PURPOSES : The purpose of this study was to reduce greenhouse gases and prevent potholes on roads by evaluating the performances of hot and warm mixed asphalt mixtures. METHODS : Quality tests were conducted using an appropriate aggregate ratio of the asphalt mixture. The tests for comparing the warm mixed asphalt mixture are the indirect tensile strength and toughness, Marshall stability and flow, tensile strength ratio, and dynamic immersion test. A performance evaluation was conducted using a mixture that satisfied the quality test results. A performance evaluation test was also conducted using the dynamic modulus and Hamburg wheel tracking test. To analyze the performance based on the amine content, the performance was compared with that of a hot mixed asphalt mixture. RESULTS : All tests for the mixture results satisfied the standard values. The optimal amine content was analyzed through the high and low frequencies of the dynamic modulus test results and stripping inflection point with the final rut depth of the Hamburg wheel tracking test. The dynamic modulus test results demonstrated better crack resistance and plastic deformation when a high amine content ratio was used. The Hamburg wheel-tracking test showed water resistance and plastic deformation resistance. The test results of the Hamburg wheel tracking indicated better deformation resistance and water resistance when a high amine content ratio was used. CONCLUSIONS : The plastic deformation and crack resistance increased with an increase in amine content. Analysis of the comprehensive test revealed that the optimal amine content was between that of additives B(50%) and C(65%). Tests with a granular amine content are planned to confirm the specific components. Also planned are a simplified viscoelastic continuum damage test and a semicircular bending test to evaluate the performance better.

이 글은 月川 趙穆(1524-1606)의 『月川集』 필사본과 간행본의 내 용을 비교하여 개정의 특징과 의의를 고찰한 것이다. 『月川集』은 조목의 아들 趙錫朋이 간행을 주도하였으며, 그 과정에서 시 950여 수를 비롯해 필사본에 수록된 다수의 작품이 산삭되었다. 산삭의 양상을 살펴보면 특징적으로 류성룡과 관련된 민감한 작품들이 산삭되었는데, 이는 ‘主和誤國’의 내용을 지우려는 김응조의 요청에 의한 것이었으며, 그 영향력은 문집의 서문을 수정하고 言行記와 더불어 혐의가 될 만한 다수의 작품이 산삭되는 결과로 이어졌다. 만사ㆍ제문의 경우, 조목의 도산서원 종향을 추진했던 문인의 작품은 수록하고, 그렇지 않은 인물의 작품은 산삭되었다. 시에서는 남명학 파의 권역에 있는 인물을 숨기거나 정인홍을 의도적으로 폄하한 흔적이 보였고, 그 중 儒家에 유익하다고 판단된 시는 제목을 변경해서 간행 본에 수록하였다. 이상의 특징을 종합하여 『월천집』 개정이 외부의 영향과 간섭을 받으면서 진행되었고, 상대적으로 조목 문인들은 이에 대응할 자체적인 기반이 약한 상황이었다는 결론을 얻을 수 있었다.

이 글은 月川學團의 초기 성격을 살피기 위해 조목의 합천지역 교유인물과 조목에 대한 도산서원 종향 과정을 고찰한 것이다. 조목은 1598년 1월부터 2년 5개월 동안 합천 군수로 재임하면서 지역 학자들과 교유하였는데, 합천이 來庵 鄭仁弘의 지역적 기반이었던 만큼 정인홍의 문인들을 중심으로 교유가 이루어졌으며, 특히 조목이 尤谷齋에서 『心經講錄』을 강학하면서 이 지역에 퇴계의 학문이 전수되기도 하였다. ‘조목과 정인홍 문인들의 친연성을 월천학단에서는 어떻게 받아들였는가’하는 문제는 󰡔월천집󰡕 판본 비교를 통해 그 대략을 확인할 수 있다. 초고에 해당하는 필사본과 1666년 간행본의 내용을 비교‧검토해 보았을 때 필사본에 수록된 합천과 관련된 기록들이 간행본에는 모두 산삭되어 있었다. 더구나 간행본에는 남명을 추모하는 내용의 ｢聞曺南冥訃｣가 산삭되고 정인홍을 강도 높게 비판한 ｢偶見仁弘南冥集跋語｣가 수록되었다는 점에 주목하면, 간행본의 정리 과정이 정인홍과 그 문인들에 대한 비판적인 입장에서 진행되었으며 이와 반대로 초기의 필사본은 수용의 입장에서 정리되었음을 유추할 수 있다. 한편 조목 사후에 그를 도산서원에 종향하는 과정을 살펴보면, 啓請과 종향·배향에 대해 향촌의 합의가 이루어지지 않아서 종향이 지연되다가 金中淸이 조정에 나아가 직접 啓請을 준비하면서 빠르게 추진되었다. 때문에 종향을 비판하는 일부 인사들은 대북파의 지원이 있었다고 의심했지만, 또한 그것을 확신하지는 못했다. 이 글에서는 대북파와 대립 없이 종향이 공론화 될 수 있었던 데에는 정인홍의 문인들과 친연성을 보이는 조목의 교유활동에 근본적인 원인이 있다고 보았다. 정리하면, 조목 사후 초기에 조목의 문집을 정리했던 문인들은 조목과 정인홍 문인들과의 친연성을 수용하였으며, 이를 바탕으로 종향을 추진하여 대북정권 내에서 무리 없이 공론화 시킬 수 있었던 것이다.

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

In this article art performing applications of industrial dual-arm robots are introduced. It was real collaboration among robot researchers and artist. Artist designed the performance to use dual-arm robot. Robot researchers collaborated with artist by providing robotic constraints and configuring robot motion. Two art performances were configured with two industrial dual-arm robots. In both performance robots carry objects to be used as moving screens. Both performances rely on the high power and high precision of robots. In addition human-like appearance make those performances be familiar to public

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

Machining error makes the uncertainty of dimensional accuracy of the kinematic structure of a parallel robot system, which makes the uncertainty of kinematic accuracy of the end-effector of the parallel robot system. In this paper, the tendency of trajectory tracking error caused by the tolerance of design parameters of the parallel robot is analyzed. For this purpose, all the position errors are analyzed as the manipulator is moved on the target trajectory. X, Y, Z components of the trajectory errors are analyzed respectively, as well as resultant errors, which give the designer of the manipulator the intuitive and deep understanding on the effects of each design parameter to the trajectory tracking errors caused by the uncertainty of dimensional accuracy. The research results shows which design parameters are critically sensitive to the trajectory tracking error and the tendency of the trajectory tracking error caused by them.

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

Hydraulic conductivity is an important parameter in the analytical model of groundwater. This study analyzed the groundwater movement characteristics by estimating optimal parameters according to hydraulic conductivity input methods with the MODFLOW model which is widely used. It first estimated the optimal parameters by dividing hydraulic conductivity zones by attitude. Next, it estimated optimal parameters by geological characteristic. It analyzed the groundwater movement characteristics by applying the recharge quantity and amount of evapotranspiration of drought periods and flood years with the estimated parameters. As the result was analyzed that there are differences of observation water level values according to hydraulic conductivity input methods but there is no big differences of overall groundwater movement characteristics by hydraulic conductivity input method, the two methods have found to be applicability in analyses of groundwater. So, it is judged that studies on more exact application of hydraulic conductivity and the application methods are needed.

月村 河達弘은 19세기 강우지역에서 활동했던 학자이다. 그는 실용 을 중시하는 학문경향을 가지고 南冥 曺植과 謙齋 河弘度를 존숭하며 慕寒齋에서 강학활동을 전개하였다. 이로써 인근의 학자들을 운집시키 고 그들에게 남명학파로서의 의식을 고취시켰다. 이때 月皐 趙性家ᆞ 溪南 崔琡民ᆞ東寮 河載文ᆞ克齋 河憲鎭ᆞ斗山 姜柄周ᆞ尼谷 河應魯 등이 그의 문하에서 종유하였다. 이후 조성가와 최숙민은 하달홍의 인도 아래 보다 체계적인 학문을 위해 노사학단에 나아가 奇正鎭에게 수학하였다. 한편 하재문과 하헌 진은 본거지로 돌아가 寒州 李震相과 교유하였고, 강병주와 하응로는 性齋 許傳에게 나아가 집지하였다. 조성가와 최숙민이 노사학단의 핵심인물로 자리매김한 것에 비해 하재문이 한주학단에서나 강병주가 성재학단에서 차지하는 비중은 그 리 크지 않다. 그러나 이들 모두는 남명을 존숭하고 학문의 실천성을 중시하는 남명학파로서의 정체성을 가지고 있었다. 이를 통해 두 가지 사실을 알 수 있는데, 하나는 하달홍의 모한재 강학이 남명학파의 정체성을 확립하는데 큰 역할을 했다는 것과, 다른 하나는 하달홍이 노사학파와 친밀성이 깊다는 점이다. 다시 말해 하달홍은 19세기 하동과 인근 강우지역의 문인들에게 남 명의 학문과 사상을 계승하고 보다 큰 학문을 접할 수 있도록 발판의 역할을 해 주었으며, 이를 통해 그 문인들은 남명학파로서의 정체성을 가지고 각자의 학문을 발전시켜 나갔던 것이다.

This study analyzed on characteristics of the ground-water capture zone in coastal areas and mid-mountainous area according to pumping rate. For this study, it targeted Jejudo island where is the volcanic island. To analyze, MODFLOW model and MODPATH model, which are the ground-water flow analysis models, were used. As a result of research, the following conclusions could be obtained. As a result of analyzing influence of a change in pumping time upon length of capture zone, the length of capture zone in coastal area was indicated to be greater in the changing ratio compared to the length of capture zone in mid-mountainous area. Next, in the coastal area, the pumping rate and the capture-zone length are changing similarly. However, in mid-mountainous area, the length of capture zone was indicated to grow when the pumping rate comes to exceed 1,500m3/day. As a result of analyzing influence of a change in pumping time upon capture area, the tendency of a change in the area was indicated similarly in coastal areas and mid-mountainous area. Especially, it could be known that the larger pumping rate leads to the more definite increase in tendency to a change in capture area. Based on this study, it was allowed to be possibly used in the suitable pumping rate in coastal areas and mid-mountainous area of the volcano island in the future. A follow-up research is judged to necessarily analyze the influence of tubular-well group upon capture zone by additionally analyzing a change in capture zone targeting the concentrated tubular well.

This study selected 6 river reach, which have various curved-channel, included in an object of study as making the Nakdong River, which is a real nature river, as a point of an object of study by using SMS RMA-2 model, a 2D numerical analysis model, and applied project flood and analyzed and examined characteristic of hydrological property and super-elevation, which includes characteristic of the velocity of a moving fluid. As a result, in a river reach, whose width is wide, angle of curved-channel has impact on the velocity of a moving fluid of inside of curved-channel and in a river reach, whose width is narrow, the radius of curvature and width of the river have impact on the velocity of a moving fluid of inside of curved-channel. Also it found out that the ratio of reduction in water-level of inside of curved-channel is more bigger than ratio of increasing in water-level of outside of curved-channel when project flood is increasing and angle of curve is increasing. Based on this, this study would be used as a expectation of danger and preliminary data in planning real river or a business, that creates an environment.