TMS320C80칩을 이용한 이중암 로봇의 실시간 퍼지제어

김홍래,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with four joints.

體育科 入試 實技考査種目의 妥糖性에 關한 硏究

金正默,林聖愛,李來華,金炳斗,安禹洪,李敏炯,金基學 慶北大學校 師範大學 1977 敎育硏究誌 Vol.19 No.-

The following conclusion has been derived from the foregoing results of analysis and observation. First, we found, in this proposed system, reliability, objecivity, and individuality. Second, this type of system must be able to measure numerable testees. Third, testees are regulated that they are brought to the same condition in which their willful adventage are not allowed, Fourth, when considering the foundamental physical strength and skills can be evaluated in general throughout all skills areas of physical education, the following items of skills are recognized to have the advantages and disadvantages which relatively lack or relieve one another. However, under various conditions of the prevailing system of the entrance physical test, the following measurable items of physical skills selected are concluded as having highest validity primarily for the physical entrance examination. 1. Side Step B Style 2. Zigzag Run 3. Wall Pass 4. Standing Long Jump

모바일 로봇의 견실제어를 위한 제네틱 알고리즘 개발

김홍래,배길호,정경규,한성현 한국공작기계학회 2004 한국공작기계학회 춘계학술대회논문집 Vol.2004 No.-

This paper proposed trajectory tracking control of mobile robot. Trajectory tracking control scheme are real coding genetic-algorithm and back-propergation algorithm. Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studies have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using Real coding Genetic Algorithm(RCGA) and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verify numerical simulations and the results show better performance than constant gain controller.

초등학교용 웹 기반 교수-학습 자료 개발 전략

김홍래,정인기,신준식,이대형 춘천교육대학교 과학교육연구소 2001 과학교육연구 Vol.25 No.-

3상 배전계통 WLAV 상태추정 알고리즘에 관한 연구

김홍래 순천향대학교 부설 산업기술연구소 2004 순천향 산업기술연구소논문집 Vol.10 No.2

This paper addresses the issue of the state estimation for electric power distribution systems. The developed state estimator produces an estimate of the actual three phase network status in the presence of all possible imbalances. The weighted least absolute value method is used to compute the states at all three phase nodes. The system models and formulations of the state estimator are given along with the inclusion of the line current magnitude data into the conventional measurement set. The system models including untransposed power lines and unbalanced loads are used to study the effects of imbalances among the phases. Measurement data are generated by using EMTP(electromagnetic transient program). The simulations are carried out for test systems with several measurement set, and the corresponding results are presented.

반응소결에 의한 근사기본형 Al₂O₃/ZrO₂복합체의 제조 및 치밀화

김철진,박홍래,신동우 慶尙大學校生産技術硏究所 1997 生産技術硏究所論文集 Vol.13 No.-

Al₂O₃/ZrO₂ composites were fabricated by the reaction bonding process. Starting materials of 20-70 vol% Al, 10-65 vol% Al₂O₃, and 15-20 vol% ZrO₂ were milled for 8 h using attritor with ZrO₂ball media and isostatically pressed into the rectangular shape. The compacts were heat treated with two steps at the temperatures of 1000-1200℃ and 1400-1650℃ for 3-12 h with the heating rates of 1℃ /min and 1-5℃ /min, respectively. The sintered specimens showed the relative density of 95% to the theoretical value with the linear shrinkage of 10.5%. The large pores and cracks were not observed in the sintered body.

멧돼지 생식후 발생한 선모충증의 가족 내 집단발생사례

김에스더,편래현,박지한,김강호,최일,박홍훈,이용희,용태순,홍성관 대한감염학회 2003 감염과 화학요법 Vol.35 No.3

선모충증은 전 세계적으로 발생하는 기생충 인수공통감염의 한로 선모충의 유충에 감염된 육류를 덜 익혀 섭식시 발생하며 감염 초기에 설사, 복통의 증상이 나타나며 후기에 유충의 체내 이행으로 발열, 근염, 안검 부종 등이 동반된다. 확진은 근육 생검을 하여 피포 유충을 확인하는 것이고 최근에는 특이 항체를 측정하거나 유전자 검사와 같은 다양한 검사가 시도되고 있다. 저자 등은 4명의 한 가족이 야생 멧돼지를 생식한 후 선모충증의 전형적인 임상 증상 및 검사 소견을 보인 가족 내 집단발생사례를 경험하였기에 문헌 고찰과 함께 보고하는 바이다. Trichinosis is a worldwide parasitic infection caused by ingesting an uncooked raw meat containing viable larvae of nematode Trichinella. Although most cases have been reported in Western countries, the incidence has decreased due to strict control of meat handlings and improved hygiene in these countries. In Korea, the first case of Trichinella spiralis was reported in a patient who ingested an uncooked badger. We have also experienced four cases of Trichinella spiralis infestation among family members who showed typical clinical manifestations and laboratory findings after ingesting raw wild swine meat, and herein report the finding.

Dual-Arm 로봇의 자기구성 퍼지제어

김홍래,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

육성-비육돈에 있어서 항균제의 첨가효과

金大鎭,李尙勳,趙弘來 東亞大學校 大學院 1986 大學院論文集 Vol.11 No.-

This experiment was conducted to examine the effect of copper sulfate, nitrovin and virginiamycin in grower-finisher ration on the pig performance of body weight gain and feed conversion. These antimicrobial agent of copper sulfate, nitrovin and virginiamycin in grower and finisher diets were added 175ppm, 20ppm and 20ppm, respectively. Pigs fed rations containing nitrovin(837gram) of average daily body weight gain were more efficient than those of copper sulfate(815gram) and virginiamycin(804gram), but rations added nitrovin(2.90) was not improved than those of copper sulfate (2.77) and virginiamycin(2.79) in feed conversion(P<0.05).

뉴럴네트워크를 이용한 이동로봇의 지능제어

김홍래,김용태,한성현 한국공작기계학회 2004 한국공작기계학회 추계학술대회논문집 Vol.2004 No.-

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.