지역최소 회피를 위한 이동로봇의 경로계획

조규상 東洋大學校 産業技術硏究所 1999 東洋大學校 産業技術硏究所 論文集 Vol.1 No.1

This paper proposes a path planning of two wheeled mobile robot for avoiding local minima. A circular obstacle detection window helps a robot take a safe path avoiding unknown obstacles in an unknown environment. Detected obstacles in the window used to calculate steering angle and calculate radius of safe angular velocity. An algorithm for escaping local minima is presented also. This has simulated on the mobile robot to demonstrate its reliability and feasibility.

수근관 증후군의 국소 스테로이드 주사

조민규,이성훈,강은영,전평식,최영태 大韓再活醫學會 2000 Annals of Rehabilitation Medicine Vol.24 No.5

척추도수치료에 의해 악화된 결핵성 척추염-증례 보고-

이성훈,조민규,전평식,정한영,곽재륭,김미정,김종철 大韓再活醫學會 2000 Annals of Rehabilitation Medicine Vol.24 No.5

STD-11 와이어 컷 방전가공시 가공조건에 따른 북현상 고찰

조규재,김선진,조상현,김훈희 朝鮮大學校 機械技術硏究所 2000 機械技術硏究 Vol.3 No.2

From the experimental study of W-EDM for alloyed steel STD-11, the characteristics such as Hand Drum Form and surface roughness have been observed and evaluated for various conditions. In square hole, the increase of IP as to made condition, the calculate high value of surface roughness. Also compare dimensionless square hole with circle hole' graph. In circle hole, if a value of surface roughness IP 6 in a side of circle it show a 0.4㎛ and in IP 8, 0.6㎛, in IP 10, 0.7㎛, in IP 12, 0.8㎛ higher than before. This figure show the surface roughness is higher than before, because a table move in either X-axis or Y-axis in square hole, on the contrary, in circle there table move in X-axis and Y-axis at the same time, hand drum form getting small when wire tension increase 1000gf to 1500gf, at the same working conditions, the smaller of off time, the maller of hand drum form in same condition and same wire tension. but if you compare square hole with circle hole' graph, hand drum form displayed in maintained term of working condision, on the contrary, in case of square hole variation of hand drum form is more increase than a grow of IP

측두골 골절 : 임상적 및 방사선학적 분석 Clinical and Radiological Analysis

조성원,최순관,조성진,김범태,신원한,윤일규,변박장 순천향의학연구소;Soonchunhyang Medical Research Institute 2000 Journal of Soonchunhyang Medical Science Vol.6 No.1

The objective of this study is to review of the incidence of temporal bone fractures and complications resulting from temporal bone fractures and to analyze the correlation between clinical and radiological findings. A series of 49 patients who were diagnosed temporal bone fracture with rhinorrhea, bloody otorrhea, admitted to Soonchunhyang University Chon-an Hospital from January 1997 to September 1999, were studied retrospectively. Clinical analyses were focused on age, sex, type of accident, external wound site, CSF leakage, hearing loss and facial nerve palsy. The high resolution CT scan consisted of a series of 3-mm thick sections through the temporal bone using the GE CT scanner (General Electric Inc.). In radiologic analyses, fracture types of temporal bone were divided into longtudinal fracture(LF), transverse fracture(TF) and mixed fracture(MF) respectively. The CT scans were examined for mastoid antral haziness(MH), middle ear cavity haziness(MeH), ossicular chain disruption(OD), otic capsule fracture(OF), pneumocephalus(Pn). The type of facial canal fracture was classified as fracture of internal auditory canal portion(FIAC), fracture of perigeniculate portion(FPG), fracture of tympanic portion(FT), fracture of mastoid portion(FM). The correlation between clinical and radiological findings was analysed. A total of 49 fractured temporal bones resulted in 9 CSF fistula, 23 hearing loss( 13 conductive type, 7 sensorineural type), 17 facial nerve injuries ranging from mild paresis to complete paralysis. The mose common etiology of the injury was from a motor vehicle accident(28%). The type of fracture observed on high resolution CT scanning was a LF in 39(78%) patients, a TF in 7(14%) patients and a MF in 3(6%) patients. The majority of fractures terminate in the floor of the middle cranial fossa in LF and passed lateral to the otic capsule in TF. Average time of onset of delayed facial palsy was 3.5 days. No patient developed prolonged otorrhea or meningitis during hospitalization and there was no requirement of surgical management. Hearing loss was the most common complication of temporal bone fracture(48%). Conductive hearing loss was associated with middle ear cavity haziness and ossiclular chain disruption. in temporal bone CT. A total of 29 cases facial canal fracture in temporal bone CT resulted in 14 perigeniculate portion(FPG), 12 tympanic portion(FT), 3 mastoid portion(FM). There was no correlation between radiological facial canal fracture and clinical facial nerve palsy. Four of 17 patients with facial nerve injury required facial nerve exploration under general anesthesia. We thought that prognosis and therapeutic planning in patients with temporal bone fractures were based on the clinical and radiological findings.

스캔코드법을 이용한 이륜형 이동로봇의 경로계획

조규상 동양대학교 2001 동양대학교 논문집 Vol.7 No.1

This paper proposes a scan code method for path planning of two-wheeled mobile robot.Obstacles detected in a circular window are converted to scan codes and then to the steering angle.The safe rotating radius is obtained by the scan code to avoid the collision between robot and obstacle and the minimum distance for rotation is calculated.Effectiveness of the method is illustrated through simulations, and the results show that the proposed method can be efficiently implemented to an unknown environment.

재배도라지와 재배더덕의 化學成分 比較에 관한 硏究 : 第2報 無機成分 및 Amino acid 組成 Ⅱ. Compositions of Amino acid and Minerals

曺圭成,張榮相 안성산업대학교 1989 論文集 Vol.21 No.-

재배도라지와 재배더덕의 주요 아미노산은 16종이 밝혀졌으며, 총아미노산 함량은 각각 53.68㎎/g 및 67.03㎎/g였다. 주요 아미노산조성은 도라지에서는 arginine 37.95%, glutamic 23.42%, aspartic acid 7.69%. leucine 3.56%, alanine 3.26%, lysine 2.89%順으로 이들은 全아미노산의 78.68%를 점하였으며, 더덕에서는 arginine 49.74%, glutamic acid 15.65%, aspartic acid 6.40%, lysine 3.65%, alanine 3.08%, leucine 2.90%의 順이었으며, 이들은 全아미노산의 81.42%를 차지하였다. 무기성분은 도라지에서 9種을, 더덕에서는 8種을 확인 정량하였다. 도라지와 더덕 모두 K가 각각 9900ppm 및 14500ppm으로 가장 많았고, 다음으로 Ca로 2400ppm 및 3555ppm이었다. 무기성분의 함량크기는 도라지에서 K>Ca>Mg>Na>Fe>Mn>Zn>Cu의 順이고, 더덕은 K>Ca>Mg>Na>Mn>Fe>Zn>Cu의 順으로 나타났다. 중금속인 Pb는 도라지에만 0.1ppm이 검출되었으나 허용기준치보다 적었으며, Cd는 도라지와 더덕 모두에 검출되지 않았다. The minerals and amino acid compositions of cultivated C. lanceolata and P. glandiforum were examined as the basic research for the study of their source of processed foods and medicines. Pattern of amino acid compositions between both C. lanceolata and P. glandiflorum was similarity. Major amino acid in the C. lanceolata and P. glandiflorum were arginine (P. glandiflorum 37.95%, C. lanceolata 49.74%), glutamic acid (23.42%, 15.65%), aspartic acid (7.69%, 6.40%), leucine (3.56%, 2.90%), alanine (3.26%, 3.08%) and lysine (2.89%, 3.65%), respectively. The riches mineral contained in the C. lanceolata and P. glandiflorum was noticed to be K and followed by Ca, Mg and Na Lead content was far bellow the authorized tolerance limits in the P.glandiflorum.

오스템퍼 처리한 구상흑연주철의 드릴가공 특성과 공구수명에 관한 연구

조규재,이승수,전언찬,박흥식 동아대학교 공과대학부설 생산기술연구소 1996 生産技術硏究所硏究論文集 Vol.1 No.2

Drilling tests were carried out austempered ductile cast iron(ADI) to clarify the factors influencing the drilling chracteristics of ADI material. The machinability of material was evaluated using high speed steel drill and cobalt contained drill of 6mm diameter. The spherodal graphite cast iron materials were austenized at 900℃ for in hour and then wear was kept at 375℃ for 2 hours. Austempered ductile cast iron contains a great deal of retained austenite which contributes to an improvement of impact strength. In this paper, machinability of ADI was investigated by drilling experimentation. The results obtained are as follows: a) Flank wear increases logarithmically with the increases of cutting time. b) Relation of flank wear and cutting force can be applied to FZ = 925VB + 820 for the cutting suggested condition. c) Drilling hole number of about 2 times can be reduced more step feed than ordinary feed due to the high hardness of ADI material and hardness increasing ascribed to the martensite of retained austenite.

스쿠버다이빙을 통한 스포츠관광 활성화 연구

조동진,이강욱,박현서,박상규 朝鮮大學校 스포츠科學硏究所 2006 스포츠科學硏究 Vol.17 No.-

본 연구는 스쿠버관광의 현황을 파악하고 현안과제 및 개선방안을 통한 스포츠관광 활성화에 목적을 두고자 한다. 이를 위해 문헌조사와 포커스그룹인터뷰를 통해 전문가적인 방안을 제시하였다. 인터뷰 대상은 전국에서 활동중인 스쿠버강사를 대상으로 지역적 안배를 고려하였고 평균 나이41세, 강사경력 11년의 활동경력을 가진 전문가들이였으며 제주도에서 인터뷰가 실시되었다. 본 연구의 결과, 첫째, 관련업계 종사자들이 현안 문제를 해결하기 위해서는 적극적인 노력이 요구되며 둘째, 다양한 교육과 이벤트를 통한 수익창출과 장비 국산화를 통한 저가의 장비개발이 필요하며 셋째, 투자를 통한 시설의 확충으로 편리성을 제공하여야 하며 다양한 홍보를 통해 스쿠버의 안전성과 교육적 효과에 대해 대중에게 알려야 하는 것으로 분석되었다. The purpose of this study is to understand the situation of scuba tourism and revitalize sports tourism by examining pending tasks and methods for revitalization. In order to achieve this, literature review and focus group interview were used to present professional methods. An interview was conducted with practicing scuba instructors nationwide in Jeju-do in consideration of local arrangement. Subjects' mean age was 41, and mean career was 11 years. The following results were obtained. First, related-industry practitioners should make active efforts to solve pending problems. Second, it is needed to create profit through various education and events, and develop inexpensive equipment through the localization of equipment. Finally, it is needed to provide convenience with the expansion and improvement of facilities through investment, and introduce the safety and educational effect of scuba to the public using a variety of PR activity.

처분장근처에서 침식에 의한 Sr 화학종의 평형

조윤정,김성현,이인화,김시욱,고문주,박성규,이범규 조선대학교 환경공해연구소 2000 環境公害硏究 Vol.16 No.1

Leaching and adsorption equilibria of Sr Chemical Species from the near field of a repository has been studied in solidified cement with Fe and oxidized Fe. The absorption percent, Ads %, and distribution coefficient, K_(d) were calculated using equilibrium concentration to predict the extent of leaching and adsorption. In the mixed aqueous solutions the Ads % increase as Cement(C)/Water(W) ratios increase and K_(d) was decreased for Sr. These behaviors were discussed by adsorption and equilibrium of spiked ions. Oxides Fe promoted the adsorption of spiked ions, but pure Fe had no effect. E_(h) values were also estimated and discussed to elucidate oxidation-reduction environment of experimental system.