다관절 로보트를 위한 충돌 회피 경로 계획

박상권,최진섭,김동원 한국경영과학회 1995 한국경영과학회 학술대회논문집 Vol.- No.1(2)

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the root is formed by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled from the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

정확도 및 안정도가 개선된 새로운 파장 잠금기

박경수,최훈,이정렬,엄진섭 강원대학교 정보통신연구소 2005 정보통신논문지 Vol.9 No.-

In this paper, we propose a new WDM wavelength locking system which uses the Michelson interferometer with a movable arm. The proposed system can cope easily with an external temperature variation to give a good stability and shows the wavelength locking capability of a resolution below 0.0005㎚.

퍼지 이론을 이용한 해저면 분류 기법

조진석,윤관섭,박순식,나정열,석등우 한양대학교 이학기술연구소 2003 이학기술연구지 Vol.6 No.-

음파를 이용한 해저면 분류를 위하여 2003년 5월 19-25일까지 남해해역에서 음향 실험을 실시하였다. 실험 해역은 해저 구성물질이 각기 다른 6개의정점을 선정하였으며 5개의 주파수(30,50,80,100,12 kHz)를 이용하여 해저면 반사 신호를 측정하였다. 또한 피스톤 코어를 이용하여 해저 퇴적물의 입도분석을 실시하였다. 해저면의 분류를 위해서는 펴지 이론(fuzzy logic)을 사용하였으먀, 이때의 입력 소속함수(input membership function)는 주파수 종속성을 갖는 해저면 반사손실 모텔(HYBRL, Hanyang University Bottom Reflection Loss)이 이용되었으며 출력 소속함수(out membership function)는 해저면의 평균입도 값으로 출력되도록 구성하였다. 퍼지이론을 통해 역산된 평균입도(mean grain size)와 코어 분석 자료를 비교하여 퍼지이론을 이용한 해저면 분류 방법의 가능성을 확인하였다. Acoustic experiments are performed for seafloor classificaton from 19 May to 25 May 2003. The six differnet sites of bottom composition are settled and the bottom reflecton losses with frequencies(30, 50, 80,100,120 kHZ) are measured. The fuzzy logic is used to classify the seabed. In the fuzzy olgic, HYBRL(HanYang Univ. Bottom Refleciton Loss) of frequency dependence is used as a input Membership functions and the output membership functions are composed of the values of the mean grain size of the bottom. The possibility of the seafloor classsification is verified comparing the inversed mean grain size using fuzzy logic with the results of the coring.

백서 중대뇌 동맥의 폐쇄에 따른 경색의 시간적 변화

정진명,정영섭,박인성,이상형,김현집,최길수,한대희 대한신경외과학회 1993 Journal of Korean neurosurgical society Vol.22 No.3

For the assessment of clinical management, for the confirmation of clinical findings, and also for the evaluation of new diagnostic techniques to determine the location as well as the extent of area of infarction on evolution in cerebral tissue is essential. Sequential evolution of infarction in 2% 2, 3, 5-triphenyltetrazolium hydrochloride(TTC) staining and its concomitant neurological changes were investigated in the rat following left middle cerebral artery occlusion(MCAO). In addition, the pathological evaluation was performed in the same coronal cut slice of each TTC staining. The results were : 1) In the TTC staining method, the cerebral infarction was not found in the 2 hour group rats, and appeared as white or pink color after 4 hours. 2) The size of infarction was significantly correlated with time of occlusion before sacrifice(p<0.05). The size increment was most obvious between 8 hour and 24 hour groups. 3) The time evolution of cerebral infarction was most prominent in the cerebral cortex, and was minimal in the basal ganglia which are supplied by the 'end artery'. 4) The cerebral infarction appeared first in the coronal cuts at the 4, 6, and 8㎜ from the frontal pole, which is the main territory of MCA. 5) The cerebral infarction, mainly presented in the 4, 6, and 8㎜ coronal cuts from the frontal pole, extended from the pyriform cortex to the fronto-parietal cortex. It also appeared at 2, 10㎜ coronal cuts from the frontal pole in 24 hour group. 6) The neurologic sign was not correlated to the time of MCAO and the size of infarction on evolution. Therefore, the prediction of location and size of area of infarction on evolution was impossible by the neurological status. 7) The histopathological change was detected as early as in 2 hours. However, hematoxylin and eosin(H & E) stained sections showed only subtle changes, such as small irregular areas of cortical spongiosis and neuronal shrinkage up to 8 hours. There was no significant difference between lesion areas of 2 hour and 8 hour groups. The pathological findings of 24 hour group rats was definite and appeared as a central area of coagulation necrosis and rare faction surrounded by a zone of peripheral spongiosis.

백양꽃(Lycoris koreana) × 개상사화(Lycoris aurea) 교잡 미숙배로부터 식물체 생산

송원섭,박인현,박진형 圓光大學校大學院 1992 論文集 Vol.10 No.-

This experiment was conducted to investigate cultural conditions of immature embryo in Lycoris koreana×Lycoris aurea hybrid. Optimum concentration of ager supplemented to Murashige and Tucker(MT) medium for plantlet production was 6g/l. Optimum concentration of sucrose supplemented to MT medium for plantlet production was 30~50 g/l. For plantlet prodution, MT medium supplemented with NAA 0.01 mg/l plus zeatin 0.1~0.01mg/l and without olant growth regulator was most effective. Optimum level of PH controlled to MT medium for plantlet productiom was 4.5~5.0. Key words : Lycoris koreana, Lycoris aurea, immature embryo, plantlet production.

煎湯에 의한 黃芩 成分 移行率에 관한 硏究I

고병섭,주혜정,마진열,박갑주,안상우 한국한의학연구원 1996 한국한의학연구원논문집 Vol.2 No.1

In order to improve the qualities of boiling extract the availability of standard compounds was investigated in extract of Scutellariae Radix. The standard compounds used baicalin(1), baicalein(2), and wogonin(3). The availabilities were analyzed by thin layer chromatography(TLC) and high performance liquid chromatography(HPLC) on C18 column. The extract of RS-4(W/V=10g/100ml) showed the highest availabilities as 7.95% of baicalin(1), 1.04% of baicalein(2), and 0.31% of wogonin(3).

저장 온도 및 상대습도가 비타민 정제 중 지용성 비타민 함량의 변화에 미치는 영향

김동섭,이재황,김세곤,이동언,박석준,이진희,이강표,최성원,백무열 경희대학교식량자원개발연구소 2007 硏究論文集 Vol.26 No.1

반도체 광 증폭기를 광 스위칭 게이트로 이용한 광 셀 압축기 및 역압축기

김광수,박경태,엄진섭,정광원 강원대학교 정보통신연구소 2000 정보통신논문지 Vol.4 No.-

In this paper, we proposed a new type of optical cell compressor and decompressor, which are essential functional modules in TDM or TDM/WDM hybrid photonic ATM switching systems. The proposed structure drastically decreases hardware requried for implementation by using optical feedback loop for optical pulse delay. Also, it is possible to compress and decompress the large capacity of optical pulse stream just with multi-stage serial connection. We did the experiment of single stage 4 bit cell compression and proved availability of the proposed structure as an essential module for switching systems

빛의 간섭 구조를 이용한 광 저울 개발

최훈,박경수,이정렬,엄진섭 江原大學校 産業技術硏究所 2004 産業技術硏究 Vol.24 No.A

In this paper, we proposed an optical balance using a Michelson Interferometer structure. The frequency of the interference signal is changed nonlinearly related with a weight to be measured, and this frequency change is processed by a processor to give a measured weight. Several measurements were performed and the good results were obtained with the fluctuation of about 1g.

피부 병변을 동반한 악성조직구증 1예

조은택,박용관,김진호,강정원,천영욱,전익섭,박유환,전춘해 조선대학교 1995 The Medical Journal of Chosun University Vol.20 No.1

Malignant histiocytosis, originally described in 1939 as histiocytic medullary reticulosis by Scott and Robb-Smith, is a rare histiocytic proliferative disorder that often shows an acute onset and used to progress to death within a few months. This disorder characterized clinically by fever, generalized weakness, lymphadenopathy and hepatosplenomegaly, and shows a variable range of pancytopenia. Extranodal involvement is common, with an incidence ranging from 50% to as high as 90%, skin involves8ment was noted in 10% to 15%. Typical skin lesions were mainly founded in extremity. i.e. erythematous papule and nodule occasionally become to necrosis and ulceration. We experienced one case of malignant histiocytosis in a 46-years-old female. The major clinical findings are fever, malaise, hepatosplenomegaly and erythematous skin lesion. In the laboratory study, pancytopenia is noted on the peripheral blood. And also aggregation of many atypical histiocytes were shown on skin and bone marrow biopsy. So we reported one related case with malignant histiocytosis as well as reviewing literature .