구륜 이동 로봇의 위치추정을 위한 퍼지-유전자 제어기

한철웅,김종수,류평,오금곤,박세승 조선대학교 전자정보통신연구소 2000 電子情報通信硏究所論文誌 Vol.3 No.1

지능제어 기법중 하나인 퍼지-유전자 알고리즘은 매개변수 불확실성을 갖는 시스템을 제어하기 위한 새로운 제어 기법으로 사용되어지고 있다. 유전자 알고리즘에서, 돌연변이율은 국부적 최소화에 수렴하는 것을 방지하기 위하여 크게 설정하여야만 하지만, 전역 수렴 속도가 감소하는 문제점을 가지고 있다. 이러한 문제점을 개선하기 위하여 퍼지 논리와 유전자 알고리즘을 사용하여 제어기를 설계한다. 본 논문에서는 구륜이동 로봇의 목적궤적을 추적할 수 있는 제어기 설계를 제안한다. 제안된 제어기의 유용성은 모의실험을 통하여 보인다. Genetic algorithms, one of intelligent control methods, is used as new control approach to control the system including the parameter uncertainties In the genetic algorithm, the mutation rate must be set to high to prevent the convergence to local minimum, but it has the problem that the global convergence speed is decreased To enhance this problem, we design the controller by using the fuzzy logic and the genetic algorithm In this paper, we propose the controller design to track to the desired trajectory of the wheeled-mobile robot The validity of the proposed controller is showed through the simulation.

전력계통의 전압붕괴에 관한 연구

한성문,왕용필,정형환,주수원 동아대학교 공과대학 부설 한국자원개발연구소 1995 硏究報告 Vol.19 No.1

This paper analyzed the static voltage collapse phenomenon and the dynamic voltage collapse phenomenon by means of fluctuations of active-reactive power and the fluctuations of active power offered an output from the load bus respectively. The results are summarized as follows 1. In static state, the voltage collapse value can be computed by applying the equilibrium equation of active- reactive power to Jacobian, the bifurcation point can be also found. 2. The voltage collapse broke out by the reactive power loss and it is found that the active power has an effect on the voltage collapse phenomenon. 3. When a disturbance is given to the active power of the infinite bus voltage side, it is showed that a voltage is collpased by change of the load angle and the current in a dynamic fuctuation of the transient internal voltage E'_(q), E'_(d).

口鼻瘻孔의 處置에 關한 硏究

卞種秀,李相韓,金相鎬 慶北大學校 齒科大學 1985 慶北齒大論文集 Vol.2 No.1

This is a case report of oronasal fistula closure by tube pedicle flap technique. The patient, 28-year-old famale,had an oronasal fistula on the hard palate (4×2㎝, elliptical shape) We used pancake type tube pedicle flap from left upper arm. The ratio of length & breadth of the tube was about 3:1. The first delay was performed about 3 weeks after tube flap preparation and 2nd delay was done 3 weeks later. So, we established good blood circulation inside the tube pedide flap that there wasn't and sign of necrosis. We performed complete obliteration of the oronasal defect on the hard palate with the tube pedicle flap from the left upper arm.

腸內棲息菌에 對한 硏究 : 變形菌(Proteus)에 關한 硏究

石鐘聲,金漢壽,張友鉉,李承薰 現代醫學社 1969 現代醫學 Vol.10 No.2

The proteus group are known to be widely distributed in nature and also constitute one of the important micro-flora, of human intestines. The identification of the Proteus and further differentiation into 5 species are made chiefly by their biochemical activities, which are conventionally studied with the cultures grown at 37℃. Since it is known that the metabolic activities of bacteria are influenced by the physicochemical natures of environment, it is conceivable that results of bacterial identification and differentiation based on their biochemical reactions might be different when the culture conditions differ. Thus, 100 strains of the proteus isolated from various clinical specimens were grown aerobically at 37℃ and 22℃ and the patterns of their 1, biochemical activities under the different cultural conditions were studied. The results might be summarized as follows: 1) By the biochemical activities with the cultures grown at 37℃, 100 proteus strains were differentiated into 4 species; P. rettgeri 4, P. vulgaris 14, P. mirabilis 36, and P. morganii 46. 2) If the differentiation into the species was made by the biochemical activities with the cultures grown at 22℃, the 100 strains might be classified into, P. rettgeri 41, P. vulgaris 20, P. mirabilis 34, and P. morganii 5. 3) Regardless the difference of the culture temperatures, 47 strains among the 100 strains were identified into the same species of proteus; P. rettgeri 2, P. vulgaris 7, P. mirabilis 33, and P. morganii 5. 4) Biochemically the proteus strains appeared to be more active at 37℃ than at 22℃. 5) The distribution of the 100 strains among the clinical specimens were stool or recta swat 68, pus or discharge 14, urine 10 and miscelleneous specimen 8.

전력선 통신을 이용한 PC상의 조광제어 시스템

박종연,김한수 강원대학교 정보통신연구소 2001 정보통신논문지 Vol.5 No.-

We studied about the lighting control system on pc using PLM(Power Line Modem). The PLM is composed of FSK IC-chip and the circuit for the power line communication. We developed the control proram using visual c++ language on PC for dimming the lamps. In this paper dimming controller was made with PIC16F974 and its communication speed was1200 boats rates.

‘나혜석 거리’ 근대이미지 조성에 관한 연구

김정동,이기욱,조홍석,한수형,구명화 목원대학교 건축도시연구센터 2003 建築·都市環境硏究 Vol.11 No.-

As the first female artist of Western painting in the modern times, Hey-seok Na is the historical figure in Suwon, who went ahead of the times. Suwon City established the street of Hey-seok Na to commemorate her, in Ingye-dong, Paldal-gu. Street-establishment business for the historical figures is one of the factors with the biggest effects for the creation of local cultures. It has many merits such as the offer of fine view of city and resting area as well as giving the pride and educational effects to its residents. However, there are memorial hall or exhibitional hall not established in the street of Hey-seok Na, with the lacks in attractions and convenience facilities. With a poor decorative arrangement in the vicinity of the street, the meaning of street establishment and the image of Hey-seok Na are not well-delivered. Accordingly, the initial plan to make the street with citizens has not been well carried out. This research classified and analyzed the achievements and thoughts of Hey-seok Na, to embody it as the image and the concept of design to be expressed for the street was picked out. As a result, the image of Hey-seok Na, as the historical figure was set at modern times. the existing facilities in the street of Hey-seok Na was analyzed, centering on the time-factor of the modern times, deciding the spacial goal pursued by the street along with things to be improved.

감염 근관에서 혐기성 배양법과 간접 면역 형광법 및 DNA 프로브법에 의한 Prophyromonas endodontalis의 검출에 관한 비교 연구

윤수한,김민겸,정종평 大韓齒科保存學會 1996 Restorative Dentistry & Endodontics Vol.21 No.1

전신성 색전증으로 발현된 감염성 심내막염 3례

김지수,박대균,박경창,홍경순,두영철,한규록,오동진,유규형,임종윤,고영박,이광학,이영 대한순환기학회 1999 Korean Circulation Journal Vol.29 No.8

비탈분극성 근육이완의 길항시 Atropine, Pyridostigmine과 Glycopyrrolate, Pyridostigmine의 혼합정주가 심박수에 미치는 영향

소금영,채종한,조남수,정종달,김용일 朝鮮大學校 附設 醫學硏究所 1991 The Medical Journal of Chosun University Vol.16 No.1

Changes in heart rate during reversal of neuromuscular block have been a subject of clinical investigation for many years. A number of studies, have compared the effect used anticholinergics and anticholinesterase. In most studies, the drugs were administered simultaneously. Atropine and glycopyrrolate were studied in dose of 15㎕/㎏, 20㎕/㎏ and 7㎕㎕/㎏, lO㎕/㎏, given intravenously in a mixture with pyridostigmine 200㎕/㎏ at the end of operation. 15 ASA Class Ⅰ, Ⅱ patients, aged between 16 to 65, were selected in each group. Anesthesia was maintained with halothane(1.0 vol%), N20(3L/ min), O2(3L/min) and vecronium bromide 0.07㎎/㎏ was used as a muscle relaxant. The results were as follows ; 1) Atropine 15㎕/㎏, 20㎕/㎏, showed significant initial increase in pulse rate, atropine ZO㎕㎕/㎏ showed more initial increase than atropine 15㎕/㎏ Atropine 15㎕/㎏ showed more rate decrease than atropine 20㎕/㎏. 2) Gylcopyrrolate 7㎕/㎏ 10㎕/㎏ showed significant initial increase in pulse rate gylcopyrrolate 7㎕/㎏, 10㎕/㎏ showed less initial increase than atropine 15㎕/㎏, 20㎕/㎏. Atropine 20㎕/㎏ showed more late decrease than glycopyrrolate 10㎕/㎏.

齒科局所麻醉時의 心博變化

崔秉河,卞種秀,李相韓 慶北大學校 齒科大學 1985 慶北齒大論文集 Vol.2 No.1

The author studied the heart rate changes of 150 adult patients (79 male and 71 females above 18-years old) under dental local anesthesia, and heart rate changes for breathholding alone of 20 patients. The heart rate is best reflection of the activity of the autonomic nerve system and the easiest physiological sign to monitor. The purpose of this study was to find out cardiac activity under dental local anesthesia, thereafter to clarify the mechanism of syncope from the aspect of trigeminal-vagal reflex. The studied group were devided into four. GⅠ: Local anesthesia with a different agent by epinephrine concentration and normal saline as a control. GⅡ: Local anesthesia after premedication of atropione. GⅢ: Local anesthesia under the general aensthesia. GⅣ: Heart rate changes for breathholding alone. The result were as follows: The heart rate was decreased in 138(92%) of 150 patients during local anesthetic injection, and increascd after injection. This means the possible participation of trigeminal-vagal reflex in producing heart rate decrease. Mean maximum decrease rate of G I was 14.2±7.54%, and not affected by anesthetic agents(p>0.05) Mean value (GⅡ) was 6.89±4.38%, which means that atropine inhibits the reflex partially(p<0.05). Mean value (GⅢ) was 1.20±0.77%, which means that general anesthesia blocked the reflex completly. Mean value (GⅣ) was 6.58±3.13%, which is not reached to changes by local anesthesia.