http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
윤남일,최종갑,변경석,Yoon, Nam-Il,Choi, Jong-Kap,Byun, Kyung-Seok 한국융합신호처리학회 2011 융합신호처리학회 논문지 (JISPS) Vol.12 No.4
다양한 환경에서 작업을 수행하고 있는 아동 로봇이 작업을 수행하며 목표지점으로 정확하게 이동하가 위해서는 정밀한 위치 측정 시스템이 필요하다. 본 논문에서 특정 위치에서 이동로봇의 정밀한 위치 측정을 위한 새로운 고정밀 도킹센서를 제안하였다. 제안된 도킹 센서는 Linear CCD와 2개의 초음파 센서로 구성되어 있다. 도킹 센서는 단순한 마크가 있는 평면과 센서 사이의 횡방향 위치 (x)와 종방향 위치 (y), 각도(${\theta}$)를 측정한다. 2개의 초음파 센서는 각센서의 거리정보를 이용하여 종방향 위치와 각도를 측정하고, Linear CCD는 횡방향 위치틀 측정한다. 전방향 이동로봇에 적용하여 제안된 센서의 성능을 확인하였다. 실험 결과로부터 종횡 lmm 이내, 각도 $0.2^{\circ}$ 이내의 반복정밀도를 갖는 고정밀의 도킹 센서 성능을 확인할 수 있었다. 제안된 도킹 센서는 이동로봇의 정밀한 도킹에 활용될 수 있다. Mobile robots performed various missions in various environments. In order to move to target precisely, the mobile robots need a precise position sensing system In this paper, a new high precision docking sensor is proposed. Proposed docking sensor consists of linear CCD(charge coupled device) sensor and ultrasonic sensors. The docking sensor system can measure lateral position(X), longitudinal position(Y) and angle(${\theta}$) between the sensor and flat target with simple mark. Two ultrasonic sensors measure two distances which can be converted to longitudinal position and angle. Linear CCD sensor measures lateral position using center mark of the target. To verify performance of the sensor, the sensor is applied to an omnidirectional mobile robot. Several experimental results show highly precise performance of the sensor. Repeatability of the docking sensor is less than 1mm and $0.2^{\circ}$. Proposed docking sensor can be applied for precise docking of mobile robot.
Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm
Hyeon Min Jo(조현민),Won Jee Chung(정원지),Seung Min Bae(배승민),Jong Kap Choi(최종갑),Dae Young Kim(김대영),Yeon Joo Ahn(안연주),Hee Sung Ahn(안희성) 한국기계가공학회 2019 한국기계가공학회지 Vol.18 No.1
In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on SolidWorks<SUP>®</SUP> for robot modeling, MATLAB<SUP>®</SUP> for GA optimization, and RecurDyn<SUP>®</SUP> for analyzing dynamic characteristics of a robot. Especially RecurDyn<SUP>®</SUP> is incorporated in the GA module of MATLAB<SUP>®</SUP> for the optimization process. The results of the simulations will be verified by using RecurDyn<SUP>®</SUP> to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.
임창수,최종구,이훈갑,주정화 대한신경외과학회 1978 Journal of Korean neurosurgical society Vol.7 No.2
Eosinophilic granuloma, hand-schu¨ller-christian and Abt-letterer-siwe syndrome are considered to be different manifestations of one and the same disease of the reticulohistiocytic system, and are included under the term histiocytosis X, clinical and morphological manifestations are variable. The syndromes can be differentiated according to their course and extent of spread. Eosinophilic granuloma of bone is the mildest form, usually restricted to one or a few foci. This occurs chiefly in children but may occur at any age. The male sex is affected almost twice as often as the female. Cranial vault is most commonly affected site and jaw, humerus, rib and femur are also often affected. Recently we have experienced 2 cases of eosinophilic granuloma of the skull bone. One was 10 years old male with protruding mass on the right frontal bone, and the other was a mass on right parietal bone in 12 years old male. On admission, the patients had headache and local tenderness without any abnormal neurological signs Histopathologic findings show the fibrocartilagenous tissue and bone. The soft tissue is densely replaced by infiltrations of histiocytes, eosinophils, lymphocytes, plasma cells and multinucleated giants cells. Bone tissue is also infiltrated with identical cells. The differential diagnosis distiction between the cerebral granulomatosis is difficult.
의학교육에 있어서의 Tutorial System : 학내 도입을 위한 제의 Proposal for Introduction to Current Curriculum
박정율,이기찬,이훈갑,채병국,유세화,최종상,조재홍 고려대학교 의과대학 1997 고려대 의대 잡지 Vol.34 No.2
Tutorial system in medical education in general is a system which deals with problem-oriented, self-directed, and small group learning to encourage students to assume responsibility for their own learnings and to provide capabilities to cope with the environment where greater expansion of medical knowledge is being piling up. But it is not just another system to tried out in short time. Rather it requires a new curriculum with many different types of resources and requires certain period of time to evaluate the effects and drawbacks. Each medical school should customize upon its basic status of current system when in attempt to adapt this system. The purpose of this study was first to review the basic concept of this system and prerequisites for the introduction of an ideal and practical model for our institution. Basic resources in medical school and medical center were reviewed and evaluated. Then, short- and long-term ideal plan for future curriculum based on present status is proposed. Although situation in our medical school is in the stage of advancement both academically and structurally, authors believe that our school should adapt this system in a customized fashion for the time being and improve upon the method of applying as it fits in place of new curriculum in future. Finally, authors wish to stress that this system should not be considered as just another a new curriculum nor it can be accomplished in short time with few trained teachers. Rather, every staff member of school should have an enduring mind to make this system work to provide a better learning environment for our medical students.