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김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.4
본 논문에서는 선도 로봇을 추종하는 군집 로봇의 대형 제어를 인공 포텐셜 장을 사용하여 제안한다. 또한, 인공 포텐셜 장은 물리적으로 해석하기 쉬운 전기장을 모델링하여 구성하고, 장애물을 더욱 효과적으로 모델링하기 위해서, 장애물의 모양에 따라 전기장의식을 달리한다. 제안하는 방법은 선도 로봇의 경로를 인공 포텐셜 장을 통해 계획한 뒤, 선도 로봇을 추종 로봇이 뒤따라가는 형태로 구성된다. 마지막으로 시뮬레이션 예제를 통해 제안하는 기법의 타당성을 검증한다. In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-ojective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.
열량계와 겉보기 활성화 에너지를 이용한 콘크리트의 압축강도 예측에 관한 실험적 연구
김한솔 ( Kim Han-sol ),장종민 ( Jang Jong-min ),김영관 ( Kim Yeung-kwan ),이한승 ( Lee Han-seung ) 한국건축시공학회 2020 한국건축시공학회 학술발표대회 논문집 Vol.20 No.2
Predicting the compressive strength of concrete is important for shortening construction time and reducing construction costs. In this study, the coefficients required for maturity method and compressive strength prediction equation were calculated by measuring the cement hydration reaction rate, concrete setting time and ultimate strength. The experiment was conducted in an isothermal environment of 10°C, 20°C and 30°C using a normal Portland cement, and the experiment was conducted with a total of 9 levels of W/C (40%, 50%, 60%) of 3 levels for each temperature. As a result of comparing the predicted strength and the measured strength for each blend, only an error of less than 5% was found for all blending and curing periods.
일대일로 구상의 변경 협력 전개: 중국 핑샹-베트남 동당 초국경 경제협력구를 중심으로
김한솔 ( Kim Han Sol ),이현태 ( Lee Hyun Tai ) 국민대학교 중국지식네트워크 2021 중국지식네트워크 Vol.17 No.-
일대일로 구상 아래 중국의 변경지역 경제협력이 어떻게 구체화되고 있는지 살필 수 있다는 점에서 중국 핑샹-베트남 동당의 초국경 경제협력구에 대한 연구는 매우 중요하다. 핑샹-동당 초국경 경제협력구는 2013년 이후 국가급 프로젝트로 승격되어 중국-베트남 간 국경무역의 핵심으로 자리매김하고 있다. 중국 정부가 매우 적극적으로 초국경 경제협력구 조성과 협력 강화에 매진하는 반면, 베트남 정부는 비교적 미온적인 태도를 보이고 있다. 양국 정부 사이의 태도 차이와 정치적 갈등에도 불구하고 초국경 경제협력구를 매개로 하는 경제협력이 지속적으로 발전하고 있다는 사실은 향후 변경지역에서의 남북 경제협력 재개 및 다자간 경제협력, 한국 기업의 해당 지역 진출 등을 구상하는 한국에 시사하는 바가 크다. Pingxiang-Dongdang is an excellent model of how China’s cross-border economic cooperation is being realized under the Belt and Road Initiative. Pingxiang-Dongdang Cross-Border Economic Cooperation Zone was promoted to a state-level project in 2013, and since have been the core of bilateral commerce between China and Vietnam. Despite all political complications, the economic cooperation between the two have been steadily improving under Cross-Border Economic Cooperation Zone. For this reason, as Korea looks to mend its economic ties with North Korea, the case of Pingxiang-Dongdang is worthwhile to look into for applicable formulas.
치매 노인에게 적용한 작업 중심 회상치료와 의사소통 중심에 따른 회상치료의 효과
김한솔 ( Han Sol Kim ),정민예 ( Min Ye Jung ) 고령자·치매작업치료학회 2011 고령자.치매작업치료학회지 Vol.5 No.2
Purpose: In this study, we conducted a comparative analysis on the effects of reminiscence therapy using pictures and video, and the effects of occupational reminiscence therapy based on items used once by the elderly. The comparative analysis was categorized into group participation, linguistic participation, and breakaway level. Method: Occupational therapists provided reminiscence therapy once a week on 7 elderly clients of the Gangwon-do Community Welfare Center from January to March, 2010. We assessed the symptoms of dementia and depression through MMSE-K and GDSSF-K. Picture reminiscence therapy was conducted 4 times, while reminiscence therapy based on the used items was conducted 5 times. Result: The participation rates of the occupational reminiscence therapy were higher than those of the picture reminiscence therapy and showed a significant difference (P<.05). Based on the category of linguistic participation and breakaway level, the participation rates of the occupational reminiscence therapy were higher than the picture reminiscence therapy and showed a non-significant difference. Conclusion: Through this study, we found that an increase in group participation and linguistic participation showed a decrease in breakaway level. If occupational therapists can obtain knowledge and skills regarding reminiscence therapy, research in this field will be further developed.
응결시간과 겉보기 활성화 에너지를 이용한 고로슬래그 콘크리트의 압축강도 예측에 관한 연구
김한솔 ( Kim¸ Han-sol ),양현민 ( Yang¸ Hyun-min ),이한승 ( Lee¸ Han-seung ) 한국건축시공학회 2021 한국건축시공학회 학술발표대회 논문집 Vol.21 No.2
The compressive strength of concrete is greatly affected by the temperature inside the concrete at the initial age immediately after pouring. The apparent activation energy of cement and the setting time of concrete are major factors influencing the development of compressive strength of concrete. This study measured the apparent activation energy and setting time according to the change in W/B for each mixing rate of Ground Granulated Blast-Furnace Slag (GGBFS). And after calculating the compressive strength prediction model, the accuracy of the prediction model was evaluated by comparing the predicted compressive strength and the compressive strength.
김한솔(Han-Sol Kim),이경준(Kyung-Jun Lee),정동연(Dong-Yean Jung),이연형(Yeon-Hyeong Lee),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.12
This paper describes the design of a cellphone curved glass measuring device using by camera. The measuring device was composed of two camera, two backlight system, a body and so on, and the program was made for a camera calibration and noise removal, and also the program was made for height measurement of a cellphone curved glass using by subpixel algorism. And then a new technique for measuring the height of the cell phone curved glass was proposed. The characteristics test of height measurement of gage blocks and cell phone curved glasses was carried out, the error of the height measurement of gage block is less than ±0.005 and the error of the height measurement of the cell phone curved glasses is less than ±0.005. Thus it thought that the designed cellphone curved glass measuring device and the new technique for measuring the height was used to measure the height of the cellphone curved glass.
전기장 과냉각 시스템을 이용한 건조숙성 닭가슴살의 이화학적 특성
김한솔(Han-Sol Kim),이솔희(Sol-Hee Lee),김학연(Hack-Youn Kim) 한국식품영양과학회 2020 한국식품영양과학회지 Vol.49 No.9
본 연구에서는 전기장 과냉각(Electric Field Refrigeration, EFR) 상태와 일반냉장(Commercial Refrigeration, CR) 상태에서 건조숙성 기간에 따른 닭가슴살 숙성육의 이화학적 및 미생물학적 품질특성을 조사하였다. EFR 건조숙성육의 숙성감량과 트리밍감량은 CR 건조숙성육보다 유의적으로 더 낮은 값을 나타내었다(P<0.05). EFR 건조숙성육의 보수력은 3주차부터 유의적으로 증가하였다(P<0.05). EFR과 CR 건조숙성육 모두 숙성 기간이 증가함에 따라 가열감량이 감소하였다(P<0.05). EFR 건조숙성육의 전단력은 숙성 3주차 건조숙성육의 전단력이 0, 1, 2주차 건조숙성육보다 유의적으로 낮은 값을 나타내었다(P<0.05). 숙성 1, 2주차에서 EFR 건조숙성육이 CR 건조숙성육보다 유의적으로 낮은 전단력을 나타내었다(P<0.05). EFR 건조숙성육과 CR건조숙성육의 총균수는 숙성 기간이 증가함에 따라 총균수가 증가하는 경향을 보였으며, EFR 건조숙성육은 CR 건조숙성육보다 지방산패도가 안정적으로 진행되었다. 본 연구결과를 요약하면 EFR 시스템을 적용하여 닭가슴살 건조숙성육 제조 시 이화학적 및 미생물학적 특성이 안정적으로 건조숙성이 진행되며, 3주가 적정 건조숙성 기간이라고 판단된다. This study investigated the physicochemical and microbial characteristics of chicken breast applied with electric field refrigeration (EFR) versus commercial refrigeration (CR). The aging loss and trimming loss of the EFR treatments were significantly higher than those of the CR treatment (P<0.05). The water holding capacity (WHC) of the EFR treatments increased significantly from three weeks (P<0.05). Cooking loss of both EFR and CR treatments decreased significantly with increasing number of dry-aging weeks (P<0.05). The shear force of the EFR treatments was the lowest (P<0.05). The shear force of the EFR treatments was significantly lower than that of CR from one to two weeks (P<0.05). The total plate count of both EFR and CR treatments tended to increase with increasing dry-aging period, thiobarbituric acid reactive substances of the EFR treatments was more stable than that of the CR treatments. The results showed that the application of the EFR system improves the physicochemical and microbial characteristics of chicken breast. Furthermore, chicken breast dry-aging meat was suitable for the dry-aging period until three weeks.