2 자유도 구륜 이동 로보트의 모델링과 경로추적

김원규,박종국,문종우,정용욱 慶熙大學校 1995 論文集 Vol.24 No.-

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robot with 2 d.o.f having the limited drive-torques. Controllability of mobile robot is revealed by using the kinematic model which analyzes motion of wheeled-mobile robot from the viewpoint of geometry. Instantaneously Coincident Coordinate System (ICCS), force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

冬蟲夏草의 抗轉移와 免疫增進에 關한 硏究

최우진,유화승,이용연,서상훈,조정효,이연월,손창규,조종관 대전대학교 한방병원 2000 惠和醫學 Vol.9 No.2

This experimental study was carried out to evaluate the effects of Cordiceps sinensis on the antimetastasis and immune activity. In order to investigate the effect of Cordiceps sinensis, the followings were performed; Cytotoxicity, inhibition of MMP-2 & MMP-9 gene expression, fraction of CD4+, CD8+, CD19+ in splenic cell, the moprphological change of splenic cells, gene expression of IL-12(p35), IL-12(p40), IFN-?? and splenic cell proliferation by CS-E. The results were obtained as follows. 1. CS-E did not present cytotoxic effect on L+14, B16-F10 melanoma cells and HMCB. 2. CS-E inhibited MMP-2 and MMP-9 gene expression more effectively compared with control group. 3. CS-E inhibited invasion of B16-F10 melanoma cells more effectively compared with control group. 4. CS-E helped CD4+, CD8+, CD19+ expression more effectively compared with control group. 5. CS-E activated phagocytic cells in spleen more effectively compared with control group. 6. CS-E helped IL-12(p35), IL-12(p40), IFN-?? gene expression in splenic cell more effectively compared with control group. 7. CS-E activated splenic cell proliferation more effectively compared with control group. From above findings, it is suggested that CS-E is able to inhibit metastasis of cancer and activate immune response system.

기구학적 불완전성을 갖는 구륜이동로보트의 기구학적 보정과 방향각 오차의 감소를 위한 속도 궤적의 설계

문종우,김원규,박종국 慶熙大學校 材料科學技術硏究所 1998 材料科學技術硏究論集 Vol.11 No.-

This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile robots'line-travelling. We derive the relative wheel-weight and the absolute wheel-weight to correct the radius of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along a straight-line perfectly and the velocity trajectory must have the chage of velocity at least one. To prove efficiency of the method in this paper, we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss the results.

MRAC를 이용한 2 자유도 구륜 이동로보트의 경로추적

문종우,김원규,박종국 경희대학교 자연과학종합연구원 1997 자연과학논문집 Vol.3 No.-

본 논문은 2 자유도 구륜 이동로보트의 기구학 모델과 기준모델 적응제어기 설계를 다루었다. 구륜 속도와 본체 속도를 계산하기 위하여 정기구학(forward kinematics)과 역기구학(inverse kinematics)를 유도하였으며, 제어변수의 수와 제어입력의 수가 동일하게 되도록 제어변수를 극좌표로 변환하였다. 구륜 이동로보트의 경로추적을 위한 제어기를 제안하였으며, 제어기 매개변수는 기준모델 적응제어(reference-model adaptive control, MRAC)에 기초한 적응법칙(adaptation law)에 의해 매 단계마다 갱신된다. 설계된 적응제어기를 분석하고, 제어 시스템의 안정성과 수렴성을 증명한다. 제어시스템의 유효성을 입증하기위해 모의실험을 수행하고, 그 결과를 제시한다. This paper presents the kinematic model and the design of a model-reference adaptive controller for wheeled-mobile robots(WMRs) with 2 d.0.f. We derive the forward kinematics and the inverse kinematics to calculate the wheel-velocity and body-velocity. The controlled variables are represented in the polar coordinate so that the number of the controlled variable can be reduced to the same number as the control input. A controller is proposed for path tracking, and then controller parameters are modified by adaptation law based on reference-model adaptive control(MRAC) each step. The adaptive controller is analyzed, and its stability and convergence are proved. Simulation is conducted to prove efficiency of the control system and the results are showed.

구륜이동로보트의 기구학적 보정과 모터 제어기의 가속도 해상도를 고려한 속도 궤적의 설계

문종우,김원규,박종국 慶熙大學校 1998 論文集 Vol.27 No.-

This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile wheel-weight to correct the radios of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along the straight-line perfectly and prove that it is attributed to the acceleration constraint of motor controllers and the velocity trajectory have to get a change of velocity in order that wheeled-mobile robots may converge to the straight line. And we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss results.

제조에 對한 文獻的 考察

안태규,최병렬,송기철,이용연,유화승,서상훈,최우진,조정효,이연월,손창규,조종관 대전대학교 한방병원 2001 惠和醫學 Vol.10 No.1

In the literatual study on Holotrichia, the results were obtained as follows ; 1. Holotrichia is larva of Holotrichia diomphalia Bates etc. powder or liquor of Holotrichia is used medically. 2. Appearance of Holotrichia is shape of kidney, yellowish color. 3. The oriental characters of Holotrichia is warm, toxicant, salty. 4. The significant efficancy of Holotrichia is breaking the stagnant blood. 5. Holotrichia can be applied to the diseases related to thrombosis, and recover the demage of liver. 6. Holotrichia avails Liver diseases such as Hepatitis, Liver cirrhosis, Hepatosplenomegaly, Hepatoma etc.

구륜이동로보트의 기구학 모델의 극좌표 변환과 기준모델 적응제어에 기초한 경로추적 제어기 설계

金鍾寓,金元圭,朴鍾國 경희대학교 산학협력기술연구원 1997 산학협력기술연구논문집 Vol.3 No.-

This paper presents the kinematic model and the design of a model-reference adaptive controller for wheeled-mobile robots(WMRs) with 2 d.o.f. We derive the forward kinematics and the inverse kinematics to calculate the wheel-velocity and body-velocity. The controlled variables are represented in the polar coordinate so that the number of the controlled variable can be reduced to the same number as the control input. A controller is proposed for path tracking, and then controller parameters are modified by adaptation law based on model-reference adaptive control(MRAC) each step. The designed adaptive controller is analyzed, and its stability and convergence are proved Simulation is conducted to evaluate the control system and the results are presented

2-자유도를 갖는 이동 로보트의 기구학 모델링

문종우,정용욱,김원규,박종국 慶熙大學校 1994 論文集 Vol.23 No.-

In this paper a systematic method for the kinematic modeling of a wheeled mobile robot is presented. This type of methodology is useful to analyze, design, simulate and control any kind of rolling robots. Using the four-wheeled 2-DOF mobile robot as an example, we then analyze the kinematic modeling and through the dead-reckoning updata algorithm, real-time control of WMR position is possible.

구강악안면 영역의 수술 시 악하 기관 삽관술의 유용성에 대한 임상적 고찰

김일규,장금수,최진호,오남식,류승현,김재우,정종권 大韓顎顔面成形再建外科學會 2003 Maxillofacial Plastic Reconstructive Surgery Vol.25 No.2

It is hardto make a decision of what route we will select for endotracheal intubation at open reduction of oral and maxillofacial trauma. In the patients with fractures of multiple facial bones combined with fracture of crainal basal bone, intermaxillary fixtion makes oro-endotracheal intubation impossible. And the possibility of injury to the fracture site of crainal basal bone and the impossibility of reconstruction of naso-orbito-ethmoidal(NOE) complex fractures also make the naso-endotracheal intubation difficult. But it is not easy to select the tracheostomy because of its several complications and abhorrences. For above reson, Altermir introduced submental route for endotracheal intubation as new technique in 1986 and Green etc. modified this technique in 1996. The purpose of this article is to evaluate the efficiency of submental route for endotracheal intubation after experience of 10-clinical cases for variable reasons with review of articles.

Bleomycin이 Mouse 간장의 Alkaline Phosphatase 활성에 미치는 영향

이규식,정호삼,이군자,김종우 한양대학교 의과대학 1987 한양의대 학술지 Vol.7 No.2

Bleomycin hydrochloride isolated from the Streptomyces veticillus has been widely used as an anticancer drug. In exhibits specific antineoplastic activity against squamous epithelial carcinomas of the skin. Bleomycin causes inhibition of DNA and protein synthesis by incorporating bithiazole group of the drug into DNA. The author undertook the present study to investigate the effect of bleomycin on the alkaline phosphatase activity in the mouse liver. The experimental animals were sacrificed at 6, 12, 24, and 48 hours after administration of 150 mg/kg of bleomycin. The activity of lkaline phosphatase was observed by Gomori's method for histochemical study. The results were as follows. The activity of alkaline phosphatase was decreased in the entire hepatic lobule of the 12 hours belomycin treated group and recovered in the 24 hours bleomycin treated group. Consequently, it is suggested that bleomycin has the cytotoxic effect on the hepatocytes.