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정형채,이한결,나윤채,정지윤,이수영 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.3
This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degreesof freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directlyat each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by theflexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing theloads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report. .
Growth of a One Dimensional Quasiperiodic Covering with Locally Determined Decorations
정형채 한국물리학회 2007 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.51 No.5
A growth mechanism for a perfect one-dimensional (1D) quasiperiodic structure is presented with a local covering rule. We use rectangular tiles with two different types of string decorations. The string position in a tile is allowed to move when the tile is attached to an existing patch. By adjusting the position properly with local information, we show that a growth of perfect quasiperiodic structure is possible. This observation may provide new insight into how quasicrystals grow with perfect quasiperiodic order.
물리탐사자료를 이용한 수리지질구조 해석 - 충청북도 청원지역
송성호,정형채,권병두 대한자원환경지질학회 2000 자원환경지질 Vol.33 No.4
A set of geophysical survey results over an area in Bookil-myun, Chungwon-Gun, Chengcheong-buk-Do is presented; resistivity logging, d.c. sounding, dipole-dipole resistivity, and controlled-sorce magnetotelluric (CSMT) surveys. These surveys were chosem in this research for the estimation of the basement depth and the delineation of the hydrogeologic srtucture over the survey area. The results provide an optiomal input to a hydrogeologic medeling analysis usinf the strategies built in GIS softwater. A total of 14 lines of dipole-dipole resistivity surveys, 25 stations of D.C sounding and 6 stations of CSMT sounding were performed. In addition 10 boreholes were chosen for resistiveity logging to correlate the logs to the surface data. A quantitative information on the hydrogeologic structure over the are is provided by synthesizing the results from various geophysical data and attribute layers are constructed by utilizing a GIS software Arc/Info. The constructed layers match well to the hydrogeologic structures, which were outlined from the drilling data. The methodology tested and adopted in this study would be useful for providing a more reliable input to the hydrogeologic model setup.
Restricted Solid-on-solid Growth Model for Fractal Substrates
이상법,정형채,김진민 한국물리학회 2011 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.58 No.5
A restricted solid-on-solid growth model is studied for various fractal substrates, i.e., a Sierpinski gasket, a checkerboard fractal, and a Sierpinski carpet, all embedded in two dimensions. The interface width W grows as t^β with β≈ 0.29 for Sierpinski gasket and β≈ 0.31 for both a checkerboard fractal and a Sierpinski carpet. At saturation, W follows W ∼ L^α, with α≈ 0.50 for a Sierpinski gasket and α≈ 0.52 for both a checkerboard fractal and a Sierpinski carpet, where L is the system size. The dynamic exponent z is obtained from the relation z = α/β. The estimated exponents break the scaling relation α+ z = 2, which is known to be valid on a regular lattice.
김인준,정형채,김원태,김도향 대한금속재료학회 1999 대한금속재료학회 학술대회 개요집 Vol.1999 No.1
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