊ธฐ ์–ด๋ ค์›Œ ๋ฌด์„  ํ‘œ์ง‘์„ ํ•˜๊ธฐ์—๋Š” ํ˜„์‹ค์ ์ธ ์ œ์•ฝ์ด ๋”ฐ๋ฅด๋ฏ€๋กœ, 2๋…„ ์ด์ƒ ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์„ ์ˆ˜ํ–‰ํ•œ ๊ธฐ์—…์„ ๋ชฉํ‘œ๋ชจ์ง‘๋‹จ์œผ๋กœ ํ•˜์—ฌ ์œ ์˜ํ‘œ์ง‘์„ ํ™œ์šฉํ•˜์˜€๋‹ค. ์ž๋ฃŒ์ˆ˜์ง‘์„ ์œ„ํ•ด ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ ์ฒ™๋„, ์กฐ์ง์‚ฌํšŒํ™” ์ฒ™๋„, ์กฐ์ง์œ ํšจ์„ฑ ์ฒ™๋„, ์‘๋‹ต์ž์˜ ํŠน์„ฑ ์กฐ์‚ฌ ๋ฌธํ•ญ ๋“ฑ ๋„ค ์˜์—ญ์œผ๋กœ ๊ตฌ์„ฑ๋œ ์„ค๋ฌธ์ง€๋ฅผ ์‚ฌ์šฉํ•˜์˜€๋‹ค. ๋ณธ ์กฐ์‚ฌ์—์„œ ์‚ฌ์šฉ๋œ ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ ์ฒ™๋„๋Š” ๊ฒฝ๋ ฅ์ง€์›๊ธฐ๋Šฅ, ์‹ฌ๋ฆฌ์‚ฌํšŒ์ ๊ธฐ๋Šฅ, ์—ญํ• ๋ชจ๋ธ๊ธฐ๋Šฅ์˜ 25๋ฌธํ•ญ์œผ๋กœ ๊ตฌ์„ฑ๋˜์—ˆ๊ณ  ๊ธฐ์กด ๋„๊ตฌ์˜ ๋ฌธํ•ญ์„ ์ถ”์ถœํ•˜๊ณ  ์ˆ˜์ •ํ•˜์—ฌ ์‚ฌ์šฉํ•˜์˜€๋‹ค. ์กฐ์ง์‚ฌํšŒํ™” ์ธก์ •๋„๊ตฌ๋Š” ๊ธฐ์กด ๋„๊ตฌ์˜ ๋ฌธํ•ญ์„ ๋ฒˆ์•ˆ ๋ฐ ์ˆ˜์ •ํ•˜์—ฌ ์‚ฌ์šฉํ•˜์˜€๋‹ค. ์กฐ์ง์œ ํšจ์„ฑ์˜ ์ธก์ •๋„๊ตฌ๋Š” ์กฐ์ง๋ชฐ์ž…, ์ง๋ฌด์„ฑ๊ณผ, ์ด์ง์˜๋„์˜ 3๊ฐ€์ง€ ๋ณ€์ธ์œผ๋กœ ๊ตฌ์„ฑ๋˜๋ฉฐ ์ด ์—ฐ๊ตฌ์˜ ๋ชฉ์ ์— ์ ํ•ฉํ•˜๋‹ค๊ณ  ํŒ๋‹จ๋˜๋Š” ๊ธฐ์กด ๋„๊ตฌ์˜ ๋ฌธํ•ญ์„ ์‚ฌ์šฉํ•˜์˜€๋‹ค. ์ž๋ฃŒ ์ˆ˜์ง‘์€ 2012๋…„ 5์›” 7์ผ๋ถ€ํ„ฐ 20์ผ๊นŒ์ง€ ์ด 16๊ฐœ ๊ธฐ์—…์—์„œ ์˜จ๋ผ์ธ ์„ค๋ฌธ์œผ๋กœ ์ด 298๋ถ€์˜ ์ž๋ฃŒ๋ฅผ ์ˆ˜์ง‘ํ•˜์˜€์œผ๋ฉฐ ์ˆ˜์ง‘๋œ ์ž๋ฃŒ ์ค‘์—์„œ ํ•œ ๊ฐ€์ง€ ๋ฌธํ•ญ์ด๋ผ๋„ ๊ธฐ์žฌํ•˜์ง€ ์•Š๊ฑฐ๋‚˜ ๋ถˆ์„ฑ์‹คํ•œ ์‘๋‹ต์ด ๋ฐœ๊ฒฌ๋˜์–ด ๋ถ„์„์— ์ ํ•ฉํ•˜์ง€ ์•Š์€ ์ž๋ฃŒ์™€ ์ด์ƒ์น˜๋กœ ํŒ๋‹จ๋˜๋Š” ์ž๋ฃŒ 84๋ถ€๋ฅผ ์ œ์™ธํ•˜๊ณ , ์ตœ์ข… ๋ถ„์„์—์„œ๋Š” 214๋ช…์ด ์‘๋‹ตํ•œ ์ž๋ฃŒ๋ฅผ ์‚ฌ์šฉํ•˜์˜€๋‹ค. ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ, ์กฐ์ง์‚ฌํšŒํ™” ๋ฐ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„๋ฅผ ๊ตฌ๋ช…ํ•˜๊ธฐ ์œ„ํ•ด Windows SPSS 18.0์„ ์‚ฌ์šฉํ•˜์—ฌ ํšŒ๊ท€๋ถ„์„์„ ์‹ค์‹œํ•˜์˜€์œผ๋ฉฐ, ๋ณ€์ธ๋ณ„ ์ˆ˜์ค€์„ ๊ตฌ๋ช…ํ•˜๊ธฐ ์œ„ํ•ด ๊ธฐ์ˆ ํ†ต๊ณ„๋ถ„์„์„ ์‹ค์‹œํ•˜์˜€๋‹ค. ์ด ์—ฐ๊ตฌ๋ฅผ ํ†ตํ•ด ์–ป์€ ์—ฐ๊ตฌ๊ฒฐ๊ณผ ๋ฐ ๊ฒฐ๋ก ์€ ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค. ์ฒซ์งธ, ๋Œ€๊ธฐ์—… ๊ตฌ์„ฑ์›์ด ์ธ์‹ํ•˜๋Š” ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ์˜ ์ˆ˜์ค€์€ ๋ชจ๋‘ ๋ณดํ†ต ์ด์ƒ์ด๋‹ค. ๋‘˜์งธ, ๋Œ€๊ธฐ์—… ๊ตฌ์„ฑ์›์ด ์ธ์‹ํ•˜๋Š” ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ์˜ ์ˆ˜์ค€์€ ๋ฉ˜ํ† ์™€ ํ”„๋กœํ…Œ์ œ์™€์˜ ๊ด€๊ณ„ ํŠน์„ฑ์— ๋”ฐ๋ผ ์œ ์˜๋ฏธํ•œ ์ฐจ์ด๋ฅผ ๋ณด์ธ๋‹ค. ์…‹์งธ, ๋Œ€๊ธฐ์—… ๊ตฌ์„ฑ์›์ด ์ธ์‹ํ•˜๋Š” ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ์˜ ์ˆ˜์ค€์€ ์กฐ์ง์œ ํšจ์„ฑ์— ์œ ์˜๋ฏธํ•œ ์˜ํ–ฅ์„ ๋ฏธ์นœ๋‹ค. ๋„ท์งธ, ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ์€ ์กฐ์ง์‚ฌํšŒํ™”๋ฅผ ๋ถ€๋ถ„์ ์œผ๋กœ ๋งค๊ฐœํ•˜์—ฌ ์กฐ์ง๋ชฐ์ž…๊ณผ ์ง๋ฌด์„ฑ๊ณผ์— ์˜ํ–ฅ์„ ๋ฏธ์นœ๋‹ค. ์ฃผ์š”์–ด : ๊ณต์‹์  ๋ฉ˜ํ† ๋ง, ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ, ์กฐ์ง์‚ฌํšŒํ™”, ์กฐ์ง์œ ํšจ์„ฑ ํ•™ ๋ฒˆ : 2010-23384 ์ด์™€ ๊ฐ™์€ ๊ฒฐ๊ณผ๋ฅผ ํ† ๋Œ€๋กœ ํ›„์† ์—ฐ๊ตฌ๋ฅผ ์œ„ํ•ด ๋‹ค์Œ๊ณผ ๊ฐ™์€ ์‚ฌํ•ญ์„ ์ œ์–ธํ•˜์˜€๋‹ค. ์ฒซ์งธ, ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์— ๋Œ€ํ•œ ์ข…๋‹จ์  ์—ฐ๊ตฌ๋ฅผ ์ˆ˜ํ–‰ํ•  ํ•„์š”๊ฐ€ ์žˆ๋‹ค. ๋‘˜์งธ, ์กฐ์ง์‚ฌํšŒํ™” ์™ธ์—๋„ ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„๋ฅผ ๋งค๊ฐœ ๋ฐ ์กฐ์ ˆํ•˜๋Š” ๋ณด๋‹ค ๋‹ค์–‘ํ•œ ๋ณ€์ธ์— ๋Œ€ํ•œ ์—ฐ๊ตฌ๊ฐ€ ์ด๋ฃจ์–ด์งˆ ํ•„์š”๊ฐ€ ์žˆ๋‹ค. ์…‹์งธ, ๋Œ€๊ธฐ์—… ๋ฟ ์•„๋‹ˆ๋ผ ์ค‘์†Œ๊ธฐ์—…์„ ๋Œ€์ƒ์œผ๋กœ๋„ ๋ฉ˜ํ† ๋ง๊ณผ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„๋ฅผ ์ธก์ •ํ•  ํ•„์š”๊ฐ€ ์žˆ๋‹ค. ๋„ท์งธ, ๊ณต์‹์  ๋ฉ˜ํ† ๋ง์„ ์šด์˜ํ•จ์— ์žˆ์–ด ์ ‘์ด‰ ๋นˆ๋„, ๋ฉ˜ํ† ๋ง ํ™œ๋™ ๋“ฑ์— ๋Œ€ํ•ด์„œ ์—„๊ฒฉํ•œ ๊ธฐ์ค€์˜ ์„ค์ •์ด ํ•„์š”ํ•˜๋‹ค.I. ์„œ๋ก  1 1. ์—ฐ๊ตฌ์˜ ํ•„์š”์„ฑ 1 2. ์—ฐ๊ตฌ์˜ ๋ชฉ์  4 3. ์—ฐ๊ตฌ ๋ฌธ์ œ 5 4. ์šฉ์–ด์˜ ์ •์˜ 7 5. ์—ฐ๊ตฌ์˜ ์ œํ•œ 8 II. ์ด๋ก ์  ๋ฐฐ๊ฒฝ 9 1. ๋ฉ˜ํ† ๋ง(Mentoring) ๊ธฐ๋Šฅ 9 2. ์กฐ์ง์‚ฌํšŒํ™” 26 3. ์กฐ์ง์œ ํšจ์„ฑ 36 4. ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์‚ฌํšŒํ™” ๋ฐ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„ 47 III. ์—ฐ๊ตฌ ๋ฐฉ๋ฒ• 51 1. ์—ฐ๊ตฌ๋ชจํ˜• 51 2. ์—ฐ๊ตฌ๋Œ€์ƒ 52 3. ์กฐ์‚ฌ๋„๊ตฌ 54 4. ์ž๋ฃŒ์ˆ˜์ง‘ 59 5. ์ž๋ฃŒ๋ถ„์„ 60 IV. ์—ฐ๊ตฌ ๊ฒฐ๊ณผ 61 1. ์‘๋‹ต์ž์˜ ํŠน์„ฑ 61 2. ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ์˜ ์ธ์‹ ์ˆ˜์ค€ 64 3. ๋ฉ˜ํ† ๋ง ๊ธฐ๋Šฅ๊ณผ ์กฐ์ง์‚ฌํšŒํ™” ๋ฐ ์กฐ์ง์œ ํšจ์„ฑ์˜ ๊ด€๊ณ„ 72 4. ๋…ผ์˜ 85 V. ์š”์•ฝ, ๊ฒฐ๋ก  ๋ฐ ์ œ์–ธ 89 1. ์š”์•ฝ 89 2. ๊ฒฐ๋ก  93 3. ์ œ์–ธ 95 ์ฐธ๊ณ ๋ฌธํ—Œ 96 ๋ถ€๋ก 114Maste

    Obstacle Avoidance Algorithm for 3R Planar Robot by Task Switching

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    MasterAn algorithm for 3R planar robot to avoid unexpected obstacles is proposed. The algorithm is based on the conventional subtask controller that can avoid obstacles only in self-motion. In the case that the controller cannot avoid obstacles in self-motion, the tracking main-task control and the obstacle avoiding sub-task control are contrary each other and both are canceled out. This problem makes the robot stuck. In this situation, the proposed algorithm makes the controller to stop tracking and avoid the obstacles in top priority. The avoiding motion is controlled in joint angle space with freely drifting endeffector. After the avoiding obstacles, the controller goes back to tracking. This task switching depends on subtask function value
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