비전시스템을 이용한 로봇 위치 제어에 관한 연구

장완식,신광수,백은석 조선대학교 생산기술연구소 1996 生産技術硏究 Vol.18 No.1

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end effecters of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameter estimated by the iteration method. The method is tested experimentally with three-axis manipulator in two ways; a) the estimation model test, b) a three-dimensional point placement task. These results show that control scheme used is precise and robust.

第五次 敎育課程에 의한 中學校 生物 敎科書의 比較 分析 硏究

鄭玩鎬,車喜英,金英信 한국교원대학교 과학교육연구소 1991 청람과학교육연구논총 Vol.1 No.1

The purpose of the present study are to analyze the contents of the experiments and observations contained in the biological domains in five different kinds of 'Science' textbooks of junior high school developed by the new fifth curriculum and to compare it with the 'Science' textbook of junior high school developed by the fourth curriculum in order to serve as basic information for improving Science theaching. The conclusions obtained are as follows: 1. The characteristics of newly developed textbooks is addition to the problems served by the real education system and by experienced teachers. 2. The frequency of the experiments and observations at the biological sections in the old textbook is 32 times and is less than 36 times in newly developed textbook 3. The ability to perform the experiments and observation is mainly 'observation power', and their major contents are related with 'classification'. 4. In the case of material organisms, while plants are intensively employed in the old textbook, animals and plants are equally employed in this new textbook. Many protozoa, however, are rarely introduced. 5. According as the necessary equipments are increased, each school must make an effort to equip them.

養生溫度가 混合材를 使用한 Mortar의 强度에 미치는 影響

姜信業,金成完 충남대학교 농업과학연구소 1976 農業技術硏究報告 Vol.3 No.2

This research was attempted as one of studies on the strength of mortar added admixtures at different curing temperatures. Variations of curing temperature to test compressive strength, tensil strength and bending strength were 20℃, 30℃ and 35℃ and these results were summarized as follow : In strength of mortar added briquette ash, the compressive strength was increased 1.58 percent, the tensile strength 0.96 percent, and the bending strength 1.26 percent compared with standard strength, by increasing one degree of celsius temperature. Also in strength of mortar added fly ash, the compressive strength increased on the average 1.3 percent, the tensile strength 0.99 percent, and the bending strength 1.18 percent at the above conditions. In case of using fly ash as admixture, maximum compressive strengths was attained at the level of 25 percent of fly ash, maximum tensile strength at the level of 20 percent of fly ash, and maximum bending strength at the level of 20 percent of fly ash. In case of using briquette ash, maximum compressive strength was attained maximum strength at 20 percent of the admixture, maximum tensile strength at the level of 15 to 20 percent of admixture and maximum bending strength at the level of 20 percent of admixture. Although addition of briquette ash was less effective in increasing the strength compared with the addition of fly ash, briquette ash might be used as one of admixtures because the control of curing temperature might affect in getting the required practical strength.

연약지반중의 흙막이구조물의 거동해석에 관한 연구

안종필,기완서,오영신 조선대학교 국토개발연구소 1997 국토개발연구 Vol.17 No.1

Recently, a rapid economical development and industrialization require large amount of land of industrial estate and expansion of citis. Therefore the construction of large and deep basements takes place in built up areas where the braced excavation for earth retaining structures causes many problems such as settlement and damages of nearby buildings and underground utilities. This study deals with the behavior of the retaining earth structures and the ground movement around it based on the measuring results which were obtained from the two ground sites. The results of elasto-plastic wall design program involving the effect of lateral flow pressure showed a good agreement with the output of finite difference computer program which covers the behavior of wall as the ground movement around it.

흙의 密度와 含水比가 剪斷强度에 미치는 影響

趙成燮,姜信業,姜乂默,金成完,金聲來 충남대학교 농업과학연구소 1978 農業技術硏究報告 Vol.5 No.1

It has been known that the shear strength of soil is an important design parameter for the foundation of structures, the retaining walls, the slope failures and so forth. In this study, the shear test was performed by using the direct shear apparatus under various degree of the moisture content and the density of the sample soils. The results of the study were summarized as follows; 1. The shear strength of soil increased with increase in the dry density of soil, and at the same level of density of the sample the shear strength of soil showed large values on a good grading of the sample. 2. The cohesion of the soil varied directly with the dry density of it, however the internal friction angle of soil was not affected by the dry density of the sample. 3. The shear strength of sample varied inversly with the moisture content of it, and this phenomenon was apparent on a good grading of sample. 4. The cohesion of soil showed maximum value when the moisture content of the soil reached optimum level and the internal friction angle decreased with increase in the moisture content of it. These phenomena were very obvious on a good grading sample, SDC-1. 5. The cohesion of the soil decreased with increase in void ratio of the sample, but the internal friction angle of the sample didn't show such tendency.

제2형 당뇨병 환자에서 비만 지수와 죽상경화증 위험인자들과의 상관성

정병천,박순홍,이주영,이신원,정성창,김정국,하승우,김보완 대한비만학회 2003 The Korean journal of obesity Vol.12 No.2

연구배경: 비만은 제2형 당뇨병의 중요한 병인이면서 죽상경화성 동맥질환의 위험인자인 인슐린 저항성, 지질대사 이상 및 고혈압의 원인으로도 인정되고 있다. 한편 비만에 의한 대사성 및 혈관 합병증은전신적 지방량의 증가보다 복강내 지방축적이 병인적 중요성을 가지고 있다고 한다 그러나 국내의 제2형 당뇨병 환자를 차상으로 비만과 이들 죽상경화증 위험인자와의 상관관계를 연구 조사한 성적은 많지않다. 이에 제2형 당뇨병 환자에서 전신적 비만과 복강내 지방 축적을 반영하는 각각의 신체계측지수들과 죽상경화증 위험인자와의 상관성을 검토함으로써 국내 제2형 당뇨병 환자의 비만도가 대사성 및 혈관성 합병증에 미치는 영향과 신체계측지수들의 임상적 가치를 평가하고자 하였다. 방법 : 제2형 당뇨병 환자 425명 (남자 196명, 여자 229명)을 차상으로 하였다 임상적 단백뇨가 있거나 인슐린 치료, 혈압강하제 또는 지질대사개선제를 복용하는 환자는 제외시켰다. 전신 비만은 체용적지수 그리고 피부두겹 두께로 산출한 체지방률을, 복강내 지방축적도는 허리둘레 및 요둔위비를 이용하였다. 죽상경화증의 위험인자로는 혈당 조절 정도를 나타내는 공복 혈당과 당화혈색소 농도, 인슐린 저항성을 나타내는 공복 인슐린 및 C-peptide 농도, 지질 대사 상태를 나타내는 총 콜레스테롤, 중성지방, 고밀도지단백 콜레스테롤 및 저밀도지단백 콜레스테롤 농도 그리고 수축기 및 이완기 혈압을 선택하였다. 전신 비만지수 및 복부 비만지수와 이들 위험인자와의 상관관계는 연령과 당뇨병 이환기간을 보정하고 편상관분석법을 사용하였다. 결과: 1 여성군에서 남성군에 비해 체용적지수(24.2 대 23.0kg/㎡, p<0.01) 및 체지방률(23.8 대13.5%, p<0.01)은 다소 높았으나 허리둘레 (87.0 대 85.8 cm)와 요둔위비 (0.96 대 0.96)는 차이가 없었다. 2. 인슐린 저항성을 반영하는 공복 인슐린 및 C-peptide 농도는 체용적지수. 체지방률, 허리둘레 및 요둔위비가 커질수록 증가하는 양의 상관관계를 보였다(상관차수 0.21∼0.42, 모두 p<0.05). 3. 혈청 지질중에는 고밀도지단백 콜레스테롤만이 남성 환자군에서 비만지수들과 약한 음의 상관성을 보이는 경향이었고, 총 콜레스테롤 및 중성지방농도는 상관성이 없었다. 4. 수축기 및 이완기 혈압은 남성군에서만 체용적지수. 체지방률, 허리둘레 및 요둔위비가 커질수록 상승하는 양의 상관관계를 보였다(상관차수 0.21∼0.33, 모두 p.0.05). 결론. 국내 제2형 당뇨병 환자들의 전신 비만도 및 복부 비만도가 서구인에 비해 심하지는 않으나 포도당 대사, 인슐린 저항성, 지질 대사 및 고혈압에 위해한 영향을 미칠 수 있는 수준에 이르고 있으며 이는 결국 죽상경화증의 위험인자로도 작용하게 될 것임을 시사한다고 하겠다. 그리고 신체계측을 통한전신 비만 및 복부 비만 지수 모두가 당뇨병 및 죽상경화증의 위험을 간접적으로 예견하는 유용한 척도가 될 수 있을 것이다. Background: Obesity is the powerful risk factor for type 2 diabetes and also associated with a significantly increased risk of insulin resistance, dyslipidemia, hypertension and atherosclerosis. Although obese individuals have these diseases, the relationship between obesity and these diseases was not certain until regional fat distribution was taken into account. Reports about the relationship between obesity and the risk factors of atherosclerosis in type 2 diabetics in Korea are very rare. To evaluate the relative importance of anthropometric indices on the development of atherosclerosis and obesity-related metabolic and vascular complications, the correlations of these indices with the risk factors for atherosclerosis were studied. Methods: Patients with type 2 diabetes mellitus (n=425, male 196, female 229) who not used antihy- pertensives or anti-lipidemic agents were investigated. Body mass index (BMI) and percentage of body fat (%BF) estimated by skinfold-thickness in assessing generalized adiposity, and waist circumference (Wc) and waist-to-hip ratio (WHR) in assessing visceral adiposity were taken as anthropometric indices. We included the indicators of glycemic control (fasting blood sugar and HbAlc), insulin resistance (fasting serum insulin and C-peptide concentrations), lipid abnormalities (serum total cholesterol, triglyceride, HDL-cholesterol, and LDL-cholesterol concentrations), and systolic and diastolic blood pressure as risk factors for the development of atherosclerosis. Partial correlations of the anthropometric indices with those risk factors were investigated with adjustment of age and duration of illness. Results: 1. BMI and %BF in female patients group were higher than those in male (24.2 vs 23.0 kg/㎡, 23.8 vs 13.5%, respectively, p<0.01 in all) although Wc and WHR were similar between both groups. In general, both body adiposity and abdominal obesity in them were much lower than in the Western. 2. Serum insulin and C-peptide levels were positively correlated with BMI, %BF, Wc and WHR (r=0.21~42, p<0.05 in all). 3. Serum total cholesterol, triglyceride and LDL- cholesterol were not correlated with any anthropometric indices. A weak negative correlation of serum HDL-cholesterol with these indices was found in male patients group. 4. Both systolic and diastolic blood pressures were positively correlated with all these indices only in male group (r=0.21~33, p<0.05 in all). Conclusion: These results suggested that the severity of both generalized and visceral adiposity in these patients with type 2 diabetes mellitus were only mild but adiposity with abdominal distribution of body fat in diabetes mellitus could be a significant risk factor of developing atherosclerosis. In clinical practice, these anthropometric indices indicating general adiposity and abdominal obesity may provide useful information for predicting disease risks, especially of diabetes and cardio- vascular disease indirectly.

철근콘크리트 연속보에서 부분프리스트레스 도입에 의한 휨보강 효과에 관한 연구

한병찬,윤현도,박완신,황선경,임재형,문정호 대한건축학회 2004 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.24 No.1(구조계)

A strengthening technique for reinforced concrete beams using external unbonded reinforcement offers advantages in speed and simplicity of installation over other, established, strengthening techniques. The purpose of this paper is to investigate the capabilities of a new retrofitting technique, namely external prestressing(Bow), for flexural strengthening of beams. The paper provides a general description of structural behavior of beams strengthened using the technique. Results of 2 physical tests on strengthened reinforced concrete continuous beams are reported and compared. It is shown that the technique can provide greater strength enhancement to lightly reinforced sections and that provision of deflectors enhances efficiency.

3축 제어용 시뮬레이터의 로드 프로파일 재현 소프트웨어 개발

정상화,이규태,장완식,류신호 朝鮮大學校 機械技術硏究所 2001 機械技術硏究 Vol.4 No.2

실제 운동조건과 같은 환경을 제공하는 다축 제어용 시뮬레이터는 설계나 평가에 있어 대단히 편리하면서도 경제적인 이점을 제공하여 준다. 일반적으로 완성차의 경우 설계에서부터 개발, 실험에 이르기까지 시간과 개발과정에 막대한 비용이 소모되고 있다. 그리고 자동차 부품업체에서는 완성차업체의 부품 검사서의 요구에 의해 시뮬레이터를 구비하고자 노력하고 있으나, 재현소프트웨어의 미비로 어려움을 겪고 있는 실정이다. 본 논문은 개발된 프로그램을 이용하여 기아자동차의 내구로(belgian road), 대우자동차의 도시로(city road), 고속도로(highway), 자갈로(gravel road)등의 신호를 입력하여 실제 실험을 수행함으로서 로드 프로파일 재현 소프트웨어의 타당성을 검증하였다. 이 과정에서 실험차량의 현가장치와 타이어가 비선형이기 때문에 초기 구동화일에 대한 응답신호는 요구되는 신호와 차이가 발생하였는데 이 오차는 반복 개선작업을 통하여 최소화시키면서 응답신호가 요구신호에 일치하도록 반복작업을 되풀이하였다. Full scale durability test in the laboratory is an essential of any fatigue life evaluation of components or structures of the automotive vehicle. Component testing is particularly important in today's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, Hydraulic road simulator is used to carry out the fatigue test and the vibration test. In this paper, the algorithm and software to realize the real road profile are developed. The operation software for simultaneously controlled 3-axial simulator is developed and the input and output data are displayed window based PC controller in the real time. Futhermore, the software to generate the real road profile are developed. The validity of the software are verified by applying the belgian road, the city road the highway, and the gravel road. The results of the above experiment show that the real road profiles are realized well after 10th iteration. .

Micro Gas Sensor의 Membrane용 ${SiN}_{x}$막과 ${SiN}_{x}/\textrm{SiO}_{x}/{SiN}_{x}$막의 응력과 굴절율

이재석,신성모,박종완,Lee, Jae-Seok,Sin, Seong-Mo,Park, Jong-Wan 한국재료학회 1997 한국재료학회지 Vol.7 No.2

박막형 접촉연소식을 포함한 마이크로 가스센서에서 membrane은 Si식각시 식각정지용으로서 또 센서 소자를 지지하는 층으로서 응력이 없어야 하며 이는 응력이 membrane파괴의 주 원인으로 작용하기 때문이다. 이에 따라 본 연구에서는 증착조건이 low pressure chemical vapor deposition(LPCVD)법과 sputtering법으로 제작된 $SiN_{x}$과 $SiN_{x}/SiO_{x}/(NON)$막의 응력고 굴절율 변화에 미치는 효과에 대한 실험을 행하였다. LPCVD의 경우 단일막인 $SiN_{x}$의 압축응력 및 굴절율을 나타내었다. Sputtering의 경우 $SiN_{x}$는 공정압력이 1mtorr에서 30torr까지 증가할수록 인가전력밀도가 $2.74W/cm^2$에서 $1.10W/cm^2$으로 감소할수록 응력값은 압축에서 인장으로 전환되었으며 본 실험에서 응력이 가장 낮게 나온 시편의경우 압축응력으로 $1.2{\times}10^{9}dyne/cm^2$가 공정압력 10mtorr, 인가전력밀도 $1.37W/cm^2$에서 얻어졌다. 굴절율은 공정압력이 1motorr에서 30motorr까지 증가할수혹 인가전력밀도가 $2.74W/cm^2$에서 $1.10W/cm^2$으로 감소할수록 감소하여 2.05에서 1.89의 변화를 보였다. LPCVD와 sputtering으로 증착된 막들은 모두 온도가 증가함에 따라 응력이 감소하였으며 온도감소시 소성적인 특성을 나타내었다. Micro gas sensors including thin film catal) tic type require stress-free memhrancs for etch stop of Si anisotropic etching and sublayer of sensing elements hecause stress is one of the main factors affecting breakdown of thin membranes. This paper reports the effects of deposition conditions on stress and refractive index of $SiN_{x}/SiO_{x}/(NON)$ films deposited by low pressure c11ernic;rl vapor deposition(L, t'CVI)) 2nd reactve sputtering. In the case of I.PCVI1, the stresses of $SiN_{x}$ and NON films arc $7.6{\times}10^{8}dyne/cm^2$ and $3.3{\times}10^{8}dyne/cm^2$, respectibely, and the refractive indices are 3.05 and 152, respectively. In the cxse oi the sputtered SiN, , compressi\e stress decreased in magnitude and then turned to tensility as increasing proc, ess pressure by lmtorr to 30mtorr and cicreasmg applied power density by $2.74W/cm^2$ to $1.10W/cm^2$. The hest value of film stress obt;~ined under condition of lOmtorr and $1.37W/cm^2$ in this' experiment was $1.2{\times}10^{9}dyne/cm^2$ cnnipressive. The refr~ict~ve index decreased from 2 05 to 1 89 as decreasing applied power density by lnitorr to 3Orntorr and increasing process pressure hy $2.74W/cm^2$ to $1.10W/cm^2$. Stresses of films deposited by both LPCVL) and sputtering decreased as incre;lsing temperature and showed plastic behavior as decreasing temperature.

Application of Thidiazuron and Paclobutrazol in Temporary Immersion System for the Commercial Micropropagation of Banana Plantlets

Sin-Wan Lee 한국원예학회 2006 한국원예학회 기타간행물 Vol.- No.-