휴머노이드 로봇을 위한 다양한 환경에서의 걸음새 생성 기술 연구

홍영대 대한전자공학회 2015 전자공학회지 Vol.42 No.12

超微量 코발트의 螢光光度定量法

洪永大 고신대학교 자연과학연구소 1996 고신대학교 자연과학연구소 논문집 Vol.6 No.-

超微量의 Co(Ⅱ) 이온을 定量하기 위하여 2-(o-hydroxyphenyl) benzoxazole (HPB)을 利用하는 高感度의 螢光光度分析法이 確立되었다 0.24㎍ 以下의 Co(Ⅱ) 이온을 含有하는 試料流에 이것에 比하여 一定. 過量의 HPB溶液을 加하여 約 pH 11에서 反應시키면 螢光이 없고 安定度가 큰 Co(HPB)₂의 킬레이트 化合物을 만들어 定量的으로 沈澱한다. 그런 다음 溶液中에 남아 있는 HPB의 螢光張度를 測定함으로써 Co(Ⅱ) 이온의 濃度를 間接 測定하였다. 本 硏究에서는 Co(Ⅱ) 이온과 HPB의 反應이 nmol level의 濃度에서 化學量論的으로 일어 나는데 必要한 最適 條件들을 綿密히 檢討한 結果, 0.1 - 4 nmol의 Co(Ⅱ) 이온을 感度좋게 定量할 수 있었다 木 定量法에 의하여 2 nmol의 Co(Ⅱ) 이온을 反復 測定해 본 結果, 相對標準偏差 2.4%의 精密度로서 測定 可能하였다. A spectrofluorometric method for the ultra microdetermination of cobalt was established. An excess amount of 2-(o-hydroxyphenyl) benzoxazole (HPB) is added to precipitate Co(HPB)₂ with cobalt ion. Cobalt ion forms a chelate with HPB and quenches the fluorescence of HPB. The amount of cobalt is determined by measuring the fluorescence of the remaining HPB. The optimum conditions for these reactions were examined at a very low concentration range of the reactants. By the proposed methed, 0.1-4 nmol cobalt content was determined with a accuracy of 2.4% relative standard deviation at 2 nmol Co level.

Real-time Footstep Planning and Following for Navigation of Humanoid Robots

홍영대 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.5

This paper proposes novel real-time footstep planning and following methods for the navigation of humanoid robots. A footstep command is defined by a walking direction and step lengths for footstep planning. The walking direction is determined by a uni-vector field navigation method, and the allowable yawing range caused by hardware limitation is considered. The lateral step length is determined to avoid collisions between the two legs while walking. The sagittal step length is modified by a binary search algorithm when collision occurs between the robot body and obstacles in a narrow space. If the robot body still collides with obstacles despite the modification of the sagittal step length, the lateral step length is shifted at the next footstep. For footstep following, a walking pattern generator based on a 3-D linear inverted pendulum model is utilized, which can generate modifiable walking patterns using the zero-moment point variation scheme. Therefore, it enables a humanoid robot to follow the footstep command planned for each footstep. The effectiveness of the proposed method is verified through simulation and experiment.

Experimental Study on Modifiable Walking Pattern Generation for Handling Infeasible Navigational Commands

홍영대,이범주 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

To accommodate various navigational commands, a humanoid should be able to change its walking motion in real time. Using the modifiable walking pattern generation (MWPG) algorithm, a humanoid can handle dynamic walking commands by changing its walking period, step length, and direction independently. If the humanoid is given a command to perform an infeasible movement, the algorithm substitutes the infeasible command with a feasible one using binary search. The feasible navigational command is subsequently translated into the desired center-of-mass (CM) state. Every sample time CM reference is generated using a zero-moment-point (ZMP) variation scheme. Based on this algorithm, various complex walking patterns can be generated, including backward and sideways walking, without detailed consideration of the feasibility of the navigational commands. In a previous study, the effectiveness of the MWPG algorithm was verified by dynamic simulation. This paper presents experimental results obtained using the small-sized humanoid robot platform DARwIn-OP.

An Evolutionary Optimization Approach for Optimal Hopping of Humanoid Robots

홍영대 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

This paper proposes an evolutionary optimization approach for optimal hopping of humanoid robots. In the proposed approach, the hopping trajectory is generated by a central pattern generator (CPG). The CPG is one of the biologically inspired approaches, and it generates rhythmic signals by using neural oscillators. During the hopping motion, the disturbance caused by the ground reaction forces is compensated for by utilizing the sensory feedback in the CPG. Posture control is essential for a stable hopping motion. A posture controller is utilized to maintain the balance of the humanoid robot while hopping. In addition, a compliance controller using a virtual spring-damper model is applied for stable landing. For optimal hopping, the optimization of the hopping motion is formulated as a minimization problem with equality constraints. To solve this problem, two-phase evolutionary programming is employed. The proposed approach is verified through computer simulations using a simulated model of the small-sized humanoid robot platform DARwIn-OP.

일본유학 안내

홍영대 高神大學校 學生生活硏究所 1990 學生生活硏究 Vol.5 No.-

<제일제당.김포공장>-화재예방은 전국민의 합심으로

홍영대,Hong, Yeong-Dae 한국화재보험협회 1977 防災와 保險 Vol.7 No.-

超微量 카드뮴의 螢光光度定量法

洪永大 高神大學校 1994 論文集 Vol.21 No.-

超微量 Cd의 정량을 위하여 2-(o0hydroxyphenyl)benzoxazole(HPB)을 利用하는 高感度의 螢光科度分析法이 確立되었다. 1.6 nmole 以下의 Cd(Ⅱ)이온을 含有하는 試料溶液에 이것에 比하여 一定過量의 HPB溶液을 가하여 約 pH 9.8±0.3에서 反應시키면 螢光이 없고 安定度가 큰 Cb(HPB)₂의 킬레이트 化合物을 만들어 定量的으로 沈澱한다. 그런 다음, 약 pH 13에서 溶液중에 남아 있는 HPB의 螢光强度를 測定함으로써 Cb(Ⅱ)이온의 濃度를 間接測定할 수 있다. 本 硏究에서는 nmole level의 超微量 濃度에서 Cb(Ⅱ)이온과 HPB의 反應이 化學量論的으로 일어 나는데 必要한 最適조건들을 綿密히 檢討한 結果, 0.04-1.6nmloe의 Cb을 感度좋게 定量할 수 있었다. 본 定量法에 의하여 0.8nmole의 Cb을 反復測定하여 본 結果, 相對標準偏差 1.4??%의 精密度로서 測定可能하였다. A spectrofluorometric method for the ultra microdetermination of cadmium was estab-lished. An exedss amount of 2-(o-hydroxyphenyl_benzoxazole(HPB) is to precipitate Cd(HPB)₂with cadmium ion. Cadmium ion determined by measuring the fluorescence of the remaining HPB. The optimum conditions for these reactions were examined at a very low concentration range of the reactants. By the proposed methed, 0.04~1.6 nmole cadmium content was determined with a accuracy of 1.4??% relative standard deviation at 0.8 nmole Cd level.

공침법에 의한 BiDy₂Fe_(5)O_(12) 결정형 나노입자 분말의 제조 및 응용 연구

홍영대,조정환,김태엽,전성욱,홍영명 고신대학교 자연과학연구소 2007 고신대학교 자연과학연구소 논문집 Vol.14 No.-

금속산화물들은 각종 산업재료로서 유용하며 더욱이 그것들의 결정형 나노입자를 경제적으로 제조하는 기술은 21세기 첨단산업에 매우 중요하다. 저자들은 前報에서 화학합성법에 의한 각종 금속산화물의 나노입자를 제조하는 표준공정법을 연구하여 보고하였다. 본 연구에서는 그 표준공정법을 이용하여, 가넷의 일종인 BiDy_(2)Fe_(5)O_(12) 결정 나노입자 분말을 제조하고 그것의 자성체로의 응용을 위해 제품특성을 조사하었다. 가네트 제조과정에 필요한 침전물은 제품설계에 의거 몰비로 계산된 Bi, Dy, Fe의 질산염들의 혼합수용액에 침전제로서 pH NH_(3)-NH_(4)CI 완충용액 일정량을 가하여 얻어졌다. 이렇게 제조된 침전은 열처리과정을 거처 BiDy_(2)Fe_(5)O_(12) 결정형 나노입자 분말로 만들어졌다. 얻어진 제품의 입자크기, 조성, 결정구조 및 광자기성 등 특성시험이 SEM, ICP, XRD, 그리고 VSM 등을 사용하여 실시되었다. 각종 분석법을 사용하여 제품의 특성을 조사한 결과, 최초에 설계한 대로의 자성체가 나노 크기의 분말로 얻어졌으며 이것을 통하여 전보에서 확립한 표준공정법의 유효성도 입증되었다. Metallic oxides are useful as various industrial materials. Futhermore, the cost-effective techniques of fabricating the crystalline nanopartides of metallic oxides are very important for the high-tech industries of the 21 century, In the previous study, the authors reported the standard process for the preparation of crystalline nanoparticles of metallic oxides by chemical synthesis, In this study, BiDyzFesOiz nanoparticles were prepared by using the reported standard process and the characteristics of the product were investigated for applicability as magnetic substance. The precipitation needed for manufacturing process of garnet was made by adding the NH_(3)-NH_(4)CI buffer solution of pH 10 to the mixed solution of bismuth (III) nitrate, dysprosium(III) nitrate and iron(III) nitrate. The amount of each nitrate was calculated by the designed mole ratios. The nano-size crystalline powders of BiDy_(2)Fe_(5)O_(12) were earned by heating the precipitation at 800℃ for 4 hours in air. The characterizations, such as particle size, composition, crystal structure and magneto-optical property of garnet were tested by SEM, ICP, XRD, and VSM analyses. The results of the analyses showed the following two facts. First, a good magnetic substance of BiDy_(2)Fe_(5)O_(12) was earned as crystalline nano-size powders according to the original design. Next, the established standard process for the fabrication of METALLIC oxides nanonartieles was approved as a very effective method.

超微量 亞鉛의 螢光光度定量法

洪永大,李正禹 고신대학교 자연과학연구소 1997 고신대학교 자연과학연구소 논문집 Vol.7 No.-

超微量의 Zn을 定量하기 위하여 2-(o-hydroxyphenyl)benzoxazole (HPB)을 利用하는 高感度의 螢光分析法이 確立되었다. 0.65㎍ 以下의 Zn(Ⅱ) 이온을 含有하는 試料溶液에 이것에 比하여 一定過量의 HPB 溶液을 加하여 約 pH 9.4에서 反應시키면 螢光이 없고 安定度가 큰 Zn(HPB)_2 의 킬레이트 化合物을 만들어 定量的으로 沈澱한다. 그런 다음, 溶液 中에 남아 있는 HPB의 螢光强度를 測定함으로써 Zn(Ⅱ) 이온의 濃度를 間接 測定하였다. 本 硏究에서는 nmol level의 超微量 濃度에서 Zn(Ⅱ) 이온과 HPB의 反應이 化學量論的으로 일어 나는데 必要한 最適條件들을 綿密히 檢討한 結果, 0.5-10 nmol의 Zn을 感度좋게 定量할 수 있었다. 本 定量法을 使用하여 5 nmol의 Zn을 反復 測定하여 본 結果, 相對標準偏差 2.1%의 精密度로서 測定할 수 있었다. A spectrofluorometric method for the ultra microdetermination of zinc was established. An excess amount of 2- (o-hydroxt'phenyl)benzoxazole(HPB) is added to precipitate Zn(HPB)₂ with zinc ion. Zinc ion forms a chelate with HPB and quenches the fluorescence of HPB. The amount of zinc is determined by measuring the fluorescence of the remaining HPB. The optimum conditions for these reactions were examined at a very low concentration range of the reactants. By the proposed method, 0.5-10 nmol zinc content was determined with a accuracy of 2.1% relative standard deviation at 5 nmol Zn level.