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배터리로 구동되는 이동 로봇의 에너지 소모 최소화를 위한 3-구간 속도 제어
김병국,김종희,Kim Byung-Kook,Kim Chong-Hui 제어로봇시스템학회 2006 제어·로봇·시스템학회 논문지 Vol.12 No.3
Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.
김병국,나기상,신시옥,Kim, Byung-Kook,Rha, Ki-Sang,Shin, See-Ok 대한기관식도과학회 2000 大韓氣管食道科學會誌 Vol.6 No.1
Objectives : This study was designed to compare the morphological changes in the nasal, tracheal and main bronchial mucosa in rats exposed to 0, 0.3, 0.6, 0.9 and 1.2 ppm ozone for 7 days, 6 hours per day. Materials and Methods : We observed the nasal, tracheal and main bronchial mucosa in rats exposed to 0, 0.3, 0.6, 0.9 and 1.2 ppm ozone for 7days, 6hours per day with LM, SEM and TEM. Results : In light microscopy, influx of inflammatory cells, epithelial hyperplasia, loss of cilia and increased goblet cells were observed in all rats except those exposed to 0.3 ppm. these findings increased with the increase of ozone concentration, but there were no significant differences among the nasal, tracheal and main bronchial mucosa in rats exposed to the same ozone concentration. In scanning electron microscopy, a loss of cilia was observed in rats exposed to 0.3 ppm in some sections and 0.6 ppm and 1.2 ppm in all sections. In transmission electron microscopy, vacuolization of epithelial cells was observed in rats exposed to 0.3 ppm in some sections and 0.6 ppm in all sections. These results suggest that electron microscopic observation is necessary to study morphology of airway mucosa in rats exposed to ozone below 0.3 ppm. And also the morphological changes in nasal septal epithelium may reflect those of tracheal and bronchial epithelium after high concentration ozone-exposure.
접촉 조건에 따른 C/C-SiC-Cu복합재와 Al/SiC복합재의 마모 특성에 관한 연구
김병국(Byung-Kook Kim),신동갑(Dong-Gap Shin),김창래(Chang-Lae Kim),구병춘(Byeong-Choon Goo),김대은(Dae-Eun Kim) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.1
디스크 브레이크의 온도는 제동 시 변할 수 있으며 이러한 표면 온도의 변화는 마찰/마모 특성에 영향을 줄 수 있다. 따라서 효율이 우수한 브레이크 개발을 위해서는 브레이크 소재의 마찰/마모 특성에 대한 이해가 필요하다. 본 연구에서는 디스크 브레이크 시스템에 사용되는 C/C-SiC-Cu복합재와 Al/SiC복합재에 대하여 표면 온도와 접촉압력에 따른 마찰/마모 특성을 비교하였다. 이를 위해 온도 및 하중조절이 가능한 pin-on-reciprocating방식의 마찰실험기를 사용하였다. 실험결과, 마찰은 온도와 거리에 따라 현저하게 변하였다. 또한 마모로 인하여 생성된 입자가 접촉 압력에 의해 표면에 뭉쳐져 transfer layer가 형성되었고, 표면 거칠기가 증가하였다. 이러한 연구 결과는 다양한 조건에서 작동하는 브레이크 시스템개발을 위한 기초자료로 활용될 수 있을 것이다. The surface temperature of disc brakes varies during braking, which can affect the friction and wear behavior of braking systems. In order to develop an efficient braking system, the friction and wear behaviors of brake materials need to be clearly understood. In this work, the friction and wear behavior of the C/C-SiC-Cu composite and the Al/SiC composite, which are used in disc braking systems, were investigated. Both the surface temperature and contact pressure were studied. A pin-on-reciprocating tribotester was used for this purpose, in order to control temperature and load. Results showed that the friction varied significantly with temperature and sliding distance. It was found that a transfer layer of compacted wear debris formed on the wear track of the two materials. These layers caused the surface roughness of the wear track to increase. The outcome of this work is expected to serve as a basis for the development of braking systems under various operating conditions.
증례 : 만성중이염에서 기원한 폐렴막대균(Klebsiella pneumoniae)에 의한 괴사성 근막염 1예
김병국 ( Byung Kook Kim ),이정현 ( Jung Hyun Lee ),이승준 ( Seoung Joon Lee ),기현균 ( Hyun Kyun Ki ),송기호 ( Kee Ho Song ),김동림 ( Dong Lim Kim ),김숙경 ( Suk Kyeong Kim ) 대한내과학회 2007 대한내과학회지 Vol.72 No.6
저자들은 당뇨병과 알코올성 간경변이 있는 45세 남자 환자에서 원발병소가 K. pneumoniae 만성중이염이고 속발된 세균혈증으로 인한 K. pneumoniae 괴사성 근막염 1예를 경험하였기에 보고하는 바이다. Necrotizing fasciitis is a relatively uncommon infectious disorder where a bacterial organism penetrates the subcutaneous tissues and superficial fascia, ultimately causing necrosis of vast areas of soft tissue. Although invasive Streptococcus spp., most commonly group-A streptococci, is the most frequent cause of this disorder, in a single organism-infection, necrotizing fasciits caused by Klebseilla pneumoniae is becoming more frequently reported, perhaps due to the recent increase in the frequency of diabetes and liver diseases. Necrotizing fasciitis caused by K. pneumoniae is usually secondary to hematogenous dissemination, most commonly caused by trauma or liver abscess and usually results in multiple organ failure. The progression of the disease is so rapid that the mortality rate is high despite aggressive surgical intervention and extensive use of antibiotics at an early disease stage. Here we report a case of necrotizing fasciitis caused by hematogenously spread K. pneumoniae from incompletely treated chronic otitis media in a patient with alcoholic liver cirrhosis and diabetes. (Korean J Med 72:689-695, 2007)
김병국(Byung-Kook Kim),김영호(Young-Ho Kim),송우석(Woo-Seog Song),이승배(Seungbae Lee),남상규(Sang-Kyu Nam),김사만(Sa-Man Kim) 한국유체기계학회 2006 유체기계 연구개발 발표회 논문집 Vol.- No.-
This paper presents the design procedure of a drag-type, vertical wind turbine named jet-wheel turbine, and the numerical and the experimental verification procedures. The design parameters such as the chord length, the exit angle of inlet guide and side guide vanes, and the rotor blade inlet angle were optimized to minimize the energy loss and increase the effective torque together with the efficiency by considering the effect of the angle of attack. The maximum power coefficient of 0.42 was experimentally confirmed while the maximum power coefficient of 0.5 was predicted based on the numerical simulation. This vertical-axis model can be applied to the large-scale power generation system by the modular design and the control algorithm for the wide range of operation.
사례보고 : 간이식 후 C형간염 재발로 발생한 fibrosing cholestatic hepatitis 환자에서 페그인터페론과 리바비린 치료 경험 1예
김병국 ( Byung Kook Kim ),권소영 ( So Young Kwon ),고순영 ( Soon Young Ko ),최원혁 ( Won Hyeok Choe ),이창홍 ( Chang Hong Lee ),한혜승 ( He Seong Han ),장성환 ( Seong Hwan Chang ) 대한간학회 2008 Clinical and Molecular Hepatology(대한간학회지) Vol.14 No.4
Fibrosing cholestatic hepatitis (FCH)는 간이식을 받은 C형간염 환자에서 발생하는 가장 심각한 형태의 재발성 C형간염으로 치명적인 간부전을 초래해서, 대부분의 경우 수년 이내에 사망에 이르거나 재이식을 받는 것으로 알려져 있다. 이식 후 재발한 C형간염에서 페그인터페론과 리바비린 병용요법이 현재까지 주된 치료로 사용되고 있으나 그 치료효과는 만족스럽지 않다. 저자들은 사체 간이식후 재발한 C형간염에 의해 발병한 FCH 환자에서 페그인터페론과 리바비린 병합치료 후 임상경과를 문헌고찰과 함께 보고하는 바이다. Fibrosing cholestatic hepatitis (FCH) is the most devastating manifestation of recurrent hepatitis C in transplant recipients with hepatitis C virus (HCV), possibly leading to death or retransplantation. Although FCH was first described as a complication of hepatitis B, this manifestation has been well documented in association with HCV in the setting of liver transplantation, bone marrow transplantation, heart transplantation, and end-stage human immunodeficiency virus infection. We report the clinical course and antiviral response in a patient with FCH due to recurrent hepatitis C after cadaveric liver transplantation who was treated with pegylated interferon α-2a and ribavirin. (Korean J Hepatol 2008;14:519-524)
김병국(Byung-kook Kim),우성원(Sung-won Woo),정재형(Jae-hyung Jung),신현곤(Hyun-gon Shin) 한국철도학회 2011 한국철도학회 학술발표대회논문집 Vol.2011 No.10
Recently the train indusrty come to the fore because of Punctual eco-friendly transportation system and becoming the main transportation. The construction plans for the trian depot for train's maintenance and storage increase constantly. For past few years there were many construction plans Bubal train depot Gwangju train depot Duckha train depot. Proper track distribution plan is important to carry out the design of railway depot for efficient maintenance operation and train storage. Through the proper design of track distribution plan we can shorten the moving time train movement distance waiting time in train depot. In this paper the verification of the track distribution plan's efficiency and appropriateness for railway depot as Bubal train depot's plan is studied and analyzed with the train depot management simulation program- Posrail(v1.0).