비모형화 동특성을 고려한 로보트 매니플레이터의 실시간 적응제어

한성현,김휘동,이진,이현철,이희섭 경남대학교 신소재연구소 1994 論文集 Vol.4 No.-

기존의 로봇 매니퓰레이터의 제어방법들을 간단한 고전적 제어방법들의 응용은 가능하지만, 고속운전이나 빈번한 부하변동에 의해 역학적으로 나타나는 각 관절사이의 연성(coupling), 관성파라미터의 불확실성, 모델링오차 등으로 인하여 로봇 제어기의 성능과 응용범위등은 큰 제약을 받게 된다. 본 연구에서는 제어기의 예측불허의 외란 및 파라미터의 불확실성 등에 대한 적응성의 향상을 위하여 적응 모델추종제어기법을 적용하여 로봇 매니퓰레이터 동적모델에서의 매개변수의 불확실성 및 미지의 외란, 존재, 갑자스런 부하변동에서도 좋은 제어성능이 유지 될 수 있는 견실한 로봇 관정 제어방식에 대한 연구를 중점으로 다룬다. 적응제어알고리즘은 초안정도(hyperstability)이론과 적응 모델 추종 제어의 원리를 바탕으로 유도되었고, 적응 제어기의 기온구조를 비선형성의 보상을 위한 내부루프의 MRAC구조와 고정된 게안을 갖는 외부루프와 PID제어기의 조합으로 구성되는 혼성구조의 제어기를 제언한다. In this paper, robust adaptive control approach is presented to inplement of the real time control of the industrial robot manipulator. The purpose of proposed adaptive control scheme is to achieve good tracking performance of desired trajectory tracking of joint position and veloeity under the existence of the payload variation and uncertinity of inertia parameter. The feedback gains of the controller are updated and adaptied in each sampling time to achieve the desired control performance. The proposed adaptive control algorithm is developed within the framework of adaptive model following control scheme using the Lyapunov direct method. To illustrate the performance of the proposed adaptive controller, simulation test is performed in the presence of the parameter uncertainties and payload variations.

유압 인버터 엘리베이터에서의 극저속 속도제어를 위한 퍼지논리 제어기의 설계

한권상,김병화,이우철,장태호,이건학,사공석진,안현식,김도현 대한전자공학회 1999 夏季綜合學術大會 論文集 Vol.22 No.1

In this paper, a fuzzy logic controller is designed for speed control of a hydraulic inverter elevator. Mathematical modeling of an elevator actuated with hydraulic system is presented and the friction characteristics of a cylinder is examined, which may cause the abrupt increase of the acceleration in the zero-crossing speed region. Simulation results show that the proposed fuzzy logic speed controller yields a better control performance than conventional PID controller.

유기질 섬유 보강재를 사용한 시멘트 모르터의 특성

한천구,이건철,신현섭 청주대학교 산업과학연구소 2006 産業科學硏究 Vol.23 No.2

This study reported the result of experiments as to engineering properties of cement mortar with organic fiber types, such as cellulose(CEL), nylon(NY), polypropylene(PP) and polyvinyl Alcohol (PVA) and their contents. For the properties of fresh concrete, slump flow of almost all concrete, adding fiber less than 0.1% by volume, increased, but the flow of concrete adding more than 0.1% decreased, except for PVA fiber. Furthermore, air content increased as NY and PP fiber content increase, and PVA fiber content decrease. For the properties of hardened concrete, compressive strength at early age had no significant effect, but the strength value of concrete adding 0.1%, at 28 days, increased. This test results demonstrated that proper amounts of fiber have favorable strength value. Tensile strength of concrete adding 0.1%~0.15% also exhibited improved value, especially adding NY fiber, was pretty remarkable, even if physical properties and improved air content are considered. For the dry shrinkage properties, increase of CEL and PP fiber content resulted in first increase and decrease. However, increase of dry shrinkage was proportional to the increase of NY and PVA fiber content.

직업적 연폭로에서 혈중 연량 수준에 따른 선별검사로서의 혈중 ZPP 검사의 타당도

한구석,안현철,김용배,리갑수,김화성,황규윤,장봉기,이성수,안규동,이병국 순천향대학교 산업의학연구소 1999 순천향산업의학 Vol.5 No.1

In order to evaluate the validity of current screening criteria of lead exposure and to provide effective information for the better health management of lead workers, author investigated the interrelationship between blood lead and blood zinc protoporphyrin(ZPP) and evaluate the validity of blood zinc protoporphyrin as the screening test and blood lead as gold standard of diagnostic test. The total of 2245 lead workers (male workers: 1982, female workers : 263) from 12 lead using industries were studied. Blood lead, ZPP, hemoglobin and hematocrit were selected as lead exposure variables. Personal information on sex, age and work duration were also checked. Blood lead was measured with flameless atomic absorption spectrometry (model: Hitachi 8100) using standard addition method. Blood ZPP was measured with portable hematoflurometer (model: Aviv 206). The results obtained were as follows: 1. The mean blood lead of all lead workers were 0.7±14.3㎍/㎗(Male: 31.0±14.4㎍/㎗, Female: 28.2±12.9㎍/㎗), whereas the mean blood ZPP of those were 68.1±47.5㎍/㎗(Male: 63.9±43.7㎍/㎗, Female: 100.1±61.0㎍/㎗). The mean value of hemoglobin and hematocrit of all lead workers were 14.5±1.5g/㎗(Male: 14.7±1.3g/㎗, Female: 12.3±1.2g/㎗) and 45.4±3.6(Male: 46.2±2.8, Female: 39.5±3.1) respectively. 2. Validity of test using blood zinc protoporphyrin as screening test for blood lead levels of 30㎍/㎗ as gold standard of diagnostic test revealed that the highest validity value for male and female lead workers were 50 and 90 ㎍/㎗ of ZPP respectively, showing 50 and 60 ㎍/㎗ of ZPP for all lead workers. While those test for blood lead levels of 40㎍/㎗ as gold standard of diagnostic test revealed that the highest validity value for male and female lead workers were 60 and 90 ㎍/㎗ of ZPP respectively, showing 60 ㎍/㎗ of ZPP for all lead workers, those test for blood lead levels of 50 and 60㎍/㎗ as gold standard of diagnostic test revealed that the highest validity value for male and female lead workers were 60 or 70 and 100 ㎍/㎗ ZPP respectively, showing 60and 70 or 80 ㎍/㎗ of ZPP for all lead workers. 3. Predictive value of test using blood zinc protoporphyrin as the screening test for different blood lead levels of 30, 40, 50 and 60㎍/㎗ as gold standard of diagnostic test revealed that positive predictive value of screening test were decreased by the increase of blood lead level regardless of csreening criteria value ZPP and negative predictive value of screening test were increased accordingly regardless of screening criteria value of ZPP. On the other hand, within same blood lead level as a gold standard positive predictive values were inceased by the increase of screening criteria value of ZPP, whereas the negative predictive value were decreased accordingly by the the increase of screening criteria value of ZPP. 4. The correlation analysis of all lead workers among study variables revealed that CPbB and natural log transformation ZPP(LZPP) were better correlated with other variables and found to be better estimate than PbB and ZPP themselves. The age was correlated with all other variables, but the work duration was not. The correlation analysis of male and female workers among study variables revealed the same results with all lead workers. 5. The slope of simple linear regression of CPbB (independent variable) with ZPP in female workers(3.223)was steeper than in male workers(2.144). That of lead workers with work duration of less than 1 year was steeper than that of lead workers whose work duration was more than 1 year. But there was no slope difference between two groups divided by their work duration of 2 years less and more. The slope of simple linear regression of CPbB lead (independent variable)with ZPP in lead workers whose blood lead were higher than 30㎍/㎗and 40㎍/㎗ were steeper than those whose blood lead were less than 30㎍/㎗ and 40㎍/㎗. 6. The slope of simple linear regression of CPbB (independent variable) with ZPP in lead industries with low mean blood lead were less steeper than those with high mean blood lead. 7. The slope of simple linear regression of CPbB (independent variable) with LZPP in female workers(0.0308was steeper than in male workers(0.0253). That of lead workers with work duration of less than 1 year was steeper than that of lead workers whose work duration was more than 1 year. But where was no slope difference between two groups divided by their work duration of 2 years less and more. While the slope of simple linear regression of CPbB lead (independent variable) with LZPP in lead workers whose blood lead were hogher than 30㎍/㎗ was not steeper than those whose blood lead were less than 30㎍/㎗, there was no slope difference between two groups whose blood lead were less than 40㎍/㎗ and more than 40㎍/㎗. 8. The slope of simple linear regression of CPbB (independent variable) with LZPP in lead industries with low mean blood lead were less steeper than those with high mean blood lead, but the difference was not significant then that of CPbB and ZPP. With above results, it is recommended that the screening criteria value of ZPP should be down to 60-70㎍/㎗ from 100㎍/㎗ for male lead workers and screening criteria of ZPP for female lead workers was all right with current value of 100㎍/㎗. So it is recommended to make different screening criteria of ZPP for male and female workers like the hemoglobin and hematocrit screening criteria. It is also preferable to use CPbB and LZPP rather than uncorrected PbB and ZPP in the evaluation of lead exposure for lead workers.

부안 유천리 도자기의 과학적 분석

강현삼,이한형,박기철,김건한,서만철,서정호,최기영 공주대학교 문화재보존과학연구소 2003 문화재과학기술 Vol.2 No.1

전북 부안 유천리 청자요지에서 수습된 청자편 11점의 태토 및 유약에 대하여 화학조성을 분석하고, 기 발표되어진 문헌의 청자데이터들을 종합하여, 이와 비교함으로써 본 시료의 도자특성과 및 산지에 대한 정보를 유추하였다. 태토의 주요산화물 분석에는 XRF를 이용하였으며, 유약의 주요산화물분석에는 EPMA를 이용하였다. 태토 중 17개 미량성분의 분석에는 ICP-MS를 이용하였고, 자료의 비교분석에는 Seger식에 의한 방법과 주성분분석법에 의한 통계처리방법을 병행하였다. 태토의 주요산화물에 대한 비교분석결과 유천리 청자는 Seger 식과 주성분분석에서 RO_(2)와 RO+R_(2)O가 6~8 및 0.3~0.38 mole로, 또 높은 SiO_(2)함량과 낮은 Na_(2)O, CaO의 함량으로 전북지역의 데이터 범위에 분포함을 볼 수 있었다. 유약의 주요산화물에 대한 비교분석결과에서는 Seger식과 주성분분석에서 모두 명확한 지역구분이 나타나지 않았으며, 따라서 유천리 청자 역시 명확한 지역적 특성을 구분하기 어려웠다. 태토중 미량성분의 주성분분석에 의한 통계처리결과 광주 충효동 도편들을 제외하고는 뚜렷한 지역간의 구분을 관찰하기 어려웠다. The characterization of chemical properties and analogy of manufactured origin for the eleven celadon sherds collected in Yuchunri, Buan were performed by analyzing their body and glaze compositions and compared with previous data reported. The chemical compositions of the body and glaze were determined by XRF and EPMA, respectively. The trace elements of the body were also determined by ICP-MS. The Seger analysis and PCA were used to compare the major compositions of body and glaze of the potteries we found with previous data. The Celadon sherds from Yuchunri are distributed in a range of Chonnam potteries considering RO_(2) and RO+R_(2)O are 6~ 8 and 0.3 ~O.38mole, respectively and also high in SiO_(2) and low in Na_(2)O and CaO concentrations in the comparison between the potteries for the major compositions of the body. Differences of the chemical characteristics of those potteries between the provinces were not clear in comparison of the glaze compositions and trace element of the body.

Canine juvenile cellulites의 진단과 치료 증례

황철용,유종현,강형석,윤화영,한홍율 한국임상수의학회 2002 한국임상수의학회지 Vol.19 No.4

Canine Juvenile cellulitis was diagnosed in 2 puppies hospitalized in Veterinary Medical Teaching Hospital of Seoul National University. Characterized dermatological problems were presents of scale, crust, purlent exudation and alopecia limited on their face. On cytologic examinations of direct impression smears for the lesions, numerous neutrophils and macrophagies were observed. No bacteria and fungus were noted. Treatments with administration of predinisolone and antibiotic orally combined with topical shampoo treatment had good results for the two puppies.

圓光醫大 附屬 第2病院 神經精神科 患者에 對한 統計的 考察(Ⅱ)

박민철,장광철,김상원,김한주,유미경,김훈,유용진,김현정,박남진,오상우,이귀행,노승호,백영석 圓光大學校 醫科大學 神經精神科學敎室 1992 圓光精神醫學 Vol.8 No.1

본 연구는 1986년 7월 11일부터 1991년 7월 10일까지 원광의대 부속 제2병원 신경정신과에서 의래 및 입원치료를 받았던 6,072명의 환자를 대상으로 병원 역학조사를 실시하고 그 결과를 1차조사 (박민철 등1986)와 비교했다. 1.전체 환자 중 남자가 54.4%로 여자보다 많았고, 이리와 이리 인접지역이 84.0%로 대부분의 지역을 나타났다. 의료보장상태는 보험환자가 57.1%, 의료보호환자21.8%, 일반환자 21.1%였으며 연령별로는 20대 24.6%, 30대 22.8%로 20대 30대가 절반정도를 차지했다. 2.외래환자에서는 신경중성장애가 46.0%로 가장 많고 정동장애, 경련성장애 순이며, 입원환자에서는 정신분열증이 30.5%로 가장 많고 기질성정신장애, 정동장애의 순이었다. 3.남자는 신경증성쟝애(23.4%), 정신분열증, 기질성정신장애 순이고 여자는 신경증성장애(39.9%), 정동장애, 정신분열증의 순이었다. 남자가 여자보다 많은 진단은 알코올정신장애(94.6%), 기질성정신장애, 소아정신장애 순이고, 여자가 남자보다 많은 진단은 정동장애(64.5%), 신경증성장애였다. 4.진단별 연령분포에서 신경증성장에는 30대(25.3%), 20대, 40대 순이고, 정신분열증은 20대(40.5%), 30대, 40대 순이며, 정동장애는 20대, 30대, 50대 순이나 비교적 비슷한 융이었다. 5.진단별 발병연령에서 신경증성장에는 20대, 30대가 절반이고,정신분열증은 20대(51.3%), 10대, 30대 순이며 정동장애는 20대(30.7%), 30대, 50대 순이었다. 진단별 평균 발병연령은 신경증성장애 32.7세, 정동장애 36.1세, 정신분열증 23.6세였다. 6.진단별 이병기간은 2년이상이 신경증성장에 28.3%, 정신분열증 68.5% 정동장애 43.9%인데 전체적으로 41.0%였다. 진단별 평균 이병기간은 정신분열증 73.2개월, 정동장애 45.5개월, 신경증성장애 29.5개월이었다. We examined epidemiologic study of 6,072 patients who visited Wonkwang Neuropsychiatric hospital since July 11 of 1986 until July 10 of 1991 and compared this results with previous study(Park et al 1986). The study revealed as follows:1. Of total patients males visited this hosptial more than females as 57.1%, Most of them(84.0%) resided Iri and neighbouring Iri. In the point of insurance, insured patients, medicaid patients and uninsured patients were 57.1%, 21.8% and 21.1% respectively. On the distribution of age, the twenties, the thirties were 24.6%, 22.8% respectively and twenties and thirties were about half of total patients. 2. Of outpatients neurotic disorder was the most as 46.0%, secondly mood disorder and thirdly convulsive disorder, but of inpatients schizophrenia was the most as 30.5%, secondly organic mental disorder and thirdly mood disorder. 3. Of males neurotic disorder was the most as 23.4%, secondly schizophrenia, and thirdly organic mental disorder, but of females neurotic disorder was the most as 39.9%, secondly mood disorder and thirdly schizophrenia. alcoholic mental disorder(94.6%), organic mental disorder, child mental disorder were mostly found in males,but mood disorder(64.5%) and neurotic disorder were mostly found in females. 4. On the distribution of age neurotic disorder was found the most in the thirties(25.3%), next in the twenties and in the forties, and schizophrenia was found the most in the twenties(40.5%), next in the thirties and in the forties, but mood disorder was found the most in the twenties, next in the thirties and in the forties but revealed similar rates relatively. 5. On the distribution of age of onset neurotic disorder developed nearly half during the twrnties and the thirties, schizophrenia developed mostly during the twenties (51.3%), secondly the teens and thirdly the thirties, but mood disorder developed firstly the twenties(30.7%), secondly the thirties and thirdly the fifties. on the average age of onset of illness neurotic disorder, mood disorder and schizophrenia were 32.7 years, 36.1 years and 23.6 years respectively. 6. On the duration of illness more than two years was 28.3% in neurotic disorder, 68.5% in schizophrenia and 3.9% in mood disorder and on the average duration of illness schizophrenia, mood disorder and neurotic disorder were 73.2 months, 45.5 months and 29.5 months respectively.

근 피판술을 이용한 기관흉막루의 치료

류한영,설정현,김정철,한승세,우상현,최시호 大韓成形外科學會 1991 Archives of Plastic Surgery Vol.18 No.2

Bronchopleural fistula and chronic empyema are the difficult problems in the thoracic surgery field. We experienced 3 cases of chronic empyema and complicated bronchopleural fistulas treated with muscle flap and concomitant thoracoplasty. The causative primary diseases were pulmonary tuberculosis and bronchiectasis. All the three cases have failed to control the chronic empyema and bronchopleural fistula with conventional method such as closed or open drainage and Eloesser flap after lobectomy. The unresponsive infection on bronchopleural fistula and pleural space was well controlled after muscle flap with thoracoplasty. Complete decortication, closure of bronchopleural fistula as much as possible and coverage of closed fistula with good vascularized tissue are the essential factors for the success of operation on chronic empyema and bronchopleural fistula. The results of operations were satisfactory and the respiratory function was well preserved or improved in one patient. But, the contour of chest wall was deformed in patient with extensive concomitant thoracoplasty.

유방암과 섬유선종의 방사선학적 소견 : 유방 단순촬영술과 유방 초음파검사 소견의 비교 연구 Studies on mammographic and ultrasonographic findings evaluation

임한혁,최득린,고은석,이혜경,임철완,이상진,홍현숙,최교창,김영화,박재성 순천향의학연구소 1997 Journal of Soonchunhyang Medical Science Vol.3 No.2

Purpose : To evaluate the utility of mammography and ultrasonography in study of morphologic differential diagnosis between malignant and benign mass. Materials and Methods : Average age of patients with breast cancer was 48.4 year-old, and that of fibroadenoma was 29.4 year-old. The equipments used for examination were MF-159 high frequency mammography(Bennet Co.) and Acoustic image 5200S. We evaluated mammographic findings about breast parenchymal pattern, calcification, margin and size of the mass associated tumor nature, and ultrasonographic findings about shape, height and width, internal homogenicity and echo pattern, wall contour, boundary echo, and posterior shadow in breast mass. Thirty-seven of mammographic findings and 34 cases of ultrasonogreaphic findings in pathologically proven breast cancer and 34 case of mammographic findings and 71 cases of ultrasonographic findings in breast fibroadenoma were reviewed retrospectively. Results : In mammographic study, the parenchymal patterns of breast cancer according to Wolfe classification were NI(16.2%), PI(24.3%), P@(37.8%), and DY(21.6%) and those in fibroadenoma were NI(3.1%), Pl(11.7%), P2(35.2%),and DY(50%). Mammographic findings about presence of calcification were as follows; only calcification(16.2%), only mass(51.3%), and mass with calcification(32.5%) in breast cancer, and only mass(91.2%), mass with calcification(8.8%) in fibroadenoma. The features of mass margins were classified as ill-defined margin(45.9%), well-defined(5.4%), and well-defined with partial spiculation(48.6%) in breast cancer and ill-defined(20.5%), well-defined(73.5%), and well-defined with partial spiculation(5.8%) in fibroadenoma. The mass were grouped by size; 1-2cm(37.8%), 2-4cm(45.9%), and 4-6cm(16.3%) in breast cancer and 1-2cm(79.4%), 2-4cm(17.6%), and 4-6cm (3.0%) in fibroadenoma. On ultrasonographic study, the shape of masses in breast cancer were lobulated(82.3%),oval(14.7%), and round(3.0%),and those in fibroadenoma were lobulated(14.0%), oval(57.7%), and round(18.3%). The cases that the height was longer than width were 32.3% in breast cancer and 0% in fibroadenoma. The findings about homogenecity and echo patterns were as follows; hypoechoic(52.9%) and mixed(47.1%) in breast cancer and hypoechoic(2.8%), hypoechoic(63.4%), and mixed(33.8%) in fibroadenoma. The margin of masses were smooth in 85.9% of fibroadenoma, and irregular in 73.6% of breast cancer. The boundary echoes of masses and decreased posterior echo shadow were seen only in 61.8% and 55.9% of breast cancer, respectively. Conclusion: The margin and calcifications are more clearly delineated on mammography but breast cancer and fibroadenoma, both are more commonly developed in dense parenchymal pattern(P2+DY),and there findings are easily obscured in mammography. So ultrasoography is very useful in these masses evaluation, especially amoung young patients.

뉴로-퍼지 논리를 이용한 12경락의 양도락진단 시스템의 구현

김병화,한권상,이우철,김성현,최해성,안현식,김도현 대한전자공학회 1997 秋季綜合學術大會 論文集 Vol.20 No.2