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Kim, Sang-Hyun,Kim, Du-Beum,Kim, Hui-Jin,Im, O-Duck,Han, Sung-Hyun The Korean Society of Industry Convergence 2019 한국산업융합학회 논문집 Vol.22 No.4
This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.
( Sang-hyun Kim ),( Du-beum Kim ),( Hui-jin Kim ),( O-duck Im ),( Sung-hyun Han ) 한국산업융합학회 2019 한국산업융합학회 논문집 Vol.22 No.4
This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.
DESIGN OF SINGLE CHIP ACTIVE NOISE CONTROLLER
Baik,Seung Beum,Choi,Du Hwan,Song,Suk Beum,Kim,Suk Ki 대한전자공학회 1995 ICVC : International Conference on VLSI and CAD Vol.4 No.1
Single-chip active noise controller has been developed, which includes dual 8-bit ADCs, a DAC, CMOS OP-Amps, a 16-bit fixed point arithmetic DSP and a 2K-ROM. It is fabricated using 0.8㎛ double poly double metal CMOS process.
아크릴아미드 고정 구멍갈파래에 의한 중금속 Cu(Ⅱ), Zn(Ⅱ) 이온의 흡착특성-Column법
박광하,권영두,안중혁,김준범 7개 국립대학교 환경연구 논문집 공동발행 위원회 2004 공업기술연구 Vol.4 No.-
Adsoprtion characteristics of Cu(II) and Zn(II) heavy metal ions onto the Acrylamide-immobilized Ulva pertusa, a living algae of the castern coastal area, was examined in this work. Much amounts of heavy metal ions were adsorbed onto the Acrylamide-immobilized Ulva pertusa than the bare Ulva pertusa. It was also observed that Zu(II) was more readily adsorbed on the algae than Cu(II). The adsorption, but those were high dependent on pH value at high adsorbent concentration. The adsorption amounts of heavy metal ions were in the following order; pH 10.5>8.5>7.0>5.5>3.5. The maximun adsorption amounts of Cu(II) and Zu(II) onto 1g of Acrylamide-immobilized Uiva pertusa were 7.6㎎ and 8.1㎎, respectively. It was found that recovery yields of Cu(II) and Zn(II) ions were in the range of 36.1-64.8% and 32.1-63.8% depending on the pH level. In the heavy metal ions was well matched with the Freundlich adsorption isotherm.
Ethylene Glycol이 Poly(ethylene Terephthalate) 섬유의 알칼리 가수분해에 미치는 영향
조환,장두상,이석영,김영범,Cho, Hwan,Chang, Du-Sang,Lee, Suk-Young,Kim, Young-Beum 한국섬유공학회 1986 한국섬유공학회지 Vol.23 No.6
Poly(ethylene terephthalate)(PET) fabrics were treated with various concentrations of NaOH and ethylene glycol(EG) at different temperatures to investigate the effects of EG, which was produced during the hydrolysis of PET by NaOH. The dissolution rate constant was calculated by Kuriyama's equation. It showed a linear relationship to the concentration of NaOH and an exponential relationship to treating temperature the concentration of EG. Apparent activation energy of dissolution was 18.9-21.0 Kcal/mol and decreased slightly with increasing the concentration of EG but no relationship between the concentration of NaOH and apparent activation energy was noted. The tensile strength of NaOH treated filament decreased rapidly with the increase of weight loss and there was no difference between PET filament treated in ethylene glycolic and aqueous NaOH solutions. The density and crystallinity of treated PET increased with the increase of weight loss. It was more prominent in ethylene glycolic than in aqueous NaOH solution. More moisture regain was noted PET fabrics treated in ethylene glycolic NaOH solution in disregard of higher crystallinity, which was assumed to be due to hydrophilic characteristics of sodium carboxylate on the end of PET molecular chains. PET was swelled in EG three times more than in water under the same conditions. The dissolution rate constant in ethylene glycolic NaOH solution was seven to eleven times larger than in aqueous solution and the lower the concentration of NaOH was, the more the effect of EG was.
A Study on Flexible Control and Design of Robot Hand Fingers with Eight Axes for Smart Factory
Sim, Hyun-Seok,Bae, Ho-Young,Kim, Du-Beum,Han, Sung-Hyun The Korean Society of Industry Convergence 2018 한국산업융합학회 논문집 Vol.21 No.4
The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.
A Study on Flexible Control and Design of Robot Hand Fingers with Eight Axes for Smart Factory
Hyun-Seok Sim,Ho-Young Bae,Du-Beum Kim,Sung-Hyun Han 한국산업융합학회 2018 한국산업융합학회 논문집 Vol.21 No.4
The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.