산업용 로봇의 실시간 운용을 위한 역기구학 해석

이용중,이상태,박형준 한국공작기계학회 1998 한국생산제조학회지 Vol.7 No.1

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T_6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is knows, the other joint angles are calculated by the algebraic methods, θ_1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

알루미늄 연속주조 용탕의 탈 가스 일체화 장치 개발

이용중,김태원,김기대,류재엽,이형우 한국공작기계학회 2004 한국공작기계학회 추계학술대회논문집 Vol.2004 No.-

It is necessary for managing a perfect process for degasing aluminum molten metal according to the increase of a grade of aluminum and its alloy products. There are some methods that have been used to manage a degasing process in recent years, such as an injection method that uses aluminum molten metal powder and chemicals supplier and input method that supplies argon and nitrogen, or chlorine gas by using a gas blow-tube. However, these methods show some problems, and it shows that it is a difficult process to handle, pollution due to the producing a lot of toxic gases like chlorine and fluoride gas, irregular effects, and lowering work efficiency due to the excessive processing time. The problems that are the most fatal are the producing a lot of sludge due to the reaction of aluminum molten metal with chemicals, loss of metals, and decreasing the life of refractory materials. In order to solve these problems, this paper develops a technology that is related to aluminum continuous casting molten metal and monolithic degasing apparatus. A degasing apparatus developed in this study improved the existing methods and prevented environmental pollution with smokeless, odorless, and harmlessness by using a new method that applies argon and nitrogen gas in which the methods used in the West and Japan are eliminated. The developed method can significantly reduce product faults that are caused by the production of gas and oxidation because it uses a preprocessed molten metal with chemicals. In addition, the amount of the produced sludge can also be reduced by 60~80% maximum compared with the existing methods. Then, it makes it possible to minimize the loss of metals. Moreover, the molten metal processing and settling time is also shortened by comparing it with the existing methods that are applied by using chemicals. In addition, it does much to improve the workers' health, safety and environment because there is no pollution. The improvement of productivity and prevention effects of disaster from the results of the development can be summarized as follows. It will contribute to the process rationalization because it does not have any unnecessary processes that the molten metal will be moved to an agitator by using a ladle and returned to process for degasing like the existing process due to the monolithic configuration. There are no floating impurities due to the oxidation caused by the contact with the air as same as the existing process. In addition, it can protect the blending of precipitation impurities. Because it has a monolithic configuration, it can avoid the use of additional energy to compensate the temperature decreasing about 60? that is caused by the moving of molten metal. It is not necessary to invest an extra facilities in order to discharge the gas generated from a degasing process by using an agitator. The working environment can be improved by the hospitable air in the factory because the molten metal is almost not exposed in the interior of the area.

마이크로-컴퓨터를 利用한 Programmable 制御器 開發에 對한 硏究

김성중,황형수,이창구 全北大學校 1984 論文集 Vol.26 No.-

In this paper, we present the new designing method of programmable controller that concentrated on analong signal processing in hardware implementation. Software programmings are partioned into monitor program and control program. Monitor program is composed of systeminitialization, I/O control and key service routine. Control program procedure is concentrated on obtaining the tuning coefficient associated with PI algorithm and ON-OFF algorithm.

원격탐사를 위한 병렬계산 기법

김형중,장태정,김희원,김형수,이정문,장순자 강원대학교 석재복합신소재제품연구센터 1996 석재연 논문집 Vol.1 No.-

원격탐사에 사용되는 편미분방정식을 고속으로 풀기 위한 기법을 프로그래밍하고 성능을 향상시킬 수 있는 방법을 제시했다. 미지수가 30만개 이상되는 복소수(non-Hermitian) 행렬의 해를 구하는 프로그램을 작성했다. 이 프로그램은 C와 PVM에 기반을 두고 있다. 수렴속도를 향상시키기 위해 대각 스케일링을 이용했다. 통신속도의 개선을 위해 데이터 압축 기법을 이용했다. 수렴속도를 측정 제시함으로써 실제 문제 적용에 참고할 수 있다. Network-based computing with cluster of personal computers or workstations recently has become an important and successful technique. Network-based computing enables fast computation and resolves short of storage with computers on the desks. Cluster of inexpensive computers offers them aggregated computing power and storage to challenge very large-scale problems. Iterative solvers are used for the large sparse linear systems. Preconditioners accelerate the rate of convergence of the iterative solvers. However, parallelization accelerate the rate of convergence of the iterative solvers. However, parallelization of preconditioners is far from satisfaction so far. Thus, the simplest diagonal scaling is a good alternative for improved convergence and easy parallelization. In order to reduce communication overhead, a data compression technique is considered. Data communication time can be reduced at the cost of convergence rate. MATLAB simulation result is given in this paper. This method is effective to cluster of computers connected through slow networks.

LPG 및 경유의 Fumigation에 의한 압축착화기관의 성능에 관한 연구

방중철,이형곤 金烏工科大學校 1999 論文集 Vol.20 No.-

The effects of combustion and performance by the fumigation of LPG and diesel fuel under various loads at constant speed have been studied using 4 cylinder, the indirect injection of swirl chamber, 4 cycle diesel engine. The fumigation can be kept the advantages of diesel engine and be improved the disadvantage of uneven mixture and long ignition delay in diesel engine. Since the auxiliary fuel introduced by fugmigation is very small quantity of total fuel, the injection timing of main fuel must be determined in order to occur efficient combustion. It was seen in this experimental study that the degree of performance improvement was depended on the types of combustion chamber and the condition of engine operation. It was found that thermal efficiency was improved at high load but made worse at low load. The thermal efficiency in high load is about 5% greater than that of the aspirated engine for the introducing of diesel as a auxiliary fuel and is about 7% greater than that of the aspirated engine for the introducing of LPG as a auxiliary fuel.

창의·인성 교육 실천을 위한 체육과 여가교육 모형 개발

원형중,김미혜,김의진,홍서연 이화여자대학교 동작과학연구소 2012 이화체육논집 Vol.14 No.-

지식 기반 사회는 새로운 지식과 가치를 창출하고 더불어 살 줄 아는 능력을 가진, ‘창의·인성적’ 인재를 원한다. 이에 2009 개정 교육과정은 창의․인성적 인재가 갖추어야 할 10가지 핵심역량을 제시하였고, 그 중 체육과 교육과정은 ‘문제해결능력’과 ‘자기관리능력’을 달성시키기에 적합한 교과로 분석되었다. 그러나 이것은 어디까지나 분석에 의한 결과일 뿐, 학교체육현장에서의 창의·인성 교육은 요원한 과제로 지적되고 있다. 따라서 본 연구에서는 체육과에서 지향하는 핵심가치들을 단순히 이해하는 것에서 나아가, 이러한 가치를 종합하고 창의적으로 조합할 수 있는 활용중심 교육으로 전환하기위하여 ‘창의·인성적 체육과 여가교육모형’을 개발하고자 하였다. 이를 위해 2009 개정교육과정(총론) 및 체육과 교육과정의 틀을 기준으로 여가교육 관련 문헌자료를 고찰했고, 전문가 협의과정을 거쳤다. 그 결과, 여가수용능력과 여가활용능력을 중심으로 학군별, 범교과 영역별로 여가교육 프로그램 세부내용을 개발하였다. 이는 학교체육현장에서 적용 가능한 구체적인 수업모형으로써 공교육의 창의·인성적 체육교육실현에 기여할 것이다. People want a ‘creativity and character' talented person who can create new knowledge and value, with the ability to know how to live with. 10 core competencies was proposed in 2009 revised school curriculum, physical education(P.E.) curriculum was classified suitable for 'problem solving skills' and 'self-management skills’. However, it is only for analysis, 'creativity and character' education has been pointed out to the distant challenge in school field. Therefore, the purpose of this study is to develop a leisure education model in P.E. for the creativity and character education not only for the simply understand the core value in P.E., but also, change over to the practical-use-centered education which can be combined these values creatively. For this purpose, literature(related to leisure education) review was conducted around 2009 revised curriculum and framework of the P.E. curriculum, also a process of experts consultation was done. As a result, leisure education in P.E. level was divided into 3 steps, ‘leisure acceptance ability’, ‘leisure application ability’, ‘continuous leisure education’. Also leisure education program was developed classified by school district, focusing on ‘leisure acceptance ability’, ‘leisure application ability’

전문가 시스템을 이용한 제어기 설계

황형수,김성중,이창구 圓光大學校 1990 論文集 Vol.24 No.2

PID제어기의 동조방법에 대한 이론적인 발전에도 불구하고 PID 제어기가 좀더 좋은 성능과 견실성을 유지하기 위해서는 수동 동작과 자동 동작의 매끄러운 연결, 계수 변화에 따른 과도현상, 비선형 Actuator의 영향, 적분항의 Wind-up, 그리고 극한값의 선정등에 대한 현장 엔지니어의 경험 지식이 제어 알고리즘에 반영되어야 한다. 제어시스템에 현장 운전자의 경험 지식을 효율적으로 반영하기 위한 방법으로 인공지능(Artificial Intelligence)의 전문가 시스템을 이용하였다. 본 논문에서는 논리부분과 수치 알고리즘 부분이 분리된 지식기반 제어기를 구성하였다. 이 방법은 IBM-PC상에서 설치되도록 하였으며 IBM-PC와 통신기능을 갖는 Programmable Controller에 연결하여 PID 제어계수를 자동 동조하도록 하였다. 이 방법은 공정조건이 변하거나 동특성을 갖는 공정제어에서 우수한 특성을 보인다. The idea of expert control is to incorporate a rule based expert system in a feedback control system. In this paper, the expert system concepts are instead used as an element of the feedback loop in a single controller. The algorithms are coded in as pure from as possible and the heuristic logic is implemented as rules. This paper reports on effort to produce an implementation of an expert controller on microcomputer based system, including an industrial programmable controlled.

Nd₂O₃가 첨가된 반도성 BaTiO₃자기의 PTCR효과

이형복,이경희,정윤중,박철용 明知大學校 産業技術硏究所 1989 産業技術硏究所論文集 Vol.8 No.-

The room temperature resistivity was minimum value at Nd₂O₃ 0.15 mol% in Nd₂O₃doped BaTiO₃ ceramics. Grain sizes were decreased abruptly with Nd₂O₃ doping amount and the size demonstrated minium of 0.7∼1㎛ at Nd₂O₃ 0.2mol% doped. But the room temperature resistivity and grains size were increased again with increase amount of Nd₂O₃ doping amount. With impurity Al₂O₃ or without Al₂O₃, the above behaviors were similar according to the amount of Nd₂O₃ but the room temperature resistivity was a little decreased when added with Al₂O₃. When ?? was added as a counter dopant, the room temperature resistivity was minimum at 0.09 mol% addition and that time the resistivity anomaly effect was about 4 order.

蛋白質 水準 및 供給源이 泌乳初期搾乳牛의 産乳量에 미치는 影響

辛炯泰,韓泳根,金秉泰,裵熙東,孫重天 成均館大學校 科學技術硏究所 1984 論文集 Vol.35 No.2

Eighteen Holstein cows capable of producing at least 23㎏ of milk per day were assigned randomly in equal numbers and fed one of three isocaloric total rations of 15.8 (soybean meal), 15.8 (urea), or 14.1% (urea) crude protein in dry basis. All cows were fed their assigned ration continuously for 63 days beginning on the 20 day postpartum. This experiment was designed to determine the influence of concentration and source of dietary protein on milk production(kg) and milk fat(%) during early lactation. The results which were obtained in this experiment as follows: 1. Milk yields (4.0% fat corrected milk, FCM) of cows for 42 day trial in early lactation were 23.80, 20.32, 18.44kg for the respective treatment. In this experiment the higher protein concentration (15.8% vs 14.1%) increased milk production, and source of protein influenced milk production. 2. Milk fat of 3.63, 3.52, and 3.39% showed that dietary protein concentration and source influenced milk fat in early lactating cows. 3. Income above feed cost for 42 day trial was greatest for the group fed the 15.8% crude protein from soybean meal (5,406 won/cow/day) and lowest for the group fed the 14.1% crude protein from urea (3,919.5 won/cow/day). income above feed cost for 15.8% crude protein from urea was 4,154.4 won /cow/day.

Sausage의 品質保存에 미치는 r-線 照射의 影響

權重浩,尹衡植 COLLEGE OF AGRICULTURE KYUNGPOOK NATIONAL UNIVERSI 1984 慶北大農學誌 Vol.2 No.-

Effect of gamma irradiation on the shelf-life of commercial Sausage and its quality were investigated during 8 weeks storage at 30℃ following 3 to 8 kGy irradiation. Total baectrial count of unirradiated group was proliferated from 7.9X10^(3) per gram of sample to 10^(6) after 4 weeks storage, but that of irradiated group was propagated to same level after 5 to 6 weeks storage and the growth of coliform group was shown to be negative. The freshness of stored sausage was better in irradiated group than unirradiated one and the changes in components concerned with the quality of sausage was almost same between unirradiated and irradiated groups. Textural parameters of sausage after 4 weeks storage were not remarkably changed according to irradiation dose, and discoloration of irradiated sample at high dose was recognized by the mechanical measurement.