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2자유도 차동 구륜이동로보트의 기구학 모델링과 Backstepping 기법을 이용한 궤적추적
김종수(Chong-Soo Kim),문종우(Jong-Woo Moon) 한국정보기술학회 2007 한국정보기술학회논문지 Vol.5 No.2
This paper deals with kinematic modeling and trajectory tracking for a differential wheeled-mobile robot with 2 d.o.f., The kinematic motion equation is derived by using a transformation matrix and its time-derivative and a Jacobian matrix transforms wheel velocities into body velocities. We derive the forward and the inverse kinematics to decompose wheel velocity into actuated/unactuated and sensed/unsensed components. And we derive an error model and apply the backstepping method to construct a controller. To justify the methods proposed in this paper and show their efficiency, we experiment on a different wheeled-mobile robot with 2 d.o.f. and discuss the results.
생활폐기물 서비스 효과성 증진을 통한 시민 갈등저감 방안 연구: 의정부시를 중심으로
김종수 ( Kim Chong-soo ),김창진 ( Kim Chang-jin ),안윤주 ( Yoon-ju Ahn ),고대유 ( Go Dae-yoo ) 단국대학교 분쟁해결연구센터 2021 분쟁해결연구 Vol.19 No.3
생활폐기물 서비스는 시민의 관점에서 일상적인 정부의 행정서비스이다. 따라서 생활폐기물 서비스 단절과 비효율성은 ‘주민과 정부 간’의 큰 갈등을 촉발하는 요인이 될 수 있다. 현재 생활폐기물 서비스는 민간위탁 방식을 채택하고 있다. 그럼에도 불구하고 선행연구들은 민간위탁의 효과성을 충분히 검증하지 못하고 있다. 이 연구의 목적은 생활폐기물 서비스에 있어 민간방식의 효과성을 입증하는 것이다. 연구의 대상은 의정부시이며, 분석 방법은 총 3단계로서 주민만족도 조사, 전문가 평가, 서면 평가이다. 분석을 위한 측정도구는 14개의 지표와 42개의 세부지표이다. 분석 결과, 의정부시의 민간위탁 사업은 효과적이라는 결론을 도출하였으며, 전년 대비 성과도 향상된 것으로 확인되었다. 이상의 과정을 통해 실무적, 정책적, 이론적 함의점을 제안하였다. Municipal solid waste service is a daily administrative service. Therefore, the disconnection and inefficiency of municipal solid waste services trigger a great conflict between residents and the government. Currently, municipal solid waste services are adopt a contracting-out method. Nevertheless, previous studies have not sufficiently verified the effectiveness of contracting-out. The purpose of this study is to prove the effectiveness of municipal solid waste services in a private way. The subject of the study is Uijeongbu City. The analysis method is a total of three stages, including a survey of resident satisfaction, expert evaluation, and written evaluation. Measurement tools are 14 indicators and 42 detailed indicators. As a result of the analysis, Uijeongbu City’s private consignment project is effective. In addition, performance improved compared to the previous year. Through the above process, practical, policy, and theoretical implications were proposed.
주민의식 측정・분석을 통한 낙후지역 재생수단의 선택에 관한 연구 - 경기도 포천시 관인면 중심상점가를 중심으로 -
김종수(Chong Soo Kim),허훈(Hun Huh) 한국지방행정학회 2017 한국지방행정학보 (KLAR) Vol.14 No.3
The village community has been attracting attention as a way to resolve the aging problem and revitalize the region. This is because village-based regeneration can be a realistic strategy as a concrete means to improve the quality of life of residents by maximizing the potential resources of the region. To this end, efforts are being made to revitalize communities and lead local residents. The subjects of this study are Tandong-ri & Chogwa-1ri, Gwanin-myeon, Pocheon-si. The center of the town, built by the US Army in 1954, is one of the most underdeveloped in the metropolitan area. Especially, the redevelopment of this area has been hardly achieved, and the scenery of shops and shops in the 1960s and 1970s is well preserved, and it can be regarded as a foundation to revitalize this area by cultural power. By taking the concept of the Museum as it is(Eco Museum) , we sought to revitalize the area by highlighting the history of the area. In order to find out the specific means of recycling that can make use of local characteristics, we conducted interviews and surveys with various subjects such as local residents, central merchants associations, residents self-governing committees, and public officials. Based on the results of the survey and analysis, it suggested the resurgence of the economy of the alley and the direction of developmental town development project.
증예(症例) : 장중첩증을 동반한 소장 염증성 섬유용종 1예
김종수 ( Chong Soo Kim ),이종덕 ( Jong Deok Lee ),이상훈 ( Sang Hoon Lee ) 전북대학교 의과학연구소 2001 全北醫大論文集 Vol.25 No.1
We report a case of a inflammatory fibroid polyp of the small bowel presenting with intussusceptions in a 50-year-old-women. She had intermittently a 4-month history of abdominal pain. Small bowel study and CT demonstrated a well-defined intraluminal solid mass of the ileum. Sonographically, ileal intussusceptions appeared typically as concentric rings of alternating hypoechoic and hyperechoic layers with central hyperechoic portion. A segmental ileum including the invaginated ileum and pedunculated polyp was resected. The pathologic diagnosis of the pedunculated polyp was ileal inflammatory fibroid polyp.