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안광철,조영완,서기성 한국지능시스템학회 2007 한국지능시스템학회 학술발표 논문집 Vol.17 No.2
본 논문은 휴머노이드 로봇의 넘어짐 자세 시 충격량 최소화를 위한 GA 기반의 자세 자동 생성 방법을 제안한다. 관절 공간에서 관절각의 최적 조합으로 충격량을 최소화 할 수 있는 자세의 자동 생성 기법을 구현하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반 물리적 특성의 시뮬레이션이 가능한 Webots를 이용하여 실험을 수행하였다.
안광철(Kwangchul An),조영완(Young-Wan Cho),서기성(Kisung Seo) 한국지능시스템학회 2007 한국지능시스템학회논문지 Vol.17 No.6
본 논문은 휴머노이드 로봇이 넘어질 경우, 충격에 의한 손상을 최소화하기 위한 자세의 자동 생성 방법을 제안한다. 유전알고리즘(GA)를 사용하여 로봇이 전방 또는 후방으로 넘어질때 충격량등을 최소화 할수 있는 관절각들의 궤적을 구하였다. 또한, 다양한 적합도 함수를 정의하여 서로 다른 넘어짐 자세를 생성할수 있도록 하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반 물리적 특성의 시뮬레이션이 가능한 Webots를 이용하여 실험을 수행하였다. This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a GA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. A couple of fitness functions are provided to generate various falling motions. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.
주입형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선
안광철(Kwang-Chul An),조영완(Young-Wan Cho),서기성(Ki-Sung Seo) 한국지능시스템학회 2008 한국지능시스템학회 학술발표 논문집 Vol.18 No.1
휴머노이드 로봇이 넘어질 경우, 충격에 의한 손상이 발생할 수 있다. 이를 최소화하는 넘어짐 자세의 생성을 위하여 개선된 PGA 기반의 탐색기법을 제안한다. 다목적함수를 고려한 군집 간 이주방식의 효율적 조합을 통해 넘어짐 충격을 최소화하는 각 관절 궤적을 구할수 있도록 하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반의 Webots 시뮬레이션을 이용하여 실험을 수행하였다.
주입-이주형 PGA를 이용한 휴머노이드 로봇의 넘어짐 자세 개선
안광철(Kwang-Chul An),조영완(Young-Wan Cho),서기성(Ki-Sung Seo) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.3
This paper introduced an automatic generation method of falling motions for humanoid robots to minimize a damage. The proposed approach used a PGA based optimization technique to find a set of joint trajectories which minimize a damage of the falling over and down. Injection-migration PGA technique is introduced and compared with EMO and various migration topologies. To verify the proposed method, experiments for falling motions were executed for Sony QRIO robot in Webots simulation environments.
도시 하천의 세균학적 수질오염에 관한 연구 : 제주시내 3개 하천을 중심으로
안광자,오덕철 濟州大學校 師範大學 科學敎育硏究所 1985 科學敎育 Vol.2 No.-
This study was designed to investigate mainly the degrees of bacterial pollution of the three brooks which flow through Cheju city from July 1984 to January 1985. Investigated items were air temperature, water temperature, pH, general bacteria(GB), total coliforms(TC).fecal coliforms (FC), fecal streptococci(FS),staphylocci(SC),FC/TC,FC/FS, hemolysis and coagulase test. 1.GB Density : 250,000-2,800,000/mI at Byeongmun Brook(B_(1)), 10,000-1,700,000 ,ml at Byeonpmun Brook(B_(2)), 190,000-1,570,00O/ml at Sanji Brook(S_(1)), 70.000--1,200,000/ml at Sanji Brook(S_(2)), and 230,000-1,260.000/m1 at Han Brook(H). 2. TC Index : 790x10^(3) - 11,000 x 10^(3)/100ml at Byeongmun Brook(B_(1)). 330 x 10^(3)-13,000x10^(3). 100ml at Byeongmun Brook(B₂), 790 x 10^(3)-4. 900x 10^(3)/100ml at Sanji Brook(S_(1))330x10^(3)- 3,300x10^(3)/100ml at Sanji Brook(S_(2)). and 490x10^(3)-11,000x10^(3)/100ml at Han Brook (H). 3. FC Index ; 210x10^(3) -7,000x10^(3)/100ml at Byeongmun Brook(B_(1)), 170 x 10^(3) - 5,400 x 10^(3) /100ml at Byeongmun Brook(B₂), 170 x 10^(3) -2,400 x 10^(3) /100ml at Sanji Brook(S_(1))330x10^(3)- 1,300x 10^(3) /100ml at Sanji Brook (S_(2)), 260x10^(3) -4,900x10^(3) 100ml at Han Brook(H). 4. FS Density : 760 - 5.760 /ml at Byeongmun Brook(B_(1)). 190 -6,300 ml at Byeongmun Brook (B_(2)). 170 -3,870/ml at Sanji Brook (S_(1), 650-3,000/ml at sanji Brook : S_(2)and 560- 2,700/ml at hna Brook(H). 5. SC Density : 1,360 - 5,120/ ml at Byeongmun Brook(B_(1)), 570 - 4,510/ml at 1,650 - 7.380ml at Sanji Brook(S,), 1,130 - 9,540,ml at Sanji Byeongmun Brook(B_(2)), 1,650 - 7,380/ml at Sanji Brook(S_(1)), 1,130 - 9,540/ml at Sanji Brook(S_(2)), and 1,320 - 4,860/ml at Han Brook(H). 6. The Ratio of FC/TC: 0.1 - 1.0(Average, 0.43) at Byeongmun Brook(B_(1)). 0.05 - 1.0(Average. 0.47) at Byeongmun Brook(B_(2)), 0.05 - l.0(Average, 0.49) at Sanji Brook(S_(1). 0.1 - l.0(Average, 0.47) at Sanji Brook(S_(2)). and 0.22 - l.0(Average. 0.58) at Han Brook(H) 7. The Ratio of FC/FS : 5.07 - 35.9(Average. 11.81) at Byeongmun Brook(B_(1)), 2.5 -56.25(Average. 14.65) at Byeongmun Brook(B_(2)), 2.55 - 14.86(Average. 7.54) at Sanji Brook(S_(1)), 1.63 - 10.77(Average. 3.78) at Sanji Brook(S_(2)). and 1.95 - 19.64 (Average. 8.29) at Han Brook(H). 8. Hemolysis and Coagulase Eest : FS and SC showed α-reaction and β- hemolysis respectively, and SC formed coagulum. All the obtained resultes indicate fecal pollution of three brooks, and an adequate waste water treatment is desirable.
김윤연,Urantulkhuur'B,Baatartsogt'O,서상원,김영교,안광철,최강덕 한국가금학회 2009 한국가금학회 정기총회 및 학술발표회 Vol.26 No.-
Salmonella pullorum in poultry is a signficant health problem which causes substantial economic loss. This study was conducted to characterize and identify protein expression profiles of chicken liver after S. pullorum challenge. To identify the differentially expressed chicken liver proteins after S. pullorum, we have used two-dimensional electrophoresis with MALDI-TOF mass spectrometry. Total 14 protein spots were selected from two-dimensional electrophoresis. 8 proteins were up-regulated and 6 proteins were down-regulated at the chicken liver infected S. pullorum. In conclusion, this study could be used to the determine characterize and identify protein expression profiles of chicken liver infected S. pullorum.
효모추출물의 사료 첨가가 성장과 사이토카인의 발현 변화에 미치는 영향
임희경,Baatartsogt. O,서상원,김희철,이종석,안광철,김상호,김지혁,장병귀,이준헌,이상범,최강덕 한국가금학회 2007 한국가금학회 정기총회 및 학술발표회 Vol.24 No.-
The experiment was conducted to compare the effects of supplements of yeast extract on growth and immune responses of chicks fed diets. Total 120 of chicks were employed in this experiment to study the effects of feeding of yeast extract on the performance and expression of cytokine. They were randomly allocated to tree dietary treatments; control, antibiotic group(ABG), yeast extract group(YEG). Growth characteristics by feeding yeast extract were significantly difference on body weight. Feed intake contained yeast extract was 69g daily and showed higher than other group. To evaluate the immune response effects of the feeding yeast extract, the expression patterns of IL-2, IL-6, IFN-γ in spleen cell were studied by RT-PCR. The higher expression levels of IL-2, IL-6 and IFN-γ transcripts after Salmonella gallinarum infection were observed in the group with yeast extract. From the result of this experiment, it could be concluded that feeding yeast extract improves the laying performance growth and immune response activation.