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웨어러블 조작기 기반 다관절 재난·재해 특수목적기계 작업기의 가상환경 작업 시스템 구현
차영택(Y. T. Cha),이연호(Y. H. Lee),김정구,이양수(Y. S. Lee),이승현(S. H. Lee),최성준(S. J. Choi) 유공압건설기계학회 2019 유공압건설기계학회 학술대회논문집 Vol.2019 No.11
The special purpose equipment for responding to a disaster is designed to provide initial response to the disaster environment, and is capable of cutting, pushing, opening, transferring, hitting, etc. to remove each obstacle in the disaster environment. Since it is difficult for conventional excavators to quickly perform the work described above, the special purpose equipment has the double-arm structure for flexible and rapid removal of obstacles. the wearable manipulator are used to provide intuitive control of the double-arm, but they are more intuitive than the speed-control joystick of conventional excavators, but require separate training. In addition, the wearable manipulator needs to be designed with an easy-to-operate structure to reduce operator fatigue. In this paper, for the training of both arms manipulation and the ergonomic evaluation of the manipulator, the system for performance evaluation of wearable manipulator in virtual environment was implemented and tested. To this end, a method was proposed to map the working ranges of the arrns and the manipulator with minimal trial and error, and a inverse kinematics of arm was derived to enable the manipulation of the operator to be operated.
CSA계 혼합 시멘트 수화에 미치는 Boric Acid 의 영향
유광석,이경희,김남호,이양수,안광훈,이재원,임굉,Yoo, K.S.,Lee, K.H.,Kim, N.H.,Lee, Y.S.,Hun, K.H.,Lee, J.W.,Yim, Going 한국세라믹학회 1998 한국세라믹학회지 Vol.35 No.6
C1A3계 속경성 혼합시멘트에 대한 H3BO3의 첨가에 따른 mortar의 물성과 수화 생성물에 관한 연구를 하였다. H3BO3의 첨가는 응결 시간의 지연과 흐름성의 개선을 가져 왔다. H3BO3의 첨가에 따라 초기 수화 생성물은 monosulfate가 생성 되며 이 생성물이 존재하는 기간도 길어진다. 일단 monosulfate가 생성되면 그후 ettringite로 변화되면서 중간 단계로 gel상의 물질로 변화된다. 초기에 생성되어지는 monosulfate는 mortar의 응결시간과 flow에 영향을 준다. The study was carried on the influence of {{{{ { {H }_{3 }BO }_{3 } }} for hydration of blended rapid hardening cement which was composed of {{{{ {{C }`_{4 } ^{ }A }_{3 } }} Adding {{{{ { {H }_{3 }BO }_{3 } }} to the mortar of blended rapid hardening cement delayed the setting time and increased the flow of the mortar. When {{{{ { {H }_{3 }BO }_{3 } }} added to the blended rapid hardening cement mono-sulfate was produced rather than ettringite and the existing time of monosulfate also prolonged. After hours monosulfate was converted to ettringite through being producted like gels. This monosulfate phase in-fluences on the setting time and flow of fresh mortar.
K. Ramachandran,D. Kalpana,Y. Sathishkumar,이양수,K. Ravichandran,G. Gnana Kumar 한국공업화학회 2016 Journal of Industrial and Engineering Chemistry Vol.35 No.-
A facile, one-pot and environmental benign method exploiting Piper betle biomass as a reducing andstabilizing agent was proposed for the preparation of silver (Ag) nanoparticles. The Ag nanoparticlesprepared from dried Piper betle leaves extract exhibited unique spherical configuration and facecentered-cubic structure with preferred (1 1 1) orientation. The fabricated Ag/GCE sensor exhibited anexceptional electrocatalytic activity toward NO2 oxidation with a quick response time, high sensitivityand lower detection limit of 10 s, 1642.27 mAm M 1 cm 2 and 0.046 mM, respectively. Furthermore, theconstructed sensor exhibited long-term stability and excellent anti-interference properties, paving newdimensions for the utilization of bio-mediated nanocatalysts in electrochemical sensors.