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MRAC 기법을 이용한 무인 컨테이너 운송차량의 조향 제어
이영진,허남,최재영,이권순,이만형,Lee, Y.J.,Huh, N.,Choi, J.Y.,Lee, K.S.,Lee, M.H. 한국항해항만학회 2000 韓國港灣學會誌 Vol.14 No.3
T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.
성선 발육 부전 환자에 대한 임상 및 세포 유전학적 연구
이영진,양영호,김대현,김영민,Lee, Y.J.,Yang, Y.H.,Kim, D.H.,Kim, Y.M. 대한생식의학회 1983 Clinical and Experimental Reproductive Medicine Vol.10 No.2
As the cytogenetic developed, cytogenetic study has also developed progressively. This study is a systematical cytogenetic and clinico-hormonal analysis of 20 cases Wp.ere gonadal dysgenesis was diagnosed and deferred to the Dept. of obstetrics and Gynecology, Yonsei University, Medical School from Jan. 1974 to Aug. 1983. Twenty patients with the diagnosis of gonada dysgenesis have been assesed as to possible correlations between clinical, homonal and cytogenic findings. The desults were as follows; l. Gonadal dysgenesis were found in 20 cases, consisting of 15 cases (75%) of turnurs syndrome, 4 case of pure gonadal dysgenesis (20%), 46. XX and 1 case of mixed gonadal dysgenesis, 45,XO/46,XY. 2. Patients with XO karyotype, turner's ryndorme, have a resonably constant clinical picture of sexual infantilism with streak gonads, short status and webbed neck. 3. 17 cases were found primary amenorhea and two cases were noted with 2 ndary amenorrhea. one case has been presented with menstruation. 4. The rudimentary streak gonads were found in 7 cases of 8 cases and one case has a rudimentary streak gonad on one side and a testis on the contralateral side. 5. The study showed that potients with gonadal dysgenesis had an average of about 4-8 times higher basal FSH and about 3-7 times higher basal LH than that of the early follicular phase of normal menstrual cycle. 6. Two cases of three gonadal dysgenesis patieats, who performed LH-RH challage test, showed that the serum FSH levels reached the maximal level at 30 min after injection of CHRH and the serum LH level reached the maximal level at 60 min ofter injection of LHRH one case showed no significant response to LH-RH injection. Thus, bu studying simultoneously the clinical, cytogenic, hormonal aspects and visualization of gonads, we have gained some practical insight into the requirements for proper disgnosis and treatment.
철도물류 자동화를 위한 전자센서 기반 트레일러 정위치 자동 정렬시스템 개발
이영진(Y. J. Lee),이현영(H. Y. Lee),김재길(J. G. Kim),이태호(T. H. Lee),박성원(S. W. Park),이권순(K. S. Lee) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.4
본 논문은 초음파센서 등을 이용하여 철도물류자동화에 필요한 트레일러 정위치 정렬 시스템을 설계 · 계발하고자 한다. 정위치 인식시스템은 초음파센서, 포토센서, CCD 카메라 등을 기반으로 하여 트레일러에 설치되어 컨테이너를 화차와 트레일러사이에 수평으로의 이송을 원활하게 하기 위한 시스템이다. 본 시스템은 트레일러에 실제 설치 장착되어 실험을 구현하였으며, 철도물류 자동화의 핵심기술로서 기대된다.
증착 후 열처리 온도에 따른 In2O3 박막의 구조적, 전기적, 광학적 특성 변화
이영진 ( Y. J. Lee ),이학민 ( H. M. Lee ),허성보 ( S. B. Heo ),김유성 ( Y. S. Kim ),채주현 ( J. H. Chae ),공영민 ( Y. M. Kong ),김대일 ( Dae Il Kim ) 한국열처리공학회 2011 熱處理工學會誌 Vol.24 No.6
We have investigated the structural, electrical and optical properties of In2 O3 thin films deposited by RF magnetron sputtering and then annealed at 150℃ and 300℃ in vacuum. The structural and electrical properties are strongly related to annealing temperature. All the annealed In2O3 films are grown as a hexagonal wurtzite phase and the largest grain size is observed in the films annealed at 300℃. The sheet resistance decreases with a increase in annealing temperature and In2O3 film annealed at 300℃ shows the lowest sheet resistance of 174 Ω/□. The optical transmittance of In2O3 films in a visible wavelength region also depends on the annealing temperature. The films annealed at 300℃ show higher transmittance of 76% than those of the films prepared in this study. (Received September 27, 2011; Revised October 14, 2011; Accepted October 20, 2011)
이영진 ( Y. J. Lee ),이성건 ( Sung Kun Lee ),박영 ( Y. Pak ),문병욱 ( B. W. Moon ) 대한내과학회 1970 대한내과학회지 Vol.13 No.8
Although enlargement of the liver occurs in many disease states, Massive hepatomegaly or "Giant Liver" occurs in relatively few disorders. The diseases cited by most authors as capable of producing massive hepatomegaly are: 1. Metastatic carcinoma 2. Amylo
이영진(Y . J . Lee),황선욱(S . W . Hwang),김상권(S . K . Kim),박윤서(Y . S . Park),전재근(J . K . Chun) 한국응용생명화학회 1995 Applied Biological Chemistry (Appl Biol Chem) Vol.38 No.5
In order to investigate the textural changes of cooked rice in a home electrical rice cooker during warm keeping period, rice eras cooked and stored at 73℃ for 42 hours. The time course changes of hardness and adhesiveness of cooked rice were measured with the specimen prepared as a cylindrical rice block(H/D=15 ㎜/20 ㎜). At the initial stage of warm keeping period the hardness was 1.61 ㎏ and it was increased steadily to 1.95 ㎏ up to 12 hours. And it was rapidly dropped to 1.57 ㎏ within 3 hours, and thereafter gradually decreased to 1.44 ㎏. The adhesiveness was steadily declined with warm keeping period from 0.51 to 0.323 ㎏·sec. The cohesiveness and chewiness were also changed in the similar pattern to that of hardness while the springiness remained unchanged throughout the whole warm keeping period.