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Selection and Design of Drive Modules for Robot Joint Based on Dynamic Load Characteristics
서정무,류세현,서장호,정현교 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
This paper presents the selection and design process of joint motors and gears for robot systems. Thevelocity, acceleration, and torque profiles of each joint that satisfy a given task are calculated using dynamic andkinematic analysis, and the required motor torque to drive the joint is calculated with respect to the combination ofmodule inertia and gear ratios. Considering energy efficiency, motor parameters, and switching characteristics ofthe inverter, the correlation between the module inertia and gear ratio for driving joints is investigated, and the finalcombination is determined by referring to commercial gear data sheets. From the determined motor inertia, variousmotor designs are possible. To compare the performance and determine the optimal model, performance metrics ofdrive motors, torque matching, coil temperature, and the motor constant, are proposed and the significance of thesefigures are discussed.
환경영향평가제의 효율적 실시에 있어 주민참여에 관한 연구
서정무,정순형 한국지역복지정책연구회 1991 지역복지정책 Vol.5 No.-
Environmental Impact Assessment(EIA) is one of the most important procedures in the course of all developing activities which involve decision-making. An EIA can be defined as an activity designed to identify and predict the in impact on the biogeophysical and the socioeconomic environment and on man's health and well-being of legislative proposals, policies, programmes, projects, and operational procedures, and to interpret and communicate information about the impacts. Because in the process of EIA, resident participation is one of the most important procedures. The demand for resident participation in EIA is being increased, because it can help establishing, the appropriate EIA, materializing the overall coordination function of administration, and democratic environmental administration preventing the possible arbitrary decision by the related authorities. As a result the alternatives for organize to resident participation in EIA have been noted and those alternatives are explained as follows: 1. People's awareness of the environment must change to environmental preservation from economic growth. 2. Officials should share the cognition that resident participation is possible for our environmental administration, it benefits both the government and the resident in the long run, and it doesn't contradict the efficiency of environmental administrator. 3. The scope of "Standing to sue" in a administrative litigation dealing with environmental affairs should be enlarged. 4. A obligatory law suit which are on the reciprocal complementary relationship with the activation of resident participation should be permitted. Finally once again emphasizing the urgent need for resident participation in EIA to ensure healthy and sanitary living conditions for the people of the present and the future, the writer hopes this study will contribute to the environmental problems.
徐正武 대구보건대학 1986 대구보건대학 論文集 Vol.9 No.-
1. Definitions Environmental Impact Assessment(EIA) is one of the most important procedures in the course of all develeping activities which involve decision-making An EIA can be defined as an activity designed to identify and predict the impact on the biogeophysical and the socio-economic environment, and well-being of legislative proposals, policies, programmes, projects and operational procedures, and to interpret and communicate information about the impacts. 2. Content's of An EIA An EIA should : (a) describe the proposed action, as well as alternatives ; (b) estimate the nature and magnitudes of the environmental changes ; (d) identify the relevant human concerns ; (d) define the criteria to be used in measuring the significance of environmental changes, including the relative weighting to be assigned in comparing different kinds of changes ; (e) estimate the significance of the predicted environmental changes ; (f) make recommendations for one of the following ; (1) acceptance of the of the object; (2) remedial action ; (3) acceptance of one or more alternatives ; (4) rejection ; (g) make recommendations of inspection procedures to be followed after the action has been completed. 3. Operatian1 procedures of an EIA (a) EIA should be an integral part of all planning for major actions, and should be carried out at the same time as engineering, economic, and socioplitical assessments. (b) In order to provide guidelines for environmental impact assessments, national gals and policies should be established which take environmental considerations into account. (c) The institutional arrangements for the process of environmental impact assessment should be determined a d made public. 4. Research Research should 12 encouraged in the following areas : (a) study of conceptual framework for an EIA (b) study of contents an EIA (c) study of source of Law for EIA (d) study of assessment object of EIA (e) study of subject and agent institution of EIA (f) study of procedure of EIA (g) study of resident participation and judicial redress in the process of EIA (h) study of problems a d countermeasures in EIA system. 5. Conclusion A synthesis of biogeophysical and socio-economic impacts is difficult to achieve, and human behaviour is difficult to quantify and predict, but these do not diminish that s significance. The challenge to cross the interface between the biogeophysical and the socioeconomic environments is therefore worth the intellectual effort. To conclude, An EIA is a procedure designed to identify, predict, analyze and assess the impact on action on the biogeophysical and the socioeconmic environment and on man's health, well-being and on quality of life, and to interpret and communicate information about the impacts. Therefore, EIA is the best technique of environmental management.