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임승철,김광한,Lim, Seung-Chul,Kim, Kwang-Han 한국시뮬레이션학회 2011 한국시뮬레이션학회 논문지 Vol.20 No.1
본 논문은 다양한 지면에 적응 가능한 견형 4족 로봇의 위치 이동에 관한 것으로 정 보행과 동 보행의 구현 방법 및 특성을 주로 다루었다. 이를 위하여, 총 12 자유도의 로봇을 자체 제작하였으며, 몸통과 발의 운동궤적을 생체 모방 방식으로 생성한 후 역기구학에 의하여 그에 해당하는 각 다리의 관절각을 해석적으로 구하였다. 이러한 관절각 데이터를 상기 로봇의 ADAMS 모델에 적용하여 컴퓨터 시뮬레이션을 수행한 결과, 계획된 걷기 및 속보 걸음새가 동력학적으로 안정함을 확인하였다. 그러나 그 이전의 속보 패턴의 경우에는 시뮬레이션 결과와는 달리 실험 중 불안정한 거동을 보였다. 그에 따라 원인 분석을 하는 과정 중, 속보와 같은 동 보행의 경우 ZMP보다는 WSM의 개념을 적극적으로 활용하고 보행 주기를 최대한 단축시키는 것이 안정성 확보에 매우 중요함을 발견하였다. This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.
김광한,소원욱,박인준,문상진,이수복 한국공업화학회 2003 응용화학 Vol.7 No.2
고부가치의 불소계 투광성 고분자는 반사방지 필름, 반도체 보호필름, POF(plastic optical fiber) 및 섬유 가공제 등 광관련 소재산업에 폭넓게 사용되고 있어 최근 이에 대한 연구가 활발하게 이루어지고 있다. 본 연구에서는 발연황산(SO₃/H₂SO₄)을 이용한 DCIPFB(1,2-dichloro perfluoro butyl iodide)의 산화반응에 의해 대표적인 불소계 투광성 고분자인 Cytop 중간체의 하나인 FCAF(fluorinated chloro acyl fluoride) 합성시 반응온도 등의 대표적인 실험변수에 따른 FCAF의 합성특성을 고찰하였다. 그 결과 반응온도 및 반응시간의 증가와 더불어 DCIPFB의 전환율은 증가하였으나 FCAF의 선택율은 감소하였다. 이 때 생성물의 정성 및 정량분석을 위하여 GC/MS 및 GC를 사용하였다.
林隊哲,金光漢 明知大學校 産業技術硏究所 2009 産業技術硏究所論文集 Vol.28 No.-
This paper is concerned with a biped robot walking in dynamic gaits. To this end, a three-dimensional 12-DOF robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, the key parameters to successful gaits arc identified including inherent characteristics as weii. Aiso, joint actuator capacities are found required to carry out those gaits.
林勝哲,金光漢 明知大學校 産業技術硏究所 2009 産業技術硏究所論文集 Vol.28 No.-
This paper is concerned with development and application of a new sensor system to detect the so-called ZMP (Zero Moment Point) of multi-legged robots including bipeds. The proposed system consisting of four strain gauges per leg enables to locate the point of contact (or equivalent contact, more generally) each foot makes with terrain. Such information is in turn collected to yield the ZMP position via a digital algorithm. The reIεvant theoretical background is established. Besides, the issues on what and how to do are also addressed if FSRs (Force Sensing Resistors) are used for the same purpose, and tipping moment occurs. In conclusion, the proposed ZMP sensor system is regarded a cost-effective and promising means to assist robots to carry out desired gaits maintaining stability.
유순규,최혜경,김광한 서울보건대학 1999 서울보건대학 부설 병원경영연구소 논문집 Vol.4 No.2
To solve the problem of tertiary emergency medical center. overcrowding and long hospital stay. it is very important to analyze arrival pattern of the emergency patients who visited tertiary emergency medical center and to reviewed 312 cases of patients who visited the four places emergency medical center which emergency medicine department specialist always stays in. of Seoul and Suwon teritory, from March 1 to May 31. 1997. The results were as follow : 1. Considering sexual distribution, male patients were 60.3% and female patients were 39.7% and the most common age group was 2th decade. 2. The result of symptom severity classification of patients coming emergency medical center was urgent patients 12.8%, emergency patients 29.8%, non-emergency patients 57.4% 3. The peak time of patient's enterance in emergency medical center was between 8: 00PM and 12:00 PM(26.7%), and most patients visited between 4:00 PM and 12:00 PM (out patients coming time) 4. In a week. Monday was the most crowding day (25.0%) 5. The most patients who visited emergency medical center needed surgical care due to injury & poisoning(27.9%) and second disease of them had circulatory system (17.6%) 6. The admission rate was 42.9% and 46.4% of admitted patients were non-emergency patients. 7. The rate of the urgent patients making use of 119 ambulance was 62.5%. emergency patients rate was 47.3% 8. The treatment result of patients in emergency medical center trended improving of urgent patients(improvement rate was 72.5%)