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이족 보행 로봇 IWR-III 의 다중 보행 모의 실험
최상호,이보희 世明大學校 1998 世明論叢 Vol.7 No.-
This paper deals with multi-step walking of IWR-Ⅲ(Inha biped Walking Robot-Ⅲ) according to various balancing joint motions. The walking of IWR-Ⅲ is realized by trajectories of a leg, a trunk and the desired ZMP(Zero Moment Point), and balancing joints have to generate the moments to compensate for the moments against the motion of legs and the trunk. The motion of balancing joints can be calcualted by solving the second order differential equation, which contains the dynamic properties of all the links. By combining the six types of pre-defined steps, which are determined by the positions of the swing leg and the trunk, we can realize multi-step walking with the balancing joints motion smooth by the fifth order polynomial interpolation. The result of the simulations by means of the three methods proposed to realize the multi-step walking in this paper shows that IWR-Ⅲ keep ZMP within the stability area all of the waling period, and at the same time realizes stable multi-step walking successfully.
보안 취약점 정보로부터 악용시나리오 및 보안요구사항 도출 방법
김주희,박혜수,최보윤,이병걸 서울여자대학교 2010 정보기술논문지 Vol.8 No.-
The increasing time and cost for the prevention and removal of software securiiy vulnerabiliiy incurs inefficiency in software development since the prevention and removal efforts are mainly concentrated after software implementation. Vulnerability prevention or removal, therefore, should be considered during elicitation of requirements phase. But users who are inexperienced with security vulnerabilities can't specify security requirements correctly and efficiently. This study suggests a method of elicitation and specification of security requirements that can make users who are not familiar with security requirements use easily. By suggesting the method of elicitation of security requirements, developers can easily find security vulnerability and respond to it as early as in software development phase.
유색미에 관한 연구 : Ⅲ. 유색미 유망계통에 대한 주요 생육 특성
김광수,최윤표,김선택,최현구,정종태,김보경,유지홍,이희봉 충남대학교 농업과학연구소 2007 농업과학연구 Vol.34 No.2
국내외 유색미 수집종을 돌연변이원에 의해 유기된 우수 계통과 수집종간 상호교배에 의해 선발된 CNU 20계통을 파종하여 얻어진 주요 작물학적 특성을 살펴보면 다음과 같다. 1. 간장은 유색 메벼인 CNU126 계통이 대조품종인 동진벼와 같이 가장 컸고 메성인 CNU 128계통에서 가장 작았다. 2. 주당 분얼수는 CNU3, CNU50. CNU56, CNU112 계통에서 가장 많았고 대조품종과 CNU 128 계통에서 10개 미만으로 가장 적게 나타났다. 3. 수장은 육성 계통 중 CNU88 계통에서 가장 길었으나 대조구보다 짧고, 육성계통 중에서는 CNU 126 계통이 가장 짧았다. 4. 주당 영화수는 대조구인 동진벼보다 CNU50 계통에서 2배 이상 많았고, CNU158 계통에서 가장 적게 나타났다. 5. 천립중은 CNU113 계통에서 30g이상으로 대조구와 같이 가장 무거웠고, CNU128 계통에서 20g으로 가장 적었다. 6. 주당 수량은 대조구의 26.6g에 비해 CNU50, CNU112 계통에서 두배정도 높았고, CNU128, CNU158, CNU200 계통에서 가장 낮게 타나났다. Aims of this study were carried out to develop the useful lines induced from mutation and pedigree breeding methods among the collected genetic resources from national and domestic areas. In this study, Stem height of CNU126 line and check among them were high, while CNU128 was lower than other lines. Spiklet length of CNU88 was longer, but that of CNU126 was shorter than check. Number of spiklets per plant of CNU50 among lines have twice time than check. 1,000 grains weight of CNU113 was higher than check. In yield per plant, CNU50 and CNU112 were higher than check, Dongjinbyeo.
한대희,정영섭,김봉수,정희원,조병규,최길수,심보성 대한신경외과학회 1986 Journal of Korean neurosurgical society Vol.15 No.1
Suprasellar meningiomas are uncommon intracranial tumors representing approximately 4-10% of intracranial meningiomas and the total excision is sometimes hazardous because of surrounding vital structures. We have experienced four cases of this lesion during last three years and the masses were approached through frontoparietal craniotomy and lateral subfrontal approach and were removed completely with microsurgical technique. Visual disturbances were improved in three cases and unchanged in one case. The literatures are also reviewed.
서울시내 일부 고등학교 학생들에서 학업성취도가 우울 증상에 미치는 영향
박혜숙,최경희,이보은 韓國學校保健學會 2001 韓國學校保健學會誌 Vol.14 No.2
Depression is one of the most common psychologic disorder and dealt as a major public health concern. School students have heavy school work loads and stress from various evaluations representing school performance. In this study, to examine the effect of school performance and stress on depressive symptoms, we assessed the frequency of risk factors for depressive symptoms among 2,717 high school students. From April 2001 to May 2001, using a self-reported questionnaire, we collected data on the frequency of occurrence of depressive symptoms and potential risk factors for depressive symptoms. Depressive symptoms were measured using Center Epidemiologlc Studies Depression (DES-D) index. Thirty-seven percent of high school students reported having high depressive symptoms for a week Female students had a higher prevalence of depressive symptoms than males (OR=1.44, 95% CI 1.22-1.70). In a multiple logistic regression model, we found that good perceived school performance (OR=0.43, 95% CI 0.31-0.60) had a negative association with depressive symptoms. On the contrary, we also found that stress from school performance (OR=2.03, 95% CI 1.69-2.44) associated with high depressive symptoms. In conclusion, high school students had a relatively high prevalence of depressive symptoms. Students with stress from school performance had the higher risk far depressive symptoms. Key words : Depression, risk factors, prevalence, performance, youths
김하영,정희원,조병규,한대희,지제근,최길수,심보성 대한신경외과학회 1986 Journal of Korean neurosurgical society Vol.15 No.4
The authors reviewed 37 consecutive cases of histologically proven oligodendroglioma who were treated at the Seoul National University Hospital, between 1979 and 1986. There was a 1.5:1 male to female ratio. The age of patients at the time of diagnosis varied between 6 and 64 years(mean 38 years), with 51% in the fourth and fifth decades. The incidence of oligodendrogliomas represented 5% of all brain tumors and 15.5% of all gliomas. All but one were located supratentorially and 54% of them involved the frontal lobe. The mean duration of symptoms prior to the surgery was 27.2 months, but seizures had a considerably longer duration of 6.4 years. The common symptoms were headache(62%), seizures( 38%), and motor weakness( 22%). The common neurological findings were papilledema(51%), motor deficit(24%), and change in cognition(19%). Six out of 37 cases(16%) presented as the spontaneous intracranial hemorrhage. Calcifications were detected on plain X-ray films of the skull in 19% of patients and fine vascular stains were found on carotid angiograms in 30% of the cases. Brain CT revealed calcification(57%), cyst formation(43%),low density(35%) and heterogenous contrast enhancement (35%). The important factors affecting the prognosis and the recurrence rate were (1) the extent of surgical excision, (2) postoperative radiation therapy, and (3) the pathologic grading. There was a significant difference in the recurrence rate between patients treated with postoperative irradiation and patients treated with surgery alone.