http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
원종범(Jong-Bum Won),하언태(Eon-Tae Ha),김병창(Byung-Chang Kim),조상영(Sang-yeong Cho) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange"s equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.
유방의 종괴로 발현된 항호중구세포질항체 음성 육아종 다발혈관염
김민교 ( Min Gyo Kim ),허재형 ( Jae Hyeong Huh ),천윤홍 ( Yun Hong Cheon ),조상영 ( Sang Yeong Cho ),고경혁 ( Gyung Hyuck Ko ),김현옥 ( Hyun Ok Kim ),김지은 ( Ji Eun Kim ),최혜영 ( Hye Yeong Choi ),이상일 ( Sang Il Lee ) 대한류마티스학회 2014 대한류마티스학회지 Vol.21 No.4
Granulomatosis with polyangiitis (GPA) is a disease characterized by a granulomatous necrotizing vasculitis of the small vessels, along with the presence of antineutrophil cytoplasmic antibody (ANCA), serologically. GPA is a multisystem disease, in which the diagnosis is frequently based on respiratory and renal manifestations, with rare breast invasion. To date, several cases of breast invasion by GPA have been published, and most cases have been positive for ANCA. However, ANCA-negative forms of breast invasion by GPA are extremely rare and have not been reported in Korea thus far. Therefore, we report a case of ANCA-negative GPA in a 70-year-old woman, who was initially presented with a localized palpable mass in the left breast.