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경로 추종과 자세 제어를 위한 이동로봇의 하이브리드 제어
정상훈,임준홍 漢陽大學校 工學技術硏究所 1999 工學技術論文集 Vol.8 No.1
본 논문에서는 nonholomic 제약조건(constraints)을 갖는 이동로봇시스템이 복잡한 환경의 다양한 경로를 주행하며 자세를 제어할 수 있는 하이브리드 궤환 제어기를 제안한다. 일반적으로 nonholomic 시스템은 제어 입력보다 시스템의 상태변수가 많아서 전체적인 경로 추종과 자세 제어가 불가능하며 부분적인 제어목적만이 가능하다. 본 논문에서는 다양한 경로와 복잡한 환경에서 정밀한 위치와 자세 제어 그리고 경로 추종을 위한 하이브리드 궤환 모델을 구하고 이동로봇의 동작제어기를 구현한다. 이동로봇의 하이브리드 동작제어 기는 주어진 경로에 대하여 시스템의 초기상태에 따른 동작계획을 위한 경로-계획(Path-Planner) 알고리즘을 제안하고, 이를 이산상태제어기로 구성한다. 또한 동적 경로 추종을 위한 연속상태제어 기는 입력-출력 선형화방법을 이용한 원과 직선의 경로를 추종할 수 있는 제어기로 구성된다. 이동로봇의 다양한 경로 추종과 자세 제어를 위한 하이브리드 동작제어 기는 이산상태제어기와 연속상태제어기가 결합된 계층적 구조로, 이동로봇의 상태변수와 경로에 따른 이산상태변수와 연속상태변수간의 상호작용을 해석하고 원하는 위치와 자세를 제어할 수 있는 하이브리드 궤환 제어기를 구현한다. 즉, 이동로봇의 전방향각(heading angle)에 따른 제어 모드를 분류하고, 이에 따른 이동로봇의 기구학적 특성과 동특성을 제어할 수 있는 이산상태 제어기를 상위계층에, 각각의 제어 모드에 따른 연속상태 제어기를 하위계층에 적용한다. 제안한 하이브리드 동작제어 기를 다양한 경로에 대한 모의 실험을 통하여 비선형 경로에 대하여 제안한 하이브리드 제어 시스템의 우수성을 보인다. In this paper, a hybrid control system of a wheeled mobile robot with nonholonomic constraints is proposed for dynamic path following and posture control. The mobile robot can move from an initial position and posture to a desired path and posture by using hybrid control. The proposed hybrid control system consists of a continuous state system, a discrete state system, and an interface control system. Control modes are classified according to the heading angles and swithcing conditions are specified. A path planner algorithm is proposed and the computer simulation is performed to show the validity.
Sung-JoonHong,HyunchulNah,YoungJunePark,HongShickMin,ChanhoLee,HyungsoonShin 한국물리학회 2002 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.40 No.1
We show that the local thermal noise sources for the impedance eld method (IFM) can be calculated accurately using the Monte Carlo method (MC). Using the results from MC method, we investigate the accuracy of the conventional thermal noise sources used to calculate the noise with the IFM. The results for a 0.1 m N+-N-N+ device show that the conventional local thermal noise sources can be wrong for submicron devices. We also present the method of terminal noise calculation using an impedance eld which is suitable for the Monte Carlo method. This method is compared with the conventional method which uses the autocorrelation function in Monte Carlo method. The results show that the method using the impedance eld is very stable and fast numerically.
Georgenia daeguensis sp. nov., isolated from 4-chlorophenol enrichment culture
Woo, Sung-Geun,Cui, Yingshun,Kang, Myung-Suk,Jin, Long,Kim, Kwang Kyu,Lee, Sung-Taik,Lee, Myungjin,Park, Joonhong Microbiology Society 2012 International journal of systematic and evolutiona Vol.62 No.7
<P>During screening for 4-chlorophenol-degrading micro-organisms in activated sludge from industrial wastewater treatment, a Gram-positive, rod-shaped, aerobic bacterial strain, designated 2C6-43<SUP>T</SUP>, was isolated and characterized taxonomically by using a polyphasic approach. Comparative 16S rRNA gene sequence analysis showed that strain 2C6-43<SUP>T</SUP> belongs to the family <I>Bogoriellaceae</I>, class <I>Actinobacteria</I>, and is related most closely to <I>Georgenia soli</I> CC-NMPT-T3<SUP>T</SUP> (98.8 % sequence similarity), <I>Georgenia muralis</I> 1A-C<SUP>T</SUP> (97.6 %), <I>Georgenia thermotolerans</I> TT02-04<SUP>T</SUP> (96.8 %), <I>Georgenia ruanii</I> YIM 004<SUP>T</SUP> (96.6 %) and <I>Georgenia halophila</I> YIM 93316<SUP>T</SUP> (96.0 %). The G+C content of the genomic DNA of strain 2C6-43<SUP>T</SUP> was 66.2 mol%. Sugars from whole-cell hydrolysates found in strain 2C6-43<SUP>T</SUP> were rhamnose, ribose and galactose. The menaquinone MK-8(H4) was detected as the predominant quinone. Polar lipid analysis of 2C6-43<SUP>T</SUP> revealed diphosphatidylglycerol, phosphatidylinositol mannoside, phosphatidylinositol and phosphatidylglycerol. An aromatic compound ring cleavage enzyme of catechol 1,2-dioxygenase was detected but catechol 2,3-dioxygenase was not detected in 2C6-43<SUP>T</SUP>. A fatty acid profile with anteiso-C15 : 0, iso-C15 : 0 and C16 : 0 as the major components supported the affiliation of strain 2C6-43<SUP>T</SUP> to the genus <I>Georgenia</I>. However, the DNA-DNA relatedness between strain 2C6-43<SUP>T</SUP> and the type strains of five species of the genus <I>Georgenia</I> ranged from 17 to 40 %, clearly showing that the isolate constitutes a new genospecies. Strain 2C6-43<SUP>T</SUP> could be clearly differentiated from its phylogenetic neighbours on the basis of some phenotypic, genotypic and chemotaxonomic features. Therefore, strain 2C6-43<SUP>T</SUP> is considered to represent a novel species of the genus <I>Georgenia</I>, for which the name <I>Georgenia daeguensis</I> sp. nov. is proposed; the type strain is 2C6-43<SUP>T</SUP> ( = KCTC 19801<SUP>T</SUP> = JCM 17459<SUP>T</SUP>).</P>
비증식당뇨망막병증에서 Calcium Dobesilate가 시력 및 황반두께에 미치는 영향
전성연(Sung Yeon Jun),박지인(Ji In Park),손준홍(Joonhong Sohn),황덕진(Daniel Duck-Jin Hwang) 대한검안학회 2021 Annals of optometry and contact lens Vol.20 No.2
Purpose: This study aimed to evaluate the effect of calcium dobesilate uptake on visual acuity (VA) and macular thickness by optical coherence tomography (OCT) of eyes with non-proliferative diabetic retinopathy (NPDR) in comparison with bilberry dried extract. Methods: Thirty-six eyes of 36 patients diagnosed with NPDR without macular edema and who were treated with calcium dobesilate for more than 6 months were enrolled in the calcium dobesilate (CAD) group. VA, diabetic retinopathy grade, central macular thickness (CMT), and total macular volume (TMV) at baseline and at the 3- and 6-month follow-up examinations were analyzed retrospectively. The matched patients treated with bilberry dried extract were selected and compared as the control group. Results: The CMT and TMV values were 282.14 ± 31.86, 277.96 ± 31.13, and 281.18 ± 30.41 μm and 8.79 ± 0.58, 8.68 ± 0.59, and 8.73 ± 0.60 ㎣ in the CAD group at baseline and at the 3- and 6-month follow-up, respectively. The TMV had decreased significantly at the 3-month follow-up (p = 0.027); however, the TMV at the 6-month follow-up and the VA and TMV at the 3- and 6-month follow-ups showed no differences from the baseline levels (all p > 0.05). In the control group, no significant changes in VA or in CMT were observed at 3 and 6 months after treatment compared to the baseline (all p > 0.05). Furthermore, no significant difference in CMT on OCT was observed between the two groups at all time points (all p > 0.05). Conclusions: In NPDR patients without macular edema, CAD uptake had no significant effect on VA or macular thickness until 6 months after treatment.
김준홍(JoonHong Kim),박문수(MoonSoo Park),이상호(Sang-Ho Lee) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Supplying power to microsystems that have no physical connection to the outside is difficult, and using batteries is not always appropriate. This paper discusses how to generate electricity from mechanical energy when vibrated in a cantilever beam. A model for the system predicts that the output power of the system is maximized when the mechanical damping in the system is minimized. Furthermore, to cover a wide frequency range and to be useful in a number of applications, a system of beams with different resonant frequencies has been designed and optimized. This information makes it possible to determine what design alternatives are feasible for the creation of a micro power supply for any specific application of MEMS.
Kwean, Oh Sung,Cho, Su Yeon,Yang, Jun Won,Cho, Wooyoun,Park, Sungyoon,Lim, Yejee,Shin, Min Chul,Kim, Han-Suk,Park, Joonhong,Kim, Han S. Elsevier 2018 Bioresource technology Vol.259 No.-
<P><B>Abstract</B></P> <P>A biodegradation facilitator which catalyzes the initial steps of 4-chlorophenol (4-CP) oxidation was prepared by immobilizing multiple enzymes (monooxygenase, CphC-I and dioxygenase, CphA-I) onto a natural inorganic support. The enzymes were obtained via overexpression and purification after cloning the corresponding genes (<I>cphC-I</I> and <I>cphA-I</I>) from <I>Arthrobacter chlorophenolicus</I> A6. Then, the recombinant CphC-I was immobilized onto fulvic acid-activated montmorillonite. The immobilization yield was 60%, and the high enzyme activity (82.6%) was retained after immobilization. Kinetic analysis indicated that the Michaelis-Menten model parameters for the immobilized CphC-I were similar to those for the free enzyme. The enzyme stability was markedly enhanced after immobilization. The immobilized enzyme exhibited a high level of activity even after repetitive use (84.7%) and powdering (65.8%). 4-CP was sequentially oxidized by a multiple enzyme complex, comprising the immobilized CphC-I and CphA-I, via the hydroquinone pathway: oxidative transformation of 4-CP to hydroxyquinol followed by ring fission of hydroxyquinol.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Enzymatic biodegradation facilitator was developed. </LI> <LI> Recombinant 4-CP mono- and di-oxygenases were immobilized together. </LI> <LI> Immobilization improved enzyme stability and handling efficiency. </LI> <LI> 4-CP is converted to hydroxyquinol and then ring-fissioned by the facilitator. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>