http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
김낙인,이종원,Kim, Nak-In,Lee, Jong-Won 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.4
Sliding mode control(SMC) incorporated with perturbation compensation is developed here to reduce the low-frequency tracking error in the presence of wide-band frequency perturbations for a nonlinear dynamic system. The control scheme is designed for estimation of low frequency perturbations with employment of the Time Delay Control and low-pass filter. It is shown that the SMC with perturbation compensation is far superior to the conventional SMC in tracking control of the dynamic systems under model uncertainties and external disturbance conditions.
6-3 스튜워트 플랫폼 운동장치의 새로운 기구학 해석방법
김낙인,이종원,Kim, Nak-In,Lee, Chong-Won 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.8
The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.
김낙인,이종원,Kim, Nak-In,Lee, Chong-Won 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.11
The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.
건선 병변의 chemokine 및 chemokine receptor 발현에 관한 면역조직화학적 연구
김낙인,최연상,임덕우 대한피부과학회 2001 大韓皮膚科學會誌 Vol.39 No.4
Background:Psoriatic keratinocytes express CXC chemokines like IL-8 and GRO-α, and CC chemokines like MCP-1 and RANTES, which have a significant role in the accumulation of inflammatory cells in psoriatic skin and both CXCR1 and CXCR2 receptors are also expressed in psoriatic keratinocytes, which suggests that IL-8 and GRO- αcould have a role in the characteristic epidermal changes through binding to their receptors in psoriatic keratinocytes. Objective: The purpose is to understand the pathogenetic mechanisms of psoriasis by comparing immunoreactivity of various chemokines and chemokine receptors between lesional and non-lesional skin of psoriasis. Methods: We have performed immunohistochemical studies with mouse anti-human IL-8, mouse anti-human GRO, anti-huamn MCP-1, mouse anti-human RANTES, anti-human CDw 128 IL-8RA/ CXCR1, and anti-human IL-8RB/CXCR2 for lesional and non-lesional skin of ten psoriatic patients. Results: 1. Immunohistochemical reactivity for IL-8 is stronger in lesional epidermis than non-lesional epidermis (p$lt;0.05) and immunohistochemical reactivity for GRO-? is stronger in lesional epidermis than non-lesional epidermis(p$lt;0.05). 2. Immunohistochemical reactivity for MCP-1 is stronger in lesional epidermis than non-lesional epidermis (p$lt;0.05), and immunohistochemical reactivity for RANTES is stronger in lesional epidermis than non-lesional epidermis (p$lt;0.05). 3. Immunohistochemical reactivity for CXCR1 is stronger in lesional epidermis than non-lesional epidermis (p$lt;0.05) and immunohistochemical reactivity for CXCR2 is stronger in lesional epidermis than non-lesional epidermis(p$lt;0.05). 4. Immunofluorescent staining reveals positive finding in epidermis of lesional psoriasis, but negative finding in CXCR2 Conclusion:These results suggest that psoriatic keratinocytes express CXC chemokines like IL-8 and GRO- α, and CC chemokines like MCP-1 and RANTES, which have a significant role in the accumulation of inflammatory cells in psoriatic skin and that both CXCR1 and CXCR2 receptors are also expressed in psoriatic keratinocytes, which suggests that IL-8 and GRO- αcould have a role in the characteristie epidermal changes through binding to their receptors in psoriatic keratinocytes.