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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.
김선호 대한정치학회 2019 大韓政治學會報 Vol.27 No.1
This study is to suggest public library inclusive policy for sexual minor based on human rights, especially equality. To accomplish this purpose, this study abstracted key concepts from UN UDHR, ALA and IFLA statements up to scholarly related articles with the inductive approach for qualitative data analysis. The result prepared 4 suggestions on public library’s inclusive policy as followed: 1) Documentation on sexual minor’s human rights in librarian code of ethics, 2) Enlargement of library collections focused on sexual minors’ information needs, 3) Protection of sexual minor’s privacy using library facilities and spaces, 4) Enforcement of librarian education and training on sexual minor’s subject matters. 본 연구의 목적은 신자유주의 시대에 공공도서관의 포용성을 인권의 평등권에 초점을 맞추어 조사한 다음에, 이것을 근거로 사회소수자인 성 소수자를 위한 공공도서관의 포용정책을 마련하는 것이다. 이 목적을 달성하기 위하여, 이 글에서는 세계인권선언서(UDHR), 미국도서관협회(ALA)와 국제도서관협회연맹(IFLA)의 인권관련 선언서, 그리고 진보도서관인들의 학술기사를 대상으로 귀납적으로 분석한 다음, 그 결과로 공공도서관의 성 소수자 포용정책에 필요한 제언은 다음과 같다: 1) 도서관인 윤리강령에서 성 소수자 인권의 명문화, 2) 성 소수자 관련 장서의 확대, 3) 공공도서관 시설 및 공간 사용의 프라이버시 보장, 4) 도서관인의 성 소수자 관련교육의 강화
김선호 건국대학교 1986 論文集 Vol.22 No.1
The purpose of this study is to attempt to investigate the meaning of morpheme 't??' in Korean tense. Therefore, thiscontent as the meaning of morpheme 't??' use to speak in inflection of the ending of a word to the predicate of a sentence, and in middle of appearing the ending of word as to a time motion. This allomorph of morpheme 't??' do not deal with in this article but deal with in the basic morpheme. The method of this study is not a transformation grammar approach but a traditional grammar approach in malcing the analysis of morpheme, and major content of this study as the grammartical category of 't??', the serveral constraint of 't??', and this investigate as antecedence litterature and author's view about morpheme tense 't??'. The above content of this study can be classified into five chapter concepts, these contents was as follows. Chapter I. Introduction Chapter II. The grammartical catagory of 't??' Chapter III. The several constraints of 't??' A. The subject constraint B. The deixis constraint Chapter IV. The meaning of 't??' A. The contents of antecedense litterature. 3. The meaning of 't??' Chapter V. Conclusions.