비모형화 동특성을 고려한 로보트 매니플레이터의 실시간 적응제어

한성현,김휘동,이진,이현철,이희섭 경남대학교 신소재연구소 1994 論文集 Vol.4 No.-

기존의 로봇 매니퓰레이터의 제어방법들을 간단한 고전적 제어방법들의 응용은 가능하지만, 고속운전이나 빈번한 부하변동에 의해 역학적으로 나타나는 각 관절사이의 연성(coupling), 관성파라미터의 불확실성, 모델링오차 등으로 인하여 로봇 제어기의 성능과 응용범위등은 큰 제약을 받게 된다. 본 연구에서는 제어기의 예측불허의 외란 및 파라미터의 불확실성 등에 대한 적응성의 향상을 위하여 적응 모델추종제어기법을 적용하여 로봇 매니퓰레이터 동적모델에서의 매개변수의 불확실성 및 미지의 외란, 존재, 갑자스런 부하변동에서도 좋은 제어성능이 유지 될 수 있는 견실한 로봇 관정 제어방식에 대한 연구를 중점으로 다룬다. 적응제어알고리즘은 초안정도(hyperstability)이론과 적응 모델 추종 제어의 원리를 바탕으로 유도되었고, 적응 제어기의 기온구조를 비선형성의 보상을 위한 내부루프의 MRAC구조와 고정된 게안을 갖는 외부루프와 PID제어기의 조합으로 구성되는 혼성구조의 제어기를 제언한다. In this paper, robust adaptive control approach is presented to inplement of the real time control of the industrial robot manipulator. The purpose of proposed adaptive control scheme is to achieve good tracking performance of desired trajectory tracking of joint position and veloeity under the existence of the payload variation and uncertinity of inertia parameter. The feedback gains of the controller are updated and adaptied in each sampling time to achieve the desired control performance. The proposed adaptive control algorithm is developed within the framework of adaptive model following control scheme using the Lyapunov direct method. To illustrate the performance of the proposed adaptive controller, simulation test is performed in the presence of the parameter uncertainties and payload variations.

건축공사시방서에서의 KS규격의 국제인증방안에 관한 연구

김경식,이재섭,김용수,이규진,조용훈,최완철,전재열,이현수,구재동,이기환 대한건축학회 2004 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.24 No.1

The purpose of this research is make out construction specifications for International Construction. Using off-shore products incur cost increase and longer delivery term of construction. and inconvenient on International Construction. Expand the range of additional local products conforming to performance. Life Cycle Cost. maintainability. operability. user's acceptability, etc.. And this study is suggest the standard formats and the techniques for construction specification.

서울의 Penicillinase Producing Neisseria gonorrhoeae 발생빈도(1998)

김재홍,김준호,반재용,이정우,황성주,정준규,정성태,강진문,조흔정,홍창의,정혜신,이한승,김이선,이봉길,이종호,선영우,한기덕,윤성필,이성훈,안종성,박석범,문승현,조항래,김형섭,류지호,황재영,박준홍,손상욱 한양대학교 의과대학 2001 한양의대 학술지 Vol.21 No.1

In recent years, gonorrhea has been pandemic and remains one of the most common STDs in the world, especially in developing countries. For the detection of a more effective therapeutic regimen and assessing the prevalence of Penicillinase Producing Neisseria gonorrhoeae(PPNG), we have been trying to study the patients who have visited the Venereal Disease Clinic of Choong-Ku Public Health Center in Seoul since 1980 by menas of the chromogenic cephalosporin method. In 1998, 93 strians of N. genorrhoeae were isolated, among which 60(64.5%) were PPNG. The prevalence of PPNG in Seoul, which had been decreased to 39% in 1996 after a peak of 74.3% in 1993, is increased to 64.5% in 1998.

마커 자동 인식 향상 방법에 관한 연구

이현섭 한국운동역학회 2003 한국운동역학회지 Vol.13 No.1

Lee, H-S. The study for improve a method of Marker auto-identification. Korean Joumal of Sport Biomechanics, Vol. 13, no. 1, pp. ???_???. The purpose of this study is to develop an improved marker auto-identification algorithm for reduce of data processing time through improve the efficiency of noise elimination and marker separation. The maker auto-identification algorithm was programming named KUMAS used Delphi language. For the study, various experiments were conducted for the verification of KUMAS. and compared two systems of established with the KUMAS. Four different motions - cycling, gait, rotation, and pendulum - , were selected and tested. Motions were filmed 30Hz rate per second. x^2-test used for statistical analysis. Significant level were α= .05. The test results were as follow. 1. Increased the success ratio of marker auto-identification. 2. The efficiency of marker auto-identification was remarkably improved through marker separation, noise elimination. 3. The marker auto- identification ability was improved in 2D-image plane include the 3D motion. 4. Significant different were found between KUMAS and B-SYS(established system) with non-input the artificial noise frames, input the artificial noise frames and total frames.

行列多項式 Liapunov 函數 構成에 依한 誘導電動機의 安定度 解析

李鉉雨,黃有燮,李浚析,文在星 慶南大學校 附設 工業技術硏究所 1988 硏究論文集 Vol.6 No.-

非線形 시스템을 나타내는 狀態空間의 動特性 모델로부터, 定常狀態 값들이 알려지면, 行列多項式에 依해, Scalar Type의 Liapunov 函數를 構成하고 이를 誘導電動機의 安定解析에 適用시킨다. 線形 시스템에 對한 Liapunov 函數의 構成法은 잘 알려져 있으나, 非線形 시스템의 Liapunov 函數 構成法은 아직 體系化되어 있지 못하다. 따라서, 本 論文에서는, 從來의 定常狀態 附近에서의 Taylor 展開에 依한 線形化 技法에 依存하지 않고, 非線形性을 나타내는 項을 分離하여, 行列變換시킴으로서, 線形시스템의 Liapunov 函數 構成法을 살리고, 非線形性이 强한 誘導電動機의 狀態空間모델에 適用시켰다. 그 結果, 求해진 安定領域은, 線形化에 依한 것보다는 훨씬 넓은 5次元의 超空間으로 表現되는 誘導電動機의 漸近安定領域이 되었다. In this paper, when the steady state values for multidimensional and nonlinear Dynamic Models of State Space Representations are given, Liapunov functions of scalar types using matrix quadratic polynomials are constructed by Special Matrix Transformation Techniques and are applied to Stability Analysis of Induction Motors. Futhermore, Liapunov function construction precedures for linear systems can be specified in detail. But, unfortunately, for nonlinear systems, there are no the complete construction techniques. In this paper, differently from conventional methods using Linearization obtained from Taylor series expansions about steady state operating points. Linear terms and nonlinear ones are individually seperated, and by special matrix transformation techniques, similiar construction procedurs such as in the cases of linear systems, are introduced, and are applied to Stability Analysis of Induction Motor. The hyperspaces of multidimensional stability region, obtained from these techniques, were larger than the obtained ones from conventional linearlization techniques about equilibrium points and were assured to be Asymptotic Stability Region ensuring the stable operation of Induction Motor.

ELISA 방법에 의한 홍색비유황광합성세균의 Lipopolysaccharides 사이의 혈청학적 유연관계

이상섭,이현순 성균관대학교 기초과학연구소 1989 論文集 Vol.40 No.2

홍색비유황광합성균의 lipopolysaccharide에 대한 혈청학적유연관계가 enzyme-linked immunosorbent assay 방법에 의해 조사되어졌다. Rhodobacter capsulatus는 Rhodopseudomonas palustris, Rhodobacter sphaeroides와 혈청학적 유연관계가 있는 것으로 나타났고, Rhodopseudomonas palustris는 Rhodopseudomonas viridis와 유연관계가 있는 것으로 나타났다. Rhodospirillum rubrum과 Rhodocyclus tenuis는 어느 종과도 혈청학적 유연관계가 없는 것으로 나타났다. The serological relationships among lipopolysaccharides from purple nonsulfur photosynthetic bacteria, 4 genera, 11 species, was investigated by enzyme-linked immunosorbent assay. Rhodobacter capsulatus showed serological relationship with Rhodopseudomonas palustris and Rhodobacter sphaeroides. Rhodopseudomonas palustris showed serological relationship with Rhodopseudomonas viridis but Rhodospirillum rubrum and Rhodocyclus tenuis didn't show serological relationship with other species.

전 바나듐계 레독스-흐름전지 및 응용에 관한 연구

이한섭,강현춘,강안수 용인대학교 자연과학연구소 1997 自然科學硏究所論文誌 Vol.2 No.1

Redox-flow battery has been studied actively as one of the most promising electrochemical energy storage systems for a wide range of applications such as electric vehicles, photovoltaic arrays, and excess power generated by electric power plants. By employing the same active material in both half-cell electrolytes, problems of cross-contamination inherent in other types of redox flow batteries, such as the Fe/Cr system, are eliminated in the all vanadium systems. To date, Selemion CMV and Nafion 117 as the cation exchange membrane have been the most widely used material in the research and development of all vanadium redox-flow battery. Despite of excellent results, the long-term stability of the Selemion CMV membrane in the all vanadium redox-flow battery is limited by the oxidizing nature of vanadium and Nafion 117 is too expensive. The cell resistivity of discharging periods was higher than charging periods in the microflow cell, and higher the state of charge, higher the cell resistivity with the same kind of membranes. The lowest cell resistivities of the Selemion CMV and PE-50 at state of charge 0% were 8.34Ω·㎠ and 13.15Ω·㎠, respectively.

모형식품의 해동방법에 따른 물성변화

이재학,박영덕,강현아,장규섭 충남대학교 농업과학연구소 1994 농업과학연구 Vol.21 No.2

Optimal thawing conditions of frozen model foods containing protein and starch were investigated at various thawing conditions such as room temperature, hot air, and microwave heating. Hardness of the frozen model foods was getting higher as the water content increased. Thawing rates at room temperature, hot-air heating at 50℃, and microwave heating were 0.02Kg/min, 0.08Kg/min. 0.01 Kg/min. respectively. Final thawing time was as follows; control 60min, 5% sucrose: 50min, 10% sucrose: 30 min, 5% NaCl: 30 min. Total drip loss was as follows; room temperature thawing: 22.5%, 200W microwave thawing 1.3%, and 50℃ hot air thawing nearly negligible.

DLT를 이용한 3차원 공간검증시 RMSE에 대한 통계학적 분석

이현섭,김기형 한국운동역학회 2003 한국운동역학회지 Vol.13 No.1

Lee, H-S, and Kim, K-H. Statistical analysis for RMSE of 3D space calibration using the DLT. Korean Journal of Sport Biomechanics, Vol. 13, N. 1, pp.1-12 The purpose of this study was to design the method of 3D space calibration to reduce RMSE by statistical analysis when using the DLT algorithm and control frame. Control frame for 3D calibration was consist of 1×3×2m and 162 contorl points adhere to it. For calculate of 3D coordination used two methods about 2D coordination analysis used one-wat ANOVA and T-test. Significant level was α= .05. The compose of methods for reduce RMSE were as follow. 1. Use the control frame composed of 24-44 control points arranged equally. 2. When photographing, locate control frame to center of image plane(image frame) or use the lens of a few distortion. 3. When calculate of 3D coordination, use mean of 2D coordinate obtainable from all image frames.

Hollow-Fiber LPME를 이용한 잔류농약 검출

조현우,이상섭,신윤지,장미애 경기대학교 기초과학연구소 2008 기초과학논문집 Vol.21 No.-

A method for the determination of trace amount of pesticides in aqueous samples using hollow fiber-liquid phase microextraction(HF-LPME) and capillary gas chromatograph/micro electron capture detector(GC/μ ECD) has been established. HF-LPME method has been optimized with respect to several experimental parameters including the effects of extraction solvent, extraction time and extraction temperature for the determination of pesticides from aqueous samples. The calibration curves for pesticides showed good linearity (above r²=0.98). The established method is feasible for the determination of trace amounts of pesticides in several aqueous sample. The limit of detection(LOD) and the limit of quantitation(LOQ) have been found to be 0.05~1.0 and 0.5~2.5 ng/mL, respectively. The established HF-LPME method for the analysis of pesticides from aqueous sample can be used for the determination of biological, food and environmental samples.