SIIM 퍼지 PID 제어기를 이용한 3축 푸마 로봇의 경로 제어에 관한 연구

석홍성,채창현,고택범,김희년 금오공과대학교 산업기술개발연구원 2000 産業技術開發硏究 Vol.16 No.-

This paper describes the design of the Fuzzy PID controller using simplified indirect inference method. First, the fuzzy digital PID controller are derived from the conventional continuous time linear ones. Then the fuzzification, control-rule base, and defuzzification using SIIM in the design of the fuzzy digital controller are discussed in detail. The resulting controller is a discrete time fuzzy version of the conventional digital PID controller, which has the same linear structure, but are nonlinear functions of the input signals. The proposed controller enhances the self-tuning control capability, particularly when the process to be controlled is nonlinear. When the SIIM is applied, the fuzzy inference results can be calculated with splitting fuzzy variables into each action component and are determined as the functional form of corresponding variables. So the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. Computer simulation results have demonstrated the superior to the control performance of the conventional digital PID controller. Lastly, it is applied to the trajectory control of the PUMA robot with three-axis.

유사학과 조정 및 교양교과과정개편에 관한 연구

이종범,김규연,전지용,이춘의,홍석주 朝鮮大學校 1995 교과교육연구 Vol.17 No.-

CFRP 복합재 적층판의 파괴메카니즘에 관한 연구

이권범,박환규,홍석주,김기형 조선대학교 동력자원연구소 1996 動力資源硏究所誌 Vol.18 No.1

In this study, when CFRP lamimates are subjected to static loading by the indentation of steel ball to examine a failure mechanism of lamimates, the fracture surface of interlaminar delamination generated at interfaces is investigated by the scanning electron microscopy (SEM). When orthotropic CFRP laimates stacked with two interface are subjected to static loading, interlaminar delaminations extend from the loading side to delamination edge even at any interface, and the fracture surface fo interlaminar delamination generated at two interfaces is symmertrically formed. In the CFRP laminates, the fracture mechanism sppears mainly to be the mixed mode(modes Ⅰ+Ⅱ), and the ratio of mixed mode varies partially. After the fracture initiates at the interface near the loading side with mode Ⅰ, the mixed mode gradually developes, but the total surface at the opposite plane to the loading side fractures with the mixed mode(modes Ⅰ+Ⅱ). While transverse cracks are generated, the direction of shear stresses reverses itself ar the delaminated surface, clarified by the hackle direction of fracture surface.

생쥐 안구에서 산화적 손상에 의한 superoxide dismutases와 metallothionein의 나이에 따른 유도의 차이

이홍영,이태범,안춘산,변익건,최석민,권대승,최철희 朝鮮大學校 附設 醫學硏究所 2003 The Medical Journal of Chosun University Vol.28 No.2

The basal levels and inducibility of superoxide dismutases (SODs; Mn-SOD and Cu/Zn-SOD) and metallothionein (MT) was investigated in the eyes of mice with age. Oxidative stress was induced by paraquat, an intracellular superoxide generator, in 1, 4, 8, and 12 months of age and then mRl\As of SODs and MT in the eyes were determined by RT-PCR assay. The basal level of Mn-SOD mRNA increased from 1 month to 8 months but decreased thereafter. Mn-SOD mRNA was induced by paraquat until 4 month but not after 8 months. On the other hand, the basal level of Cu/Zn-SOD mRNA decreased with age. Cu/Zn-SOD mRNA was not induced by paraquat until 4 months. The basal level of MT mRNA declined with age whereas its inducibility by paraquat was intact at all ages. Taken together, the results indicate that SODs and MT are differentially expressed and induced according to the age. It could be also implicated that failure in induction of Mn-SOD with age may be one of causative factors in the aging process whereas induction of Cu/Zn-SOD and MT may be one of important factors in defense against oxidative stress in the eyes. 서론: 최근 노화는 반응성 산소종에 의한 산화적 손상의 축적결과라는 설이 각광을 받고 있다. 노화과정에서 노화와 관련된 질병을 비교적 잘 나타내는 안구를 선정하고, 정상생쥐의 안구에서의 superoxide dismutases (SODs) 와 metallothionein (MT) 의 함량 뿐 아니라 산화성 스트레스를 유발하는 paraquat에 의한 SODs와 MT의 유도능과 나이와의 상호관계를 조사하여 이들의 노화과정에서의 역할을 규명하고자 하였다. 재료 및 방법 : 본 연구에서 1, 4, 8, 12개월된 정상생쥐의 안구에서 반응성 산소종 생성의 초기에 중요한 방어기전인 SODs mRNA와 hydroxy radical (OH·)에 의한 산화적 손상의 마지막 방어기전인 MT mRNA의 함량과 산화성 스트레스를 유발하는 paraquat에 의한 유도능을 역전사 중합효소 연쇄반응 (RT-PCR) 으로 조사하였다. 결과: 정상생쥐의 안구의 노화과정에서 Mn-SOD와 Cu/Zn-SOD, 그리고 MT mRNA의 항정상태 함량을 조사한 결과, Mn-SOD mRNA는 8개월까지는 증가하다가 12개월에서 감소하였으나, Cu/Zn-SOD mRNA는 나이와 함께 감소하였다. 그러나 MT mRNA 는 8개월까지는 감소하다가 12개월에서 약간 증가하였다. 산화성 스트레스를 유발하는 parraquat에 의하여 Mn-SOD mRNA는 1개월과 4개월에서만 유도되었고, Cu/Zn-SOD mRNA는 8개월과 12개월에서만 유도되었으며, MT mRNA는 관찰한 전 기간에서 유도되었다. 결론: 이상의 결과를 종합하면 SODs와 MT는 안구에서 나이에 따라 서로 다르게 발현되고 유도되는 것으로 생각되며, 노화과정에서 Mn-SOD유도의 이상이 노화의 원인이 되는 인자로 작용하고, 반면에 Cu/Zn-SOD와 MT의 정상적인 유도능이 산화적 스트레스에 대하여 방어역할을 하는 것으로 생각된다. 이와 같이 연령이 증가함에 따라 Mn-SOD, Cu-Zn-SOD, 및 MT의 발현과 유도능의 차이가 있게 되고, 그 결과 반응성 산소종에 의한 산화적 손상의 정도의 차이로 노화의 속도가 조절되지 않나 생각된다.

Pd 촉매하에서 allylic alcohol과 hypervalent iodine 화합물의 위치 선택적 vinylation에 관한 연구

강석구,이홍우,장수범,김태현,편성재 성균관대학교 기초과학연구소 1995 論文集 Vol.46 No.2

The formation of carbon-carbon bond by palladium-catalyzed coupling of aryl or vinyl halides with olefins, known as the Heck reaction, has become a powerful tool in organic chemistry. In the case of allylic alcohols, palladium-catalyzed reaction of organic halides usually affords β-substituted ketones or aldehydes rether than β-substituted allylic alcohols.

Pd 촉매 하에서 terminal alkynes, aryl, alkenyl 혹은 alkynyl iodine 화합물의 수용성 조건에서 cross-coupling에 관한 연구

강석구,이홍우,장수범,호필수 성균관대학교 기초과학연구소 1995 論文集 Vol.46 No.2

The ligand-free Pd(OAc)_2-catalyzed coupling reaction of aryl-, alkenyl-, and alkynyliodonium tetrafluoroborate and iodanes with terminal alkynes proceeds readily in the presence of NaHCO_3 in aqueous medium to afford the substituted alkynes in high yields under mild conditions.

브랜딩 아로마 에센셜오일의 항스트레스효과에 대한 실험연구

오홍근,최진영,전겸구,이준석,박동기,최성돈,전태일,김미경,김석범 한국정신과학학회 2001 한국정신과학회 학술대회 논문집 Vol.14 No.-

Objectives: This study was performed to evaluate the antistress effects of two aromatic blends being composed of synergic essential oils and also to differentiate its effectiveness between two. Methods: The subject were 20(10 for men, 10 for women) for vital factors and another 20(10 for mem, 10 for women) for serum catecholamine. Vital factors(blood pressure, pulse), electroencephalograpy, psychological tests(SACL, STAI) and serum catecholamine were applied to the subjects. Results: 1. All two aromatic synergic blends revealed no significant differnce of vital factors after inhalation but stable conditions generally by lowering pulse and blood pressure after inhalation. 2. Both blends were significantly valuable in antianxiety and antistress effects statistically. There were no statistically difference between two blends. 3. There were no significant difference in all brain waves after inhalation of two blends but generally stable brain waves were seen in all areas. 4. There were antistress effects of both blends in accordance of decreased serum catecholamines after inhalation of both blends. There were no significantly difference between two blends statistically. Conclusion: Both two aromatic synergic blends reached effective antistress and antianxiety states after inhalation of each blends. There were no siginificant difference between two blends. Further studies about the effectiveness between the amount of aromatic essential oils and the duration of inhalation should be considered. Also clinical applications of these two aromatic synergic blending oils to develop the aromatic products would be affordable in the future.

에멀젼 연료의 성능평가에 관한 연구

양원호,이동원,김홍석,박윤범,현명택 제주대학교 공과대학 첨단기술연구소 2005 尖端技術硏究所論文集 Vol.16 No.2

Emulsified fuel (mixed fuels with a small quantity of water) is suggested as a way of simultaneously diminishing NO_(x) and particulate matter. It is, therefore, an eco-friendly fuel and economical energy source. In this research, a comparative analysis between diesel fuel and emulsified fuel on their characteristics and the performance was done.

유방암에서 PCR을 이용한 p53 유전자의 Codon 175에서의 점돌연변이에 관한 연구

김영철,김종석,김선한,목영재,최상용,문홍영,구범환 고려대학교 의과대학 1993 고려대 의대 잡지 Vol.30 No.2

The p53 gene, which is located in the short arm of chromosome 17, has been a constant source of fascination since its discovery at 1979. Allelic deletion coupled with mutation of the remaining allele is a theoretical hallmark of functional inactivation of tumor suppressor gene, and mutation and/or deletion of p53 gene is to be the most frequently observed genetic changes in breast cancer related to a single gene. In the present report, we have attempted to determine a point mutation at codon 175 which is known as one of four hot spots within highly conserved regions of the p53 gene where almost all of the reported mutations cluster A 304-bp fragment of exon 5 of p53 gene in fresh tissue of breast carcinoma was amplified by polymerase chain reaction (PCR), digested with Hha I restriction endonuclease, and electrophoresed. A point mutation was studied by observation of polymorphism with ethidium bromide staining under ultraviolet transillumination. The result revealed all of 14 carcinomas had wild-type p53 gene.

Application of In Situ Measurement for Site Remediation and Final Status Survey of Decommissioning KRR Site

Hong, Sang Bum,Nam, Jong Soo,Choi, Yong Suk,Seo, Bum Kyoung,Moon, Jei Kwon The Korean Association for Radiation Protection 2016 방사선방어학회지 Vol.41 No.2

Background: In situ gamma spectrometry has been used to measure environmental radiation, assumptions are usually made about the depth distribution of the radionuclides of interest in the soil. The main limitation of in situ gamma spectrometry lies in determining the depth distribution of radionuclides. The objective of this study is to develop a method for subsurface characterization by in situ measurement. Materials and Methods: The peak to valley method based on the ratio of counting rate between the photoelectric peak and Compton region was applied to identify the depth distribution. The peak to valley method could be applied to establish the relation between the spectrally derived coefficients (Q) with relaxation mass per unit area (${\beta}$) for various depth distribution in soil. The in situ measurement results were verified by MCNP simulation and calculated correlation equation. In order to compare the depth distributions and contamination levels in decommissioning KRR site, in situ measurement and sampling results were compared. Results and Discussion: The in situ measurement results and MCNP simulation results show a good correlation for laboratory measurement. The simulation relationship between Q and source burial for the source layers have exponential relationship for a variety depth distributions. We applied the peak to valley method to contaminated decommissioning KRR site to determine a depth distribution and initial activity without sampling. The observed results has a good correlation, relative error between in situ measurement with sampling result is around 7% for depth distribution and 4% for initial activity. Conclusion: In this study, the vertical activity distribution and initial activity of $^{137}Cs$ could be identifying directly through in situ measurement. Therefore, the peak to valley method demonstrated good potential for assessment of the residual radioactivity for site remediation in decommissioning and contaminated site.