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차량 동역학을 고려한 무인 주행 차량의 경로 추종 및 장애물 회피 혼합 기법 개발
김동형(Donghyung Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper presents a novel method that integrates the path tracking and the obstacle avoidance for UGV(Unmanned Ground Vehicle). Generally, for a safety and an ease control, UGV is used to runs slowly during the autonomous navigation. But if we want to run UGV fast, the vehicle dynamics should be considered. In this research, by using the bicycle model for the vehicle, the integrated method is applied to that model. For waypoints navigation, the pure pursuit path tracking is used. And this method is integrated with the obstacle avoidance method. The integrated method uses the obstacle potential that keeps UGV away from the obstacles while it follows the waypoints. The proposed method is tested on the simulation with several waypoints and obstacles showing that UGV is able to follow the path with obstacles.
건선에 효과적인 한약 처방 탐색 - 지질 대사를 중심으로
한창이,김준동,서광일,김규석,김윤범,Han, Chang-Yi,Kim, Jundong,Seo, Gwang-Yeel,Kim, Kyu-Seok,Kim, Yoon-Bum 대한한방안이비인후피부과학회 2021 한방안이비인후피부과학회지 Vol.34 No.3
Objectives : The purpose of this study is to investigate the possibility of using herbal medicine for the management of psoriasis focusing on lipid metabolism. Methods : We reviewed studies about pathophysiology, and medical treatment of psoriasis, the relationship between psoriasis and metabolic syndrome and lipid metabolism, and herbal medicine on Pubmed and Google scholar. Results : Psoriasis is a chronic multi-organ inflammatory disease not limited to skin, and steroids, immuno-suppressants, and biological agents are used. It is known that psoriasis and metabolic syndrome act as mutual risk factors, and lipid metabolism are involved in psoriasis. The effects of various single herbal preparations and complex herbal extract, decoction on improving lipid metabolism have been consistently reported, and there was an improvement of psoriatic skin lesions and improvement of blood lipid levels through herbal medicine. Conclusions : Herbal medicine research in psoriasis has focused on the anti-inflammatory effect and the suppression effect of certain immune mediators. However, considering that psoriasis is affected by lipid metabolism and side effects of Western medicines, the use of herbal medicines for the purpose of controlling lipid metabolism in psoriasis is useful in aspects of reducing side effects of concurrent Western medicine, improving the severity of psoriasis, and managing metabolic risk factors.
로봇형 차량의 자율주행을 위한 센서 기반 운동 계획법 개발
김동형(Dong-Hyung Kim),김창준(Chang-Jun Kim),이지영(Ji-Yeong Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.
김한창(Kim Han chang) 현대문법학회 1998 현대문법연구 Vol.14 No.-
In this paper we have attempted to elucidate the relationship of alternatives to be focused in the three basic types of interrogatives(YNQ/AltQ/WHQ) in English and Korean and to classify the speech acts of yes-no questions making a contrastive analysis between the expressions of the two languages in terms of questions and answers. We reduce the speech acts of YNQs by considering various speech act conditions. Our investigation of the syntactic/semantic relationship between the basic types of interrogatives shows that the number of alternative variables determines the classification of these interrogatives: YNQ is restricted to only one focused item to be answered; AltQ is limited to more than one focused disjunctive items; WHQ provides the unlimited number of alternative variables from which to choose answers. These relational phenomena permit composite questions and composite answers besides simple ones. We insist that these composite questions and answers be dealt with in grammar books as particular types of discourse. As for the classification of speech acts we are confined to the YNQs in order to reduce the burden of investigation. The propositional content and illocutionary force were our main concern in dealing with YNQs. Our analysis indicates that the YNQs comprise many kinds of speech acts which ordinary learners of both English and Korean are not ordinarily aware of. We, however, reduced them to informative questions, assumptive questions, dubitative questions, directive questions, rhetorical questions, and reply questions. Our linguistic findings could be useful to the students of both languages. The method of study relies on discriptive approaches, leaving the formalization of linguistic findings to the task of formalists. Descriptivism has its own merits, because it provides data for formalists.
김동형(Dong-Hyung Kim),최윤성(Youn-Sung Choi),김현국(Hyeonguk Kim),전명재(Myoungjae Jun),백성훈(Sunghoon Back),이용석(Yongseok Lee),이지영(Ji Yeong Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
This paper proposes an algorithm for the trajectory planning of a dual-arm robot. Since the original collision-free path obtained in a probabilistic manner is unnecessarily jerky, it may induce high acceleration in the robot’s actuators, so we regard this as a low-quality path. We propose a B-spline trajectory planning algorithm that transforms the path into a collision-free and smooth trajectory to improve its quality. We applied our proposed algorithm to a cell-phone assembly task using a dual-arm robot as a specific application example. The simulation results show that the smooth and collision-free trajectories can be generated for the task with our motion planning simulator.
자율주행 차량의 경유점 추종을 위한 통합된 궤적 계획기 및 제어기에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),최민석,한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper presents the integrated trajectory planner and controller for the waypoint tracking of autonomous vehicles. In the case of that there are no driving lanes, the trajectory should be planned for the vehicle. However, because of the nonholonomic constraint which renders the motion orthogonal to the vehicle’s forward direction is impossible, the trajectory planning and the control problems are becoming complicated. To solve these problems, the trajectory planning and control are integrated using the flatness property of the kinematic model of the vehicle. And with the given waypoints, the waypoint tracking algorithm is proposed to plan the trajectory for the next waypoint. Therefore the vehicle follows the waypoints in order. Finally, the performance of the proposed method is tested through simulation.
거버넌스 지수의 실효성에 대한 소고 -정치성·실용성·규범성을 중심으로-
김한창 ( Hanchang Kim ) 한국행정학회 2013 한국행정학회 학술발표논문집 Vol.2013 No.-
거버넌스는 가치지향적인 개념이다. 동시에 생활지향적이라고 할 수 있다. 국내적으로 거버넌스는 박근혜정부가 지향하는 정부3.0과 매우 밀접하고 거버넌스 개념을 제외하고 논하 기 어렵다. 환원하면 거버넌스는 시대적 흐름이고 거부할 수 있는 생활방식이라고 할 수 있다. 따라서 거버넌스를 확산하고 활용하기 위해서는 거버넌스 지수 구성의 필요성이 대 두되고 이러한 지수구성에 있어서 거버넌스 가치와 생활지향적인 특성을 고려하여 현실적 이고 용이성을 극대화할 때 일반국민들이 거버넌스에 대한 이해도 높이고 수용성도 높아질 것이다. 본 논문은 이러한 차원에서 정치적인 측면도 고려하고 일반인들의 입장에서 최대 한의 손쉬운 지수 구성방안에 대한 논의를 한 결과 거버넌스의 절차적 단계 즉 거버넌스 인식, 형성, 성과 측면에서 활용가능한 지표들로 구성안을 제작해보았다. 키워드: 거버넌스, 지수, 사회적 자본, 정부3.0 Governance is a value-oriented concept. At the same time that life-oriented concept. Domestically Park Geun-hye government advocate Government 3.0 is very close also governance concept. in other words, governance is stream of times. it will be life style and ways. it can`t deny. Thus, the spread of governance and the need to take advantage of the emerging governance index. it should consider value oriented concept and life oriented concept. when it is maximize, people can be understood concept of governance and take acceptance of governance ways. This paper considers the easiest ways to the make governance index. finally, governance index can be made it that governance cognition step, governance formation step, governance performance step.
로봇형 차량의 경로 추종 및 장애물 회피를 위한 운동 계획에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a range scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstlace or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.
비홀로노믹 이동로봇의 자율주행을 위한 기하학적 경로 추종 및 장애물 회피 방법
김동형(Dong-Hyung Kim),김창준(Chang-Jun Kim),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.8
This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for nonholonomic mobile robot. The mobile robot follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. And the obstacle generates the obstacle potential, from this potential, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, the mobile robot follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments for path tracking only, static obstacle avoidance, dynamic obstacle avoidance.