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MC6800 $\mu$-Computer System에 대한 2716 PROM Programmer의 설계에 관하여
류준,Lyou, Joon 대한전자공학회 1981 전자공학회지 Vol.18 No.6
2716 PROM programmer for the latest 16 bit $\mu$-computer Mc68000 system, which can program the contents of object code to 2716 PROM or EPROM of 2K byte capability in stand alone mode, is designed and implemented.
Decentralized Adaptive Controller Design for Manipulators
류준,황석용,Lyou, Joon,Hwang, Suk-Young The Institute of Electronics and Information Engin 1992 전자공학회논문지-B Vol.b29 No.11
This paper presents a decentralized adaptive controller design for a robot manipulator to track the given desired trajectory in the joint space. The controller is of distributed structure and does not require the complex manipulator dynamic model, thereby it is computationally very efficient. Each joint is independently controlled by a PID feedback part and a velocity-acceleration feedforward part. Simulation results for a two-link direct drive manipulator conform that the proposed decentralized scheme is feasible.
柳駿,鄭圭會,權臣漢,金昊元 한국응용곤충학회 1974 한국응용곤충학회지 Vol.13 No.2
방사성 동위원소를 이용한 해충의 생리 및 생태학적 연구를 위한 제반 기초자료를 얻기 위해서 집파리를 공시재료로 하며 유충기에 P-33를 희석농도별로 표식시킨 후에 충태별, 일영별, 부위별 및 세대의 표식방사능에 대한 동태를 시험하있으며 사용계측기별 희석농도를 결정 하여본 결과는 다음과 같다. 1. 처리유충은 일령의 경과에 따라 표식방사능이 증가되었으나 노숙유충기인 6영기 이후 부터는 감소되었다. 2. 성충으로 우화된 후의 용피에는 약 의 방사능이 잔류되었다. 3. 우화성충은 일령의 경과에 따라 표식방사능이 감소되었으며 성전체내에서 P-32의 생물학적 반감기는 0.14 일 이었다. 4. 성충체의 부위별 표식방사능 분포율은 복부에 가장 많은 방사능이 분포되어있으며 다음이 흉부, 두부, 지부, 시부 순으로 분포되어 있었다. 5. 표식성충 자웅간에 산난된 난과 부화유충의 100개당 표식방사능은 G.M. Counter를 사용할 경우 0.2 microcurie 이상에서 검출이 가능하였다. 6. 표식성충 숫놈과 정상 암놈과의 교미에서 산난된 난과 부화유충은 미량의 방사능을 바타냈으며. G.M. Counter의 경우 2.0 microcurie, Proportional Counter는 0.2 microcurie 이상에서만 검출 가능하였다. 7. P-32의 처리농도가 높아지면 성충의 사충율이 증가하는 경향이 있으므로 이상의 결과로 보아 처리농도 0.5 microcurie는 집파리를 표식시키는 가장 합리적인 처리농도라 할 수 있다. This paper describes experiments made to develop a technique for marking insects and get the informations for ecological studies as a means of tagging flies with radioactive phosphorus, and also to learn the effect on the subsequent generation of flies. Tests were conducted with house flies, Musca domestica L. emerged front the larvae that had reared in a media containing various concentrations of P-32. Radioactivity of the flies was measured with end-window type Geiger-Muller counter and proportional counter made by Aloka. In following the daily increases in counting rates by 6-day-old larvae it was apparent the larvae in the starting media containing the higher concentrations of P-32 were showing high counting rates. It was found that about 13.2 per cent of the radioactive material remained in the empty puparia after the flies emerged. Radioactivity of the emerged flies decreased gradually and the biological halflife of phosphorus-32 was approximately 6.14 days with considerable variation. A significant amount of P-32 were detected in the abdominal and thoracic sections as compared with other parts of adult. The activity of phosphorus·32 in eggs and larvae produced by adults reared in medium containing 0.2 microcurie or more of P-32 per gram were readily detected with Geiger-Mi·lier counter. On the other hand, the radioactivity of eggs and larvae produced by the treated males crossed with untreated normal females could be only detected in the medium containing more of 2.0 microcurie with G.M. counter. There was no apparent damage to the flies at dosages as high as 0.5 microcurie per gram of medium. For field studies a concentration of 0.5 microcurie of P-32 per gram of artificial medium appears to give adequate labeling for positive identification of flies and their egg masses.
Decentralized Adaptive Controller Design for a Class of Interconnected Continuous Systems
류준,김병연,Lyou, Joon,Kim, Byung-Yeun The Institute of Electronics and Information Engin 1992 전자공학회논문지-B Vol.b29 No.10
This paper presents a decentralized model reference adaptive control scheme for an interconnected linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subjected to bounded external disturbances. The scheme can treat the unknown strength of interactions as well as uncertainties in subsystem dynamics, and allows for the case when the relative degree of each decoulped subsystem does not exceed two.
Transfer alignment considering measurement time delay and ship body flexure
류준,임유철 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.1
This paper deals with the transfer alignment problem of strap-down inertial navigation systems (SDINS), using electro- magnetic (EM) log velocity information and gyrocompass attitude information of the ship. Major error sources for velocity and attitude matching are lever-arm effect, measurement time-delay, and ship-body flexure (flexibility). To reduce these alignment errors, an error compensation method based on delay state augmentation and DCM (direction cosine matrix) partial matching is devised. A linearized error model for a velocity and attitude matching transfer alignment system is devised by first linearizing the nonlinear measurement equation with respect to its time delay, and augmenting the delay state into conventional linear state equations. DCM partial matching is then properly combined with velocity matching to reduce the effects of a ship’s Y-axis flexure. The simulation results show that this method decreases azimuth alignment errors considerably.