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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.
이영진(Y . J . Lee),황선욱(S . W . Hwang),박윤서(Y . S . Park),윤운중(W . J . Yoon),전재근(J . K . Chun) 한국응용생명화학회 1995 Applied Biological Chemistry (Appl Biol Chem) Vol.38 No.5
Hardness and adhessiveness of cooked rice were measured with rice grain and rice block methods by texturemeter. In grain method 3, 4 and 5 grains were arranged and subjected to the tenure test with a plastic plunger at 95% strain and 0.5 ㎜/sec speed. The hardness were 7.4 ㎏, 7.5 ㎏ and 10.0 ㎏, respectively and the coefficient of variation ranged from 37.0% to 25.9%, which was mainly due to the irregular geometry of the grains in each specimen set. Adhesiveness could not be measured with this method. A cylindrical rice block(H/D=20㎜×15㎜) was made for the texture analysis. The hardness was 2.1 ㎏ with coefficient of variation ranging from 2.8 to 7.0%, and the block method was s more reproducible compared to the grain method. A grooved plastic plunger and platform were designed for the measurement of adhesiveness of cooked rice block. The adhesiveness was 0.68 ㎏ sec and the coefficient of the variation was 4.6%.
HMI를 이용한 배전반 자동검사 시스템 개발에 관한 연구
이영진(Y. J. Lee),조현철(H. C. Cheo),이진우(J. W. Lee),이권순(K. S. Lee),김태근(T. G. Kim) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
공장 내에서 부적절한 배선 및 설치 등에 의하여 검사과정을 수행할 경우 noise나 오결선을 유발시키며, 이는 측정해야할 신호가 부적절한 동작을 발생시키거나 검사가 되어 출하 후에 하지 않아도 될 A/S 지원을 해야 하는 등의 추가 경비가 소요되는 문제까지도 야기시킬 수 있다. 이때, 사용자측에서 발생될 불만에 따른 회사 및 제품의 신뢰도 저하는 더 큰 문제가 아닐 수 없다. 본 개발에서는 GUI(Graphic User Interface) 환경과 통신기술을 접목하여 다양한 제품의 검사를 위한 시스템을 개발하고자 한다.
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.