로보트매니퓰레이터의 적응제어에 관한 연구

김규로,선양래 慶熙大學校 大學院 1995 高凰論集 Vol.16 No.-

This paper presents an adaptive self-tuning control algorithm of robot manipulator. To construct an adaptive controller under the assumption of independant joint dynamics, a linear discrete time-series model of autoregressive type with external exitations is chosen to represent the input-output measurements of each joint. This algorithm has been applied to three joint planar robot manipulator and trajectory tracking simulation has been conducted. The simulation results showed the effectiveness of designed self-tuning LQG controller can successfully be applied to control of robot manipulator.

3-Joint Planar Type 로봇 매니퓰레이터의 자기동조적응제어에 관한 연구

김규로,양희주,유용석,최명진,오택열 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.17 No.-

This study has parallelogram trajectory tracking of Three Joint Planar type Robot Manipulator. The equation of motion for the three joint planar manipulator are obtained by substituting Lagrange's energy expression into Euler-Lagrange's equation and forming the appropriate derivative. Lagrangian method allows us to obtain the dynamics equations for very complicated systems in the simplest manner possible. SISO model is used for design of the controller. The design of controllers may be considered primary controller for manipulators to track the desired trajectory under ideal conditions and secondary controller to compensates for undesirable deviations of the motion from the trajectory caused by external and internal disturbances. The aim of this paper is to evaluate the efficiency by self-tunning adaptive control and considering a characteristic of control. Through the computer simulation, obtained the following results 1) selt-tunning adaptive control is superior to PD control, 2) During the learning period, the adaptive control algorithm is searching proper estimates and controller gains. After this period, the outputs of the joints start tracking closely the desired valued.

해저사연형을 고려한 해안성의 저질부유특성

김규한 한국해안해양공학회 1993 한국해안해양공학회 논문집 Vol.5 No.3

여러 종류의 다양한 외력조건에 의해서 형성되는 부유사농도에 대한 종합적 해석을 수행하고, 부유사양 Flux의 산정에 있어서 매우 중요한 역할을 차지하는 확산계수와 기준점농도에 관한 실용적 평가식을 제안하였다. 부유사농도의 연직확산계수는 사연형상을 고려한 저부마찰속도 및 조도요소를 사용하여 계산되는 과동점성계수에 대해 명확한 비예관계가 성립됨이 확인되었다. 또한, 흐름이 파에 부가되었을 경우 발생하는 기준점농도의 저하현상은 파와 흐름의 공존영역에서 형성되는 사연의 비대칭성에 기인됨이 확인되었다. The suspended sediment mechanism was systematically investigated by analyzing existing data together with new data obtained under several wave folds. A simple empirical formula has been developed to predict the time-averaged suspended sediment concentration above movable bed by the effect of wave and current interaction. The present study shows linear dependency of the diffusion coefficient of suspended sediment on the eddy viscosity coefficient obtained by considering the ripple geometry. Furthermore, it is proved that reference sediment concentration is reduced by the effect of ripple asymmetry.

해빈변형모형을 이용한 항내매몰예측

김규한,백승화,편종근 한국해안해양공학회 1997 한국해안해양공학회 논문집 Vol.9 No.4

우리나라 동해안 대부분의 중소어항에서는 항내 및 항입구부의 매몰현상이 심각하여 항내수심을 유지하기 위해 거의 매년 준설을 실시하고 있으며, 항내매몰로 인해 수심이 낮아져 배가 전복되는 등 극심한 피해를 입고있어 적지 않은 사회문제로 까지 확대되고 있는 실정이다. 본 연구에서는 매몰현상이 비교적 심각한 동해안의 K항를 선정 하여 항내매몰에 관한, 현지관측 및 수치모형실험을 실시하였고, 실시 결과 현지상황과 잘 일치 되는 흐름상황 및 매몰현상이 발생하였음을 알 수 있었다. Most of small harbours are suffering serious harbour siltation problems in the eastern coast of Korea. Also, many of them necessitate maintenance dredging every year. In order to solve these problems, we have to predict the amount of previous harbour siltation. In the present study, numerical prediction of the harbour siltation has been accomplished using numerical model of 3D beach deformation around a structure. And, also the validity of the model has been confirmed by the field investigation.

돼지의 사양체계

김규일,한인규,유문일,이택원,이봉덕,Miller, E R,Speer, V C 한국영양사료학회 1984 韓國營養飼料學會誌 Vol.8 No.2

항로매몰 예측을 위한 수치모형의 적용성 검토

김규한,배기성,백승화 한국해안해양공학회 1996 한국해안해양공학회 논문집 Vol.8 No.1

파와 흐름이 공존할 경우의 항로매몰 예측을 위한 수치모델을 제안하였으며, 아울러 기존의 모델들에 대해서도 종합적인 정리 및 검토를 덧붙여 비교하였다. 본 연구에서 제안되는 항로매몰 예측 모델은 고정도 수치 계산법은 이용하여 해석하고, 표사의 비평형성을 고려하기 위해 연직방향의 표사이동 flux의 차를 구하여, 지형변동을 계산하였다. 계산에 의해 얻어진 지형변동 결과는 비교적 파랑보다는 흐름이 탁월할 경우 실험에서 얻어진 결과와 잘 일치함을 확인할 수 있었다. A numerical model for predicting depositional processes of navigation channels caused by waves and currents is proposed. In the model, non-equilibrium concentrations of suspended sediment are numerically solved by using the split-operator approach. The calculated concentrations across a channel show good agreements with the measured concentrations in experiments. Based on the calculated concentrations, differences of upward and downward sediment fluxes are estimated to predict topographic changes. The Predicted topographic change across the channel coincides fairly well with the measured profile provided that the currents are relatively stronger than waves.

해저준설토의 처분기술

김규한 대한토목학회 2001 대한토목학회지 Vol.49 No.3

미토콘드리아 DNA D-loop Region 의 PCR - RFLP 를 이용한 한우 , 제주 재래한우와 타 품종과의 유전적 관계 분석

김규일,고서봉,이성수,오운용,양영훈,조병욱 한국축산학회 1998 한국축산학회지 Vol.40 No.4

This study was conducted to determine molecular genetic differences between Korean native cattle and Cheju native cattle and also investigated phylogenetic relatiqnships to other cattle breeds using PCR-RFLP analysis of mtDNA D-loop region. The cable breeds investigated were Korean native cattle, Cheju native black cattle, Cheju native yellow cattle, Aberdeen Angus, Charolais, Hereford and Holstein. Seventy DNA samples from 7 breeds (10 samples/breed) were examined at 29 sites restricted by 10 enzymes, of which 8 enzymes showed polymorphism when the D-loop region was digested. The 8 enzymes were Msp I, Rsa I, BstX I, Hsp92II, Mbo I, Hxm, Ava II and Hinc II, and on the other hand the two enzymes, Hha I and BamH I, showed no polymorphism. Restriction types and polymorphic sites were used to construct a phylogenetic tree, where Korean native cattle was more closely clustered with Cheju native yellow cattle than the other breeds.

상동 중석-몰리브덴 광상의 광화관련 상동화강암의 Nd-Sr 동위원소비 및 가스 성분

김규한,신유희,Kim, Kyu Han,Shin, Yu Hee 대한자원환경지질학회 1995 자원환경지질 Vol.28 No.2

Tungsten skarn mineralization of the Sangdong mine is localized in the interbedded limestone layers of the Myobong Slate Formation and in the limestone of the Pungchon Limestone Formation of Cambrian age. Fluid inclusion, gas composition and Nd-Sr isotope for granites and skarns have been investigated. Gas compositions show $CO_2$ rich in the Sangdong granite and CH, rich in the Nonggeori and Eopyeong granites. The initial $^{87}Sr/^{86}Sr$ and $^{143}Nd/^{144}Nd$ ratios of the Sangdong granites have 0.714~0.716(${\varepsilon}_{Sr}$=138~162) and 0.51173~0.51178(${\varepsilon}_{Nd}$=-14.4~15.5), respectively. And their two stage model ages range from 1687 to 1764 Ma. The granite characterized by high strontium initial ratios and negative eNd value could have originated from the old continental crust source. Low homogenization temperature of the Sangdong granite having $203{\sim}296^{\circ}C$ with 1.9~9.2 NaCl equiv. wt% indicates the post-magmatic hydrothermal alteration temperature. Skarn ore fluid responsible for tungsten mineralization has been evolved from CH, rich fluid of early pyroxene garnet skarn to $CO_2$ rich later quartz-mica skarn.

연천 함티타늄 자철광상의 성인

김규한,이현주,전효택,Kim, Kyu Han,Lee, Hyun Joo,Chon, Hyo Taek 대한자원환경지질학회 1994 자원환경지질 Vol.27 No.2

Titanomagnetite ore bodies in the Yonchon iron mine are closely associated with alkali gabbroic rocks of middle Proterozoic age which intruded Precambrian metasedimentary rocks. The orebodies can be divided into massive ores in gabbroic rock, skarn ores in calcareous xenoliths and banded ores in gneissic gabbro. Gabbroic rocks from the Yonchon iron mine have unusually high content of $TiO_2$ with an average values of 3.46 wt%. Iron ores are ilmenite (42.25~51.56 wt% in $TiO_2$) and titanomagnetite (1.29~6.57 wt% in $TiO_2$) and the former is dominant Small amount of magnetite, hematite, sphene and sulfide minerals are included in the ores. Grandite garnet, titanoaugite and tschermakite are in iron skarn ores. Hornblendes from ores and gabbroic rocks have a relatively homogeneous isotopic composition with ${\delta}D$ between -110.0 and -133.9‰, and ${\delta}^{18}O$ of +4.5 to +6.5‰, and calculated to have formed in fluids with ${\delta}O_{H_2O}$ of + 6.7 to +8.7‰. and ${\delta}_{H_2O}$ of -87.9 to -111.8‰, which has a similar isotopic value of primary magmatic water. Based on intrusive age, occurrence, mineral chemistry and isotopic compositions of magnetite ores and gabroic rocks, it will be concluded that the gabbroic rocks are responsible for the titanomagnetite mineralization. The titaniferous magnetite melt was immiscibly separated from the high titaniferous gabbroic melts of Proterozoic age.