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최근하(Keun Ha Choi),한상권(Sang Kwon Han),이진이(Jinyi Lee),이진우(Jin Woo Lee),안정도(Jung Do Ahn),김경수(Kyung-Soo Kim),김수현(Soohyun Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.
최근도(Choi Keun-Do),유영찬(You Young-Chan),이리형(Lee Li-Hyung) 대한건축학회 2003 大韓建築學會論文集 : 構造系 Vol.19 No.8
Even though the hybrid structural systems including RCS(Reinforced Concrete Steel) structures have been widely used in the construction of building structures, the design method for the RCS beam-column joints has not been established yet. This paper is to analyze the test results of RCS beam-column joint with various type of transverse reinforcements to investigate the shear resisting mechanism of the RCS joint. Seven interior beam-column joints specimen were constructed and tested under the inelastic cyclic loadings conforming to NEHRP recommendations. From the experimental study, it is found that the shear strength of the outer concrete(panel) in RCS joints provided by transverse reinforcement does not show any big difference by the type of transverse reinforcements. Therefore compression strut model is more reasonable in predicting the shear strength of outer concrete panel than compression field model. Also, the design equation and confining coefficients for the calculation of shear strength by the transverse reinforcement are suggested by the compression strut model.
강일준(Il-Jun Kang),함승시(Seung-Shi Ham),정차권(Cha-Kwon Chung),이상영(Sang-Young Lee),오덕환(Deog-Hwan Oh),최근표(Keun-Pyo Choi),도재준(Jae-Joon Do) 한국식품영양과학회 1997 한국식품영양과학회지 Vol.26 No.6
산채류를 이용한 새로운 장류제품의 개발 가능성을 검토하기 위하여 산채류 중에서 고려엉겅퀴와 컴프리를 선택하여, TN을 기준으로 소맥 대신 일정비율로 대체한 후, 숙성기간 중 화학성분변화를 살펴보았다. 숙성 4개월 후 고려엉겅퀴는 5% 대체군까지 무첨가 대조군과 유사한 결과를 나타낸 반면 7% 대체군 이상에서는 총 고형분의 감소 및 pH증가 현상이 나타났다. 한편, 컴프리의 경우에는 대체량의 증가에 따라 pH의 큰 변화가 없이 총 질소함량 및 총 고형분함량의 증가 등 바람직한 결과를 나타내었다. 숙성 4개월 후의 무기질 함량에 있어 고려엉겅퀴는 Ca, K 함량이 크게 증가하여 10% 대체군에서는 각각 1.7배, 1.4배의 증가율을 나타내었으며, 컴프리의 경우에도 Ca, K, Mg, Na 함량이 대체량의 증가에 따라 증가하였고, 특히 Ca함량에 있어 7% 대체군은 무첨가군에 비해 2.3배나 크게 증가하였다. 대체량 별로 아미노산 함량의 증가율을 살펴보면 고려엉겅퀴의 경우 3% 대체군이 가장 두드러져, methionine, tyrosine, histidine의 경우 무첨가군에 비해 각각 1.5배, 2.0배, 2.1배씩 증가하였으며, 컴프리는 5% 대체군이 가장 뚜렷한 증가현상을 보여, tyrosine의 경우, 무첨가군에 비해 4.4배의 높은 증가율를 나타내었고, glutamic acid 및 methionine도 각각 1.8배 및 1.7배로 증가하였다. 관능검사 결과, 전체적 기호도에 있어 고려엉겅퀴는 1~5% 대체군이 양호한 것으로 판정되었고, 컴프리는 5% 대체군이 가장 우수한 것으로 나타났다. In order to develop new soysauce using mountain edible herbs, cirsium setidens Nakai and comfrey were added to the raw material of soysauce as a partially substituting ingredient to wheat composing the total nitrogen. The changes of chemical composition of soysauce by the substitution of 1~5% cirsium setidens after four months of aging were similar to those of the control soysauce. On the other hand, total solid content was decreased, while the pH was increased by more than 7%. The total nitrogen and solid contents in the comfrey substituted soysauce were increased with the increment of the amount of comfrey, but showed little changes of the pH. The mineral contents of calcium and potassium in the soysauce after four months of aging at 10% substitution of cirsium setidens were increased by 1.7 and 1.4 times, respectively. A significant increase in calcium(2.3 times as compared to the control) was also observed in 7% substitution of comfrey. The amino acid contents such as methionine, tyrosine and histidine were markedly increased at 3% substitution of cirsium setidens. With 5% substitution of comfrey, the contents of tyrosine, glutamic acid and methionine were increased by 4.4, 1.8 and 1.7 times, respectively as compared to the control. The results of sensory evaluation revealed that overall acceptability of soysauce with 1~5% substitution of cirsium setidens and 5% of comfrey exceeded other samples composing different ratios of substituting ingredients.