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Design and Analysis of Decoupled Parallel Mechanism with Redundant Actuator
김선호,김선호,전동수,신현표,인우성,김종원 한국정밀공학회 2009 International Journal of Precision Engineering and Vol. No.
This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.
李植,金瑄鎬 麗水水産大學校産業技術硏究所 1998 産業基術硏究所 論文集 Vol.7 No.-
本 論文에서는 基本群 π₁(X , x0)의 部分群인 Jiang subgroup T(f, x0)과 Gottlieb subgroup G(X , x0)을 사용하여 X (∈S*)가 nilpotent 空間이 됨을 알아보고자한다. 특히, 다음을 證明하였다. X (∈S*)가 만일 모든 n≥1 에 대하여 π₁(X , x0) 가 simple하고 基本群의 모든 元素들이 αnf* = f*αn이고, f*가 전사이면 X는 nilpotent 空間이 된다. 또한 주어진 定理의 條件을 滿足하면 Nielsen數 N(f)와 Reidemeister數 R(f)가 같게 된다.
김선호 한국몽골학회 2006 몽골학 Vol.0 No.20
The purpose of this research is a Culture Sociological analysis of the “Hallyu”(the Wave of Korean Cultures) in the Mongolia.The “Hallyu” in the Mongolia has two kind of different faces. In the side of korean culture waves, for example movies, dramas, and songs, the mongolian actively accept korean popular culture not only modern one but also traditional culture. However the mongolian society hold in abhorrence the korean. How take place such a mutually incompatible phenomena?Therefore in this research put a cultural sociology to practical use to find out the both faces of the “Hallyu” in the Mongolia.From the year 1990, when the diplomatic relations between the Korea and the Mongolia established, the cultural exchanges is steadily increased. Especially korean movies and drama goes down a bomb in the Mongolia. And many mongolian migrate to korea to work. These cultural and human interchanges make two countries to associate closely. Even the New York Times reported the “Hallyu” in the Mongolia and described the Korea and Mongolia as a twins countries. This is caused by communions of noesis in the field of traditional and modern culture of the two countries.But the korean in the Mongolia have been engaged in a gay trade such as karaoke-bar. This has been made troubles in mongolia society, which small size is. Furthermore the mongolian, who working in the Korea, have been treated very badly. After returning home from the Korea they become a anti-korean peoples. These two kind of sides of the wave of korean cultures could be classified metaphysics and concrete science by the cultural sociology. Exchanges of the tradition, ideology, and all about things of the spirit is welcomed and built bridges of between nations. But under the condition of immatured interchange the people of both countries pursued a material gain. That makes such a mutually incompatible phenomena.
달맞이꽃(Oenothera odorata Jacq.)의 種子發芽에 미치는 溫度 및 鹽分의 영향
金善昊,金世榮 건국대학교 1987 論文集 Vol.25 No.1
Germination tests have been carried out on seeds of Oenothera odorata Jacq. Germination was ev-aluated in the dark at different temperature and various salt concentrations. 1.The optimal conditions for germination were a alternating 15˚-35℃ and no germination oc-curred at 5˚-l5℃ in distilled water. 2.Higher temperature had influenced upon germination more effectively than lower temperature at alternating temperature regimes. 3.Alternating temperature of 15˚-20℃, 20˚-25℃ promoted germination more than constant te-mperatures of 20˚, 25℃. 4.The optirnal conditions for germination were a constant 30˚ and no germination occurred at 15℃, 40℃. 5.No germination occured above 0.10% of NaCl solution. 6.Germination was reduced and delayed by increased salinity and high temperature of 35℃.