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차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어
변용진(Yong-Jin Byeon),김병국(Byung-Kook Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.9
We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot’s dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.
이해남 ( Hae Nam Lee ),변용진 ( Yong Jin Byeon ) 대한산부인과학회 2003 Obstetrics & Gynecology Science Vol.46 No.4
Objective : We researched contraceptive practice and attitudes in Chungju, Korea by questionnaires. Methods : We gave questionnaires to 316 reproductive women who visited Local Corporation Chungju Medical Center and public health center in Chungju city fr
한국 여성의 요골 골밀도치에 의한 골다공증의 빈도 및 폐경에 따른 변화
이해남(Hae Nam Lee),박용문(Yong Mun Park),장미경(Mi Kyoung Jang),변용진(Yong Jin Byeon) 대한산부인과학회 2002 Obstetrics & Gynecology Science Vol.45 No.7
Objective : To determine the prevalence of osteoporosis based on the measurement of bone mineral density (BMD) and to examine the effect of menopausal status on BMD in Korean women Methods : Ultra-distal and distal radius BMD was measured by dual energy X ray absorptiometry (osteoplan p-DXA) in 296 women. The result was analysed, retrospectively. We diagnosed osteopenia and osteoporosis according to the WHO criteria Results : The ultra-distal and distal radius BMD and T score decreased significantly with increase of age. Of women in their thirties, the prevalence of ultra-distal and distal radial osteoporosis were 0%, 6.2%, and in their forties, they were 7.6%, 3.4% and in their fifties, they were 26.6%, 27.9% and of women in their sixties, they were 81.7%, 87.8%. Of women in their forties and fifties, premenopausal women had a higher BMD result than postmenopausal women in the same age group. Of premenopausal women in their forties, the prevalence of osteoporosis were 4.6%, 2.3% and of postmenopausal women in that age, they were 15.6%, 6.3%. Of premenopausal women in their fifties, the prevalence of osteoporosis were 8.3%, 8.3% and of postmenopausal women in that age, they were 29.9%, 31.3%. Conclusion : With increasing age, the prevalence of osteoporosis increased and the BMD decreased. In the postmenopausal state, this difference became larger