로봇 그립퍼의 악력 제어

윤동우,오성남,김갑일,손영익,임승철,강환일 明知大學校 産業技術硏究所 2007 産業技術硏究所論文集 Vol.26 No.-

In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control, a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.

젊은 무월경환자의 골밀도에 관한 연구

강길전,이기환,박윤석 충남대학교 의과대학 지역사회의학연구소 1997 충남의대잡지 Vol.24 No.2

To examine the impact of amenorrhea on bone mineral density in women of reproductive age, 22 amenorrheic women aged 16-40 were studied Bone mineral density in the lumbar spine(L1-L4) as measured by dual energy X ray absorptiometry. The amenorrheic group showed a mean reduction in bone mineral density of 155 as compared with controls. Bone loss was related to the duration of amenorrhea and the severity of estrogen deficiency rather than to the underlying diagnosis. Patients with a history of fracture had significantly lower bone density than those without a history of fracture. In conclusion, amenorrhea in young women should be investigated and treated to prevent bone mineral loss. Menopausal women with a past history of amenorrhea should be considered to be at high risk of osteoporois.

특허 및 기술정보의 연계 검색에 관한 연구

강윤희,궁상환 호서대학교 반도체제조장비국산화연구센터 2001 반도체장비학술심포지움 Vol.2001 No.-

최근 정보통신을 비롯한 다양한 분야에서 새로운 기술과 아이디어를 이용한 기술개발이 활발하게 이루어짐에 따라 창의적 연구결과에 따른 특허 출원도 급격히 증가하고 있다.본 논문에서는 사용자의 특허검색 과정에서 특허와 관련된 기술문서를 동시에 검색이 용이하도록 지원하는 방식을 개발하는 것을 목적으로 한다.특허 및 기술정보 연계 시스템은 신규 특허 문서에 대한 분류를 위해 주제별 주요용어를 추출하고 특허 문서와 유사한 기술 문서를 코사인 유사도 기법을 사용하여 유사도에 따라 기술 문서를 사용자에게 제공할 수 있도록 설계하였다.

Estrogen 보충요법의 임상적 연구

강길전,이기환,박윤석 충남대학교 의과대학 지역사회의학연구소 1997 충남의대잡지 Vol.24 No.2

Thirty-eight healthy, perimenopausal women (aged 42-54 years) were allocated to 6 months of over of treatment with a cyclic combination of 2 mg estradiol valerate and 1 mg cyproterone acetate. 1. Satisfactory response to hormonal treatment was noticed in 32 patients (84.2%), but unsatisfactory response was noticed in 6 patients (15.8%). 2. Unsatisfactory response was especially noticed in group of patients who were in regular menstruation but complaines of menoparsal wymtoms. Accordingly, if unsatisfactory response was noticed, other couses of menopausal symptoms were evaluated, especailly ofr psychologic factor or stress factor. 3. After hormonal treatment body weight and blood pressure were not singificantly chanded. 4. After hormonal treatment GOT, GPT, alkaline phospatase, BUN, FBS, creatinine, triglycerid, HDL-cholesterol and total cholesterol were not significantly changed. 5. Side effects of durg were negligible and patiens were well tolerated the drug and compliance were good. On conclusion, it has suggested that a combination of estradiol valerate and cyproterone acetate was safe and effective for the treatment of menopausal symptoms without side-effects. However effects on bone density with this durg should be evaluated.

마이크로 엔드밀링에서 음향방출 신호를 이용한 상태감시

정연식,강익수,김전하,강명창,김정석,안중환 한국공작기계학회 2004 한국공작기계학회 추계학술대회논문집 Vol.2004 No.-

Ultraprecision machining and MEMS technology have been taken more and more important position in machining of microparts. Micro endmilling is one of the prominent technology that has wide spectrum of application field ranging from macro parts to micro products. Also, the method of micro-grooving using micro endmilling is used widely owing to many merit, but has problems of precision and quality of products due to tool wear and tool fracture. This investigation deals with state monitoring using acoustic emission(AE) signal in the micro-grooving. Characteristic evaluation of AE raw signal, AE hit and frequency analysis for state monitoring is also presented in the paper.

능이버섯 가공품이 스테이크용 우육의 품질에 미치는 영향

배윤환,이종숙,이경아,윤재돈,강동헌,이재성 동아시아식생활학회 2002 東아시아食生活學會誌 Vol.12 No.4

The possibility of using the dried powder form of Sarcodon aspratus fruitbody (a kind of mushrooms) as a meat tenderizer was explored in this study. The freeze-dried powder had higher protease activity compared to the hot air dried powder of S. aspratus. The powder kept higher activity when preserved at -20℃ than at ambient temperature. The hardness of the meat decreased and the cooking loss increased more rapidly when the meat was treated with the mushroom powder at ambient temperature than at -41℃. In terms of sensory evaluation, 0.1% of the powder based on the meat and 3 hours of treatment at 4℃ gave the highest acceptability score. In the comparison test, the meat was more acceptable when treated with the mushroom powder than with the imported commercial tenderizer. This led to the conclusion that it is quite feasible to develop a natural meat tenderizer using the Sarcodon aspratus fruitbody.

바둑 대국용 로보트 시스템의 개발

李崙在,姜成昊,韓仁煥 홍익대학교 산업기술연구소 1994 産業技術 Vol.3 No.-

This paper presents an intelligent robot system playing Baduk, using computer vision. This study needs the integration of technologies in robot arm control based on motion planning, parts manipulation, and image processing. This paper mainly deals the design of an appropriate end-effector and planning motin strategies. Through the analyzing all the possible motions in Baduk game, an effective gripper for manipulating Baduk pieces is developed and a motion strategy for Baduk game with a human is planned. Experiments are successfully performed, and the motion is animated by computer graphic simulation.

이족로봇의 경사면 균형 유지와 보행에 관한 연구

오성남,윤동우,손영익,김갑일,임승철,강환일 명지대학교 산업기술연구소 2007 産業技術硏究所論文集 Vol.26 No.-

This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances and in a slope. By using an angular velocity sensor and an acceleration sensor on its waist, we can make a medium-sized biped robot walk stably in a slope against impulsive disturbances. In addition, it is possible for the robot to walk stably in an unknown slope. The measured signals from the sensor are used for compensating the reference angles of ankle, knee, and pelvis joints. Some experiments show that the stability of the robot is much enhanced by using cheap sensors and a simple algorithm. This work helps biped robots walk more stably in real environments.

참돌꽃 근경의 항산화작용

류광열,강원식,김영호,장해동,홍진태,유환수,윤여표 충남대학교 약학대학 의약품개발연구소 1998 藥學論文集 Vol.14 No.-

The purpose of this study was to determine the antioxidative effects of Rhodiola sachalinensis Rhodiola methanol extract was fractionated sequentially with dichloromethane and butanol. Each Rhodiola fraction (water, MeOH, BuOH and CH_2Cl_2 fractions) showed the potent superoxide dismutase (SOD) activity, and had inhibitory effets on peroxide value of linoleic acid (40~57%) and lipid peroxidation (47~70%) in FE^2+/ascorbate system-induced rat liver microsome. Rhodiola methanol extract also recovered carbon tetrachloride-induced decrease in SOD by 42% and catalase activities by 50%, and had inhibitory effects (54%) on carbon tetrachloride-induced lipid peroxidation in rat liver microsome. These results suggest that Rhodiola sachalinensis has the antioxidative effects.

위의 유암종과 선종의 병발 1례

장재식,강혁주,이중현,서영범,윤병구,김용섭,이구,서정일,양창헌,이창우,김정란,윤환중 東國大學校醫學硏究所 2000 東國醫學 Vol.7 No.-

유암종은 전신에 퍼져 잇는 장크롬친화성 세포에서 기원하는데 위의 유암종은 비교적 드문 질환으로 모든 유암종의 1.9~2.2%에 해당하며 위에 발생하는 종양의 1% 미만에서 보고되고 있다. 유암종은 일반적으로 증상이 비특이적이고 면역조직화학검사에 의해서 진단되기 때문에 과거에는 드물게 발견되었으나 최근 내시경 기기 및 술기의 발전과 검사 빈도의 증가 및 면역조직화학검사의 발달로 진단율이 증가 추세에 있으며, 드물지만 유암종에서 선암과 공존하는 예들이 보고되고 있다. 저자들은 심와부 동통을 주소로 내원한 70세 남자 환자의 상부위장관내시경 검사에서 위체상부의 대만곡에서 0.4×0.4 cm 크기의 중간 함몰을 가진 Yamada 1형의 용종과 함께 전정부의 전벽에서 0.8×0.5 cm 크기의 융기된 점막 소견을 보여 조직학적으로 각각 위유암종 및 위선종임을 확진한 후 내시경적 용종 절제술로 치료한 1예를 경험하였기에 문헌고찰과 함께 보고하는 바이다. Carcinoid tumors are arisen from enterochromaffin cells, which are scattered throughout the body. These tumors are composed of variable numbers of cells that contain endocrine granules in their cytoplasm, which can be identified by immunohistochemistry and electron microscopy. Gastric carcinoid tumors are relatively rare tumor, the reported incidence being 1.9~2.2% of all carcinoid tumors and less than 1% of all gastric tumors. Sometimes, composite carcinoid tumors and adenocarcinoma is reported. We experienced a case of the coincidence of carcinoid tumor and adenoma at the other site of the stomach in a 70 year old male patient. Gastrofiberscope showed 0.4×0.4 cm sized Yamada type I polyp with central depression on the greater curvature of the proximal body and 0.8×0.5 cm sized focal slightly elevated mucosa on the anterior wall of the antrum. The endoscopic biopsy specimens revealed carcinoid tumor and tubular adenoma with moderate atypism, respectively. The carcinoid tumor and adenoma were removed by endoscopic polypectomy. According to the follow-up gastrofiberoscopy after 7 month later, both lesions were nearly normal mucosa except whitish atrophic change after polypectomy.