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김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.7
We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.
김한솔(Han-Sol Kim),황현석(Hyun-Seok Whang),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.5
In this paper, we designed a camera focus adjustment system for a workpiece inspection system. It is possible to adjust the center line of the camera vertically to the top of the horizontal illuminator and the top of the vertical illuminator, respectively, and to take the same size of object in the picture. The workpiece inspection system consisted of a body, a vertical camera focus adjustment mechanism, a horizontal camera focus adjustment mechanism, a horizontal illumination device, a vertical illumination device, and a control device. To adjust the size of the workpiece, an image of a checker board attached to the horizontal illumination device of the inspection apparatus and the vertical illumination device is acquired, calibration is performed to remove image distortion of the workpiece is measured by image processing. As a result of the characteristic test, each linear motion mechanism can be adjusted until workpiece reaches a predetermined size. Since the workpiece inspection apparatus can acquire images with a predetermined size, it is considered that the accuracy of measuring the size of the workpiece can be improved by image processing.
Development of a 3-Axis Force Sensor for an Intelligent Gripper that Safely Grips Unknown Objects
김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.2
In this study, we designed and manufactured a 3-axis force sensor for an intelligent gripper that safely grips an unknown object. The 3-axis force sensor consists of an Fx force sensor, an Fy force sensor, and an Fz force sensor in one body, and is manufactured by attaching a strain gauge. The characteristics evaluation showed that the rated output error was within 0.2, the nonlinearity error was within 0.05, and the reproducibility error was within 0.06%. Therefore, the 3-axis force sensor designed and manufactured in this study can be used to measure weight and control the force used to grip an unknown object by attaching it to the intelligent gripper.
영양플러스 사업 효과에 대한 사례 연구 : 나주지역 6세 미만 영 · 유아 및 보호자를 대상으로
김유숙(Kim,Yoo Sook),김수련(Kim,Soo Ryun),장영희(Jang,Young-Hee),김동순(Kim,Dong Soon),권기한(Kwon,Ki Han) 한국지역사회학회 2011 지역사회연구 Vol.19 No.3
This study was to investigate effects of the Nutrition-Plus program carried out from 2009 through June 2010 in Naju region. A candidate for the recipient of the program was a low income dweller possessing any of nutritional risk factors such as anemia, low weight, growth defects, malnutrition, etc. The subjects were composed of 34 infants and 139 children under age 6 and their mothers. We performed, before and after the program, body measurements, blood tests, dietary assessments, and surveys on nutrition knowledge and dietary behaviors. The results were as follows. The number of infants and children possessing risk factors in body measurements were significantly decreased to 17.9% from 57.1%. The prevalence rate of anemia was reduced significantly to 35% from 74% in the infants and to 8% from 50% in the children. The level of nutrition knowledge on 10-point scale is increased from 8.21±1.61 to 9.09±1.22 in infant mothers and from 6.71±1.69 to 8.20±1.34 in child mothers. The dietary behavior was also improved, on 60-point scale, from 53.41±5.49 to 55.44±4.31 in infant mothers and from 49.97±5.08 to 53.01±4.90 in child mothers. The study shows that providing low-income groups with high quality food and education about nutrition will result in positive effects on the growth of infants and children.
김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.4
This paper describes the modeling and simulation of a four-axis dedicated robot that can attach and detach a workpiece on a computer numerical control (CNC) lathe. The robot was modeled as a Scarab robot for compatibility with CNC lathes. The advantages of such a robot are that an actuator with a small capacity can be used for the robot and the degrees of freedom of the robot can be reduced to four. For the simulation of the four-axis dedicated robot, a regular kinematic equation and an inverse kinematic equation were derived. Simulations were performed with these equations from the position of the loading device to the chuck position of the lathe before machining and from the chuck of the lathe to the position of the loading device after machining. The simulation results showed that the four-axis dedicated robot could be operated accurately, and they provided the joint angle of each motor (θ₁, θ₂, and θ₃).
Biosurfactant의 생산을 위한 Nocardia sp. L - 417균주의 배양조건 최적화
김순한(Soon-Han Kim),임이종(Ee-Jong Lim),이태호(Tae-Ho Lee) 한국식품영양과학회 1998 한국식품영양과학회지 Vol.27 No.2
Biosurfactant를 생산하는 미생물을 토양으로부터 분리하였다. 그 중에서 표면장력 및 계면장력 감소능에서 가장 우수한 L-417주를 순수분리하여 동정한 결과, Nocardia속으로 판명되었다. Biosurfactant 생산을 위한 최적 배지조성은 3% n-hexadecane, 0.1% NaNO₃, 0.02% K₂HPO₄, 0.01% KH₂PO₄, 0.01% MgSO₄ㆍ7H₂O, 0.01% CaCl₂, 0.02% yeast extract였으며, 최적 온도와 pH는 각각 30℃와 6.0이였다. 이러한 조건에서 500ml용 shaking flask에 최적 배지 50ml를 넣어 배양했을 경우 대수증식기 말기인 4일째에 균의 증식과 유화활성이 가장 높게 나타남에 따라 Nocardia sp. L-417에 의한 biosurfactant의 생산은 균의 생육과 밀접한 관련이 있는 것으로 판단된다. 이계면활성제는 산업적으로 널리 사용되는 bunker A, paraffin, corn oil 및 oilve oil 등에 대해서도 비교적 높은 유화활성을 나타내었다. The strain producing biosurfactant was isolated from soil samples. The isolated strain was identified as the genus Nocardia through its morphological, cultural and physiological characteristics. A high concentration of the biosurfactant by Nocardia sp. L-417 was obtained after 4 days of cultivation in the culture medium containing 3% n-hexadecane, 0.1% NaNO₃, 0.02% K₂HPO₄, 0.01% H₂PO₄, 0.01% MgSO₄ㆍ7H₂O, 0.01% CaCl₂, 0.02% yeast extract, and 0.02% tryptone. The optimum pH and temperature for biosurfactant production were pH 6.0 and 30℃, respectively. Furthermore, most biosurfactants were produced during the exponential growth phase, and this fact indicated that the biosurfactants production was growth-associated. The biosurfactant showed the good emulsification activities on various emulsifying substrates such as bunker A, paraffin, corn oil and olive oil which are used widely in industries.