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공진 효과 및 쿨롱 마찰이 존재하는 서보 시스템의 H_∞위치 제어기 설계
홍국남,임동진 한양대학교 공학기술연구소 1995 공학기술논문집 Vol.4 No.1
The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear frictions. These problems exist in almost all the servo systems, especially for the robotic manipulators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs H∞ control theory is proposed for the servo systems with these problems. In order to design a controller which is capable of compensating frictions and ensures no steady state error, the original system is augmented with an integrator and H∞ controller design method is applied. Sometimes, for these systems, there is a possibility of limit cycles due to the interaction between the nonlinear friction and integrator. To check the possibility of limit cycles, describing function method is used.
局所副腎皮質호르몬濟의 Cantharidin 水疱로 誘發한 瘡傷 治癒에 미치는 影響에 관한 硏究
鞠泓一 梨花女子大學校 韓國生活科學硏究院 1980 韓國生活科學硏究院 論叢 Vol.25 No.-
저자는 새로운 국소부신피질호르몬제에 생체평가방법의 개발을 목적으로 33명을 대상으로 국소부신피질호르몬제를 Cantharidin으로 유발한 창상에 도포하여 창상 치유의 연장 여부를 관찰한 바 Cantharidin의 수포 형성 소요 평균시간은 평균 4시간이었고, 창상 치유 연장정도는 수용성 연고기제만을 도포했거나 아무것도 바르고 않은 부위가 6월로 정상 창상 치유기간을 보였으며, Fluocortolone복합연고제가 12일로서 가장 연장되었다. 또한 국소부신피질호르몬제의 후유증으로는 Fluocortolone 복합제에서 제일 많이 나타났고, 색소 변화와 모세혈관 확장 볼 수 있었다. We had perfomed this study for development of human assaying method of topical corticos-teroid with 33 patients. Corticosteroids was applied on wound induced by cantharidin and then obsercation of wound healing time was made. 1. Minimal blistering time was 4 hours in average. 2. Delaying time of wound healing was about 6 days in average at the sites applied simple water soluble cream base and applied none. 3. Delaying time of the lesion applying combined ointment of fluocortolone and fluocortolone trimethylacetate was 12 days in average, 10.3 days in triamcinolone acetonide, 11 days in desoxymenthasone and 9.2 days in hydrocortisone respectively., 4. Sequelae of topical corticosteroid were pigmentart disorder, telangiectasia, scar and atro-phy which was most characteristic lesion in case of flucortolone combined ointment.
요관결석 환자에서 강성요관경하 제석술과 요관절석술에 대한 임상적 고찰
김홍섭,황선태,노용수,양상국,박치영 건국대학교 의과학연구소 1995 건국의과학학술지 Vol.5 No.-
Patients with ureteral calculi may be managed by expectant, invasive, or noninvasive treatments, depending on the stone composition, size and location, expectations of the patients, and experience of the surgeon. Currently ureteroscopic removal of stone(URS) has been popularly used for the treatment of ureteral calculi. From January 1992 to December 1994,we retrospectively compared the clinical results of 87 URS's to those of 31 ureterolithotomies and analysed the factors that affect the result of URS. The clinical results of two groups were summarized as follows The mean stone size was 7.6㎜ in URS group and 12.1㎜ in ureterolithotomy group. In 81.6% of URS group, the stone was located in the lower ureter and 71% of ureterolithotomy group in the upper ureter. The mean operation time, hospital stay and costs of the URS group, 96.6% of the stone were removed or disintegrated. There was no statistical significance in the success rate of URS along the sex difference, the location and size of stone. However, the higher the location of stone was, the more operation time spent. The complication rate of URS was estimated 26.5% but most of complications were resolved by conservative management. We conclusively suggest that the URS is the acceptable alternative modality of the ureterolithotomy for the treatment of the ureteral calculi.
발레의 1st Position 점프 동작 시 신발 유형에 따른 하지의 운동학적 비교분석
염창홍,박영훈,서국웅,예정복 釜山大學校 附設 體育科學硏究所 2003 體育科學硏究所 論文集 Vol.19 No.-
The purpose of this study was to investigate the height of jump, angle of the ankle and knee, the angular velocity of the ankle and knee between two types of ballet shoes during a jump in the 1st position. The subjects were 5 female ballet majors of university in Busan, the majors who have been dancing ballet for six years on the average. The conclusions are as follows: 1. The height of jump had no significant difference between two types of ballet shoes, and then the average of the height of jump with point shoes group was a little higher than ballet shoes group.....
Tripledecker 착물, (CpCo)_2(C_4R_4)과 Alkyne과의 반응
嚴在國,李元植,金碩峯,車震淳,李炯秀,李東鎬,金洪碩,沈相喆 대구효성가톨릭대학교 자연과학연구소 1993 基礎科學硏究論集 Vol.1993 No.1
트리플데카 착물류, bis-(η^5-cyclopentadienyl)-μ-(η^4-1,2,3,4-tetraalkylcyclobutadiene)dicobalt들은 Jonas시약과 2-hexyne 또는 3-hexyne을 실온에서 동량으로 반응시킬때, 50% 이상의 최대 수율이 얻어졌다. 한 종류의 트리플데카 착물인 bis-(η^5-cyclopentadienyl)-μ-(η^4-1,2,3,4-tetraalkylcyclobutadiene)dicobalt(13)는 실온에서 3-hexyne과 반응시키면, 착물 (η^5-cyclopentadienyl)cobalt-acyclopentadiene-μ-(η^4-2,4-cobaltacyclope-ntadiene)(η^5-cyclopentadienyl)cobalt(15)로 이성화되었다. 다른 한 종류의 트리플데카 착물, bis-(η^5-cyclopentadienyl)-μ-(η^4-1,3-dimethyl-2,4-dipropyl-cyclobutadiene)dicobalt(14)를 2-hexyne 과 반응시켰더니 1,3,5-tri-methyl-2,4,6-tripropyl benzene화합물이 생성되었다. The tripledecker complexes, bis-(η^5-cyclopentadienyl)-μ-(η^4-1,2,3,4-tetraalkylcyclobutadiene)dicobalt were produced by the reaction of Jonas reagent with 2-hexyne and 3-hexyne in the maxi-mum yield(above 50%) when they were reacted in eq-molar amounts at room temperature. A tripledecker complexes,bis-(η^2-cyclopentadienyl)-μ-(η^4-1,2,3,4-tetraalkylcyclobutadiene)dicobalt(13) was isomerized to (η^5-cyclopentadienyl)cobalt-acyclopentadiene-μ-(η^4-2,4-cobaltacyclope-ntadiene)(η^5-cyclopentadienyl)cobalt(15) on reacting with 3-hexyne at room temperature. Another tripledecker complex, bis-(η^5-cyclopentadienyl)-μ-(η^4-1,3-dimethyl-2,4-dipropyl-cyclobutadiene)dicobalt(14) was decomposed to give 1,3,5-trimethyl-2,4,6-trip-ropylbenzene through an intermediate complex by the reaction of 2-hexyne.