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Yoshitsugu, Junji,Yoshida, Masanobu,Hiraki, Eiji,Inoue, Kenji,Ahmed, Tarek,Nakaoka, Mutsuo The Korean Institute of Electrical Engineers 2002 KIEE International Transactions on Electrical Mach Vol.b2 No.3
This paper presents an active auxiliary edge-resonant DC link snubber with a ringing surge damper and a three-phase voltage source type zero voltage soft-switching inverter with the resonat snubber treated here for the AC servo motor driver applications. The operation of the active auxiliary edge-resonant DC link snubber circuit with PWM voltage is described, together with the practical design method to select its circuit parameters. The three-phase voltage source type soft-switching inverter with a single edge-resonant DC link snubber treated here is evaluated and discussed for the small-scale permanent magnet (PM) type-AC servo motor driver from an experimental point of view. In addition to these, the AC motor stator current and its motor speed response for the proposed three-phase soft-switching inverter employing Intelligent Power Module(IPM) based on IGBTS are compared with those of the conventional three-phase hard-switching inverter using IPM. The practical effectiveness of the three-phase soft-switching inverter-fed permanent magnet type AC motor speed tracking servo driver is proven on the basis of the common mode current in a novel type three-phase soft-switching inverter-fed AC motor side and the conductive noise on the mains terminal interface voltage as compared with those of the conventional three-phase hard-switching inverter-fed permanent magnet type AC servo motor driver for the speed tracking applications.
Yoshitsugu Nasu,Yositaka Sakamaki,Yasuhiro Tomioka 국립중앙과학관 2016 Journal of Asia-Pacific Biodiversity Vol.9 No.2
The immature stages of Oecia oecophila (Staudinger, 1876) (Schistonoeidae) are described and illustrated for the first time. The biological notes are provided, and the phylogenetic relationships of the family discussed.
ORNITHOMIMIDS FROM THE NEMEGT FORMATION OF MONGOLIA
Yoshitsugu Kobayashi,Rinchen Barsbold 한국고생물학회 2006 고생물학회지 Vol.22 No.1
이 연구에서 몽골의 Nemegt층 (Maastrichtian)에서 산출된 두 ornithomimids (Gallimimus bullatus와 Anserimimus, planinychus), 그리고 잘 밝혀지지 않은 ornithomimid (Deinocheirus mirificus)를 재검토하였다. Gallimimus bullatus는 가장 잘 알려진 ornithomimids 중 한 종이지만 그 특징의 정의는 개정할 필요가 있다. Gallimimus bullatus의 앞발과 상박골 길이의 비율은 0.61이다. 이 수치는 ornithomimosaurs (평균 0.8 이상) 중에서 가장 작으며 이전 연구에서 제안된 것처럼 Gallimimus bullatus를 정의하는 좋은 특징이다. Anserimimus planinychus는 상박골의 deltopectoral crest가 크게 발달해 있고 긴 앞발과 위아래로 납작하고 거의 똑바른 앞발가락들을 갖고 있다. Anserimimus planinychus는 두 가지 특징 (biceps tubercle의 위치와 glenoid의 방향)을 Gallimimus bullatus와 공유하며 Harpymimus okladnikovi (원시적인 ornithomimosaur)처럼 긴 metacarpal Ⅲ를 갖고 있다. Deinocheirus mirificus는 발견 당시부터 그것의 계통발생학적 위치는 수수께끼였다. 금번 연구에서 이전에 연구되었던 수각류에 대한 3개의 커다란 데이터 조합에 기초해 계통발생학적 기초 분석이 시도되었다. 데이터 중 2개는 Deinocheirus mirificus가 ornithomimosaur에 속한 것으로 나타나는데 이는 이 종이 ornithomimosaur 같은 특징들 (즉, 거의 길이가 같은 완골과 두드러지지 않은 상박골의 deltopectoral crest)을 갖고 있지만 Deinocheirus mirificus는 계통발생학으로 ornithomimosaur로 확정할 수는 없다. 왜냐하면 다른 특징을 사용한 분석 결과는 이 종이 Ornithomimosauria와는 상관관계가 없게 나타나기 때문이다. Two ornithornimids (Gallimimus bullatus and Anserimimus planinychus) and an enigmatic omithomimid (Deinocheirus mirificus) from the Nemegt Formation (Maastrichtian) of Mongolia are reviewed in this study. Gallimimus bullatus is one of the best-known ornithomimids, but its diagnoses need to be revised. The length ratio of the manus/humerus in Gallimimus bullatusis 0.61. This is the smallest value in ornithomimosaurs (approximately 0.8 or more in other ornithomimosaurs) and may be a good character to diagnose Gallimimus bullatus as suggested by previous studies. Anserimimus planinychus is a unique ornithomimosaur in having strong deltopectoral crest of the humerus, dorsoventrally flat and nearly straight manual unguals, and long forelimbs. Anserimimus planinychus shares two characters (position of the biceps tubercle and alignment of the glenoid) with Gallimimus bullatus and has a long metacarpal I as in Ornithomimus edmontonicus (derived ornithomimosaur) and a long metacarpal Ⅲ as in Harpymimus okladnikovi (primitive ornithomimosaur). The phylogenetic position of Deinocheirus mirificus has been problematic since its discovery. Preliminary phylogenetic analyses are tested in this study based on three large data matrices of Theropoda from previous studies. In two of the data matrices results indicate that Deinocheirus mirificus is a possible ornithomimosaur because it has some ornithomimosaur-like features (e.g., subequal metacarpals and weak deltopectoral crest of humerus), but the phylognetic status of Deinocheirus mirificus as an ornithomimosaurs is not confirmed because results using the other character matrix placed this taxon outside of the clade Ornithomimosauria.
Minowa Yoshitsugu 단국대학교 일본연구소 2012 일본학연구 Vol.37 No.-
대마번은 통신사가 대마도에 도착한 후 강정 운용에 관해 한문과 구두로 자세하게 전하였다. 크게 네 가지였는데 그 중 두 번째가 통신사 수행원들의 밀무역 금지에 관한 것으로 통신사는 스스로 물품을 발견하여 이를 미연에 예방하였다. 세 번째는 통신사에 수행하는 자들이 일본국내에서의 난폭한 행위를 금하는 것이었다. 대마번측에서는 난폭한 행동을 했을 경우 이번에는 일본인들이 인내를 하지 않을 것이라 했다. 교토에서 동쪽 지역에 거주하고 있는 사람들은 성격이 급해서 난폭한 행동을 당하면 조선인을 죽일지도 모른다고 하였다. 그러나 정작 대마번 가신 무사들에게 명령한 사료에는, 참을 수 없는 치욕을 받았을 경우 조선인을 죽이라고 되어있었다. 난폭한 행위를 목숨 걸고 막겠다는 것이 대마번의 방침이었다. 1682년의 통신사 사행에서 사건은 거의 일어나지 않았다. 이 요구들을 대부분 받아들인 통신사는 장군에게 국서를 전달하는 것 외에 다른 큰 사명이 있었는데, 그것은 1683년에 발효되어졌던, 대마도와의 교역 및 왜관을 둘러싼 새로운 조약의 체결을 위해서였다. 이 계해약조를 대마번측에 수락시키기 위해서 통신사는 임술 사행에 관한 여러 요구들을 받아들인 것 같다. The Souke document also contains the actual condition about how they made use of the prior consultation. By confirming the fact, we become to have an understanding about the detailed contents and the actual conditions of the management of the prior consultation. After the diplomatic mission reached Tsushima, there was a full discussion between the two. There are four essential particulars. Second of all, Tsushimahan will not give permission to the illegal import of the diplomatic mission. This seemed to be realized. The third is that the diplomatic mission must not take violent behavior in Japan. Tsushimahan said that one could be murdered If one shows some kind of violent action. There is a record about a command in Souke document, which is When an unbearable dishonor is given, kill the person who gave oneself dishonor. Few trouble occurred in 1682 because of the strict regulation. However, for the diplomatic mission, they did not only have a mission to convey the letter from the King to the Shogun, but also had entrusted with some different important mission. It was to sign a new treaty with Tsushimahan about trade and the Japanese residential ristrict in Busan. They seemed to accept all the demands of Tsushimahan in order to make the new treaty granted.
Minowa Yoshitsugu 한국일어일문학회 2011 日語日文學硏究 Vol.76 No.1
従来紹介分析されてきた朝鮮語の仮名書きを含む資料は『陰徳記』、『絵入異国旅硯』、『朝鮮人来朝義式 并 詞つかひ/同御登城之次第并御名附』、『和漢三才図会』、『清道/朝鮮人大行列記大全/延享五辰年新板ゑ入』、『朝鮮人行烈』、『朝鮮物語』、『宝暦物語』、『長崎朝鮮風土記 全 附り 薩摩聞書』、『朝鮮人見聞書』、『津島日記』の11種である。これに、従来学界で知られていなかった、二種の『朝鮮人筆談并贈答詩』、『朝鮮人来朝物語』、『朝鮮人行列記 全』、『延享韓使録』、『延享来聘之記』、『朝鮮人行例次第』、『清道 朝鮮人大行列記』、『宝暦新刻大船用文』、『朝鮮通信使一行座目』、『桑韓筆語』、『朝鮮国王書書簡并進献目録』、三種の『和韓拾遺』、『延享宝暦度朝鮮人来聘記』、『三韓平治往来』、『朝鮮筆記』の19種を新しく紹介するとともに、原則として収録語彙のすべてを掲げ、それら仮名書きの特徴について検討を試みた。仮名書きを収録するのは写本と刊本があり、刊本が刊本、あるいは写本に影響を與えている場合もある。『和韓拾遺』と『宝暦物語』の場合は、ともに写本でありながら密接な関係が窺われる。写本が刊本に影響を與えたという現象は見ることができないようである。朝鮮固有語だけでなく、明らかに中国語とすべき語彙が多いのは、通信使に、唐通事も同行しており、筆談以外にも、唐通事が中国語で日本の一部人士と会話した可能性があり、それらの言葉をも朝鮮語として収録している可能性がある。通信使の一員が日本人の求めに応じて、漢字の朝鮮語音を示し、それが記録されているので、漢字音を日本人にどのように発音して聞かせたか、日本人がそれをいかにして聞き取り、仮名書きしたかという興味深い問題を内包している。一般に、江戸時代の仮名書き資料は、中国語を多く収録してしまっているほかに、意味不詳の語彙が多くあり、さらに分析が必要である。しかし、『朝鮮通信使一行座目』の漢字音表記と、『交隣須知』や當時の朝鮮語学習関連書にも見えない俗語をも載せる『朝鮮筆記』は、語学の資料として注目に値する。
Machine-learning-based approach to improve the positioning accuracy of large industrial robots
K. Yoshitsugu,D. Kato,T. Hirogaki,E. Aoyama,K. Takahashi 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this study, a system to reproduce the positional relationship of two flanges to be connected using an industrial robot and enable the manufacturing of the connecting pipes was developed. The objective was to ensure that the robot can exhibit a high absolute positioning accuracy even when trained offline so as to reproduce the space accurately. The error in various postures of the robot was measured using a laser tracker, and the servo information was simultaneously acquired by using the OpenNR-IF framework. The relationship between the positioning error and servo information was examined. It was noted that the relationship between multiple parameters such as the joint angle obtained as the servo information was highly complex. Therefore, the random forest approach was employed in machine learning to examine these relationships. Subsequently, the positioning error was predicted based on each parameter and corrected. Although the correction was inadequate, the mechanism to select the data to enhance the prediction accuracy was clarified, and several relevant key parameters were identified.