Dual-Arm 로봇의 자기구성 퍼지제어

김홍래,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

뉴럴네트워크를 이용한 이동로봇의 지능제어

김홍래,김용태,한성현 한국공작기계학회 2004 한국공작기계학회 추계학술대회논문집 Vol.2004 No.-

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

TMS320C80칩을 이용한 이중암 로봇의 실시간 퍼지제어

김홍래,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with four joints.

초등학교용 웹 기반 교수-학습 자료 개발 전략

김홍래,정인기,신준식,이대형 춘천교육대학교 과학교육연구소 2001 과학교육연구 Vol.25 No.-

TDMA 셀룰라 시스템에서 개별-탭 계수를 이용한 적응 등화기에 관한 연구

홍성수,박래수,한현택,김학춘,정찬주,나상동 조선대학교 동력자원연구소 1995 動力資源硏究所誌 Vol.17 No.1

Demodulation wants to adaptive equalizer to minimize interference of intersymbol which generate in multipath fading channel results from signal time and variety multi propagation through channel in digital radio network systems. Therefore using transition ratio of transfer and receiver system and the number of forward and backward using existing individual taps, we study improvement algorithms which generated bit error ratio by signal in frequence select fading. We analysis and compare linear equalizer and decision feedback nonlinear equalizer. Proposed algorithm is more efficent in fading environment when compared of step size by channel character which estimated existing least square and ITLMS algorithm. In this paper, using ITLMS algorithm by decision feedback BER is reduced for intersymbol interference by narrowband TDMA multipath fading in invironment without individual tap weight overlay.

육성-비육돈에 있어서 항균제의 첨가효과

金大鎭,李尙勳,趙弘來 東亞大學校 大學院 1986 大學院論文集 Vol.11 No.-

This experiment was conducted to examine the effect of copper sulfate, nitrovin and virginiamycin in grower-finisher ration on the pig performance of body weight gain and feed conversion. These antimicrobial agent of copper sulfate, nitrovin and virginiamycin in grower and finisher diets were added 175ppm, 20ppm and 20ppm, respectively. Pigs fed rations containing nitrovin(837gram) of average daily body weight gain were more efficient than those of copper sulfate(815gram) and virginiamycin(804gram), but rations added nitrovin(2.90) was not improved than those of copper sulfate (2.77) and virginiamycin(2.79) in feed conversion(P<0.05).

복합배전계통을 위한 조류계산 및 상태추정 알고리즘

김홍래 순천향대학교 부설 산업기술연구소 2004 순천향 산업기술연구소논문집 Vol.10 No.2

Dispersed generation(DG) provides electric power at a site closer to the customers, eliminating the unnecessary transmission and distribution costs. It also has merits to reduce fossil fuel emissions, defer capital cost, reduce maintenance investments and improve the distribution feeder voltage conditions. DG is predicted to play an increasing role in the electric power system in the near future. DG technologies are entering a period of rapid expansion and commercialization. In this paper, attempts are made to calculate the line loss of distribution system with distributed generation on a distribution feeder usting power flow method. Results show the optimal placement of distributed generation minimizing losses. State estimations are performed on the composite distribution systems and run with same measurement sets including bad data in order to compare the robustness to bad data and convergence characteristics.

반응소결에 의한 근사기본형 Al₂O₃/ZrO₂복합체의 제조 및 치밀화

김철진,박홍래,신동우 慶尙大學校生産技術硏究所 1997 生産技術硏究所論文集 Vol.13 No.-

Al₂O₃/ZrO₂ composites were fabricated by the reaction bonding process. Starting materials of 20-70 vol% Al, 10-65 vol% Al₂O₃, and 15-20 vol% ZrO₂ were milled for 8 h using attritor with ZrO₂ball media and isostatically pressed into the rectangular shape. The compacts were heat treated with two steps at the temperatures of 1000-1200℃ and 1400-1650℃ for 3-12 h with the heating rates of 1℃ /min and 1-5℃ /min, respectively. The sintered specimens showed the relative density of 95% to the theoretical value with the linear shrinkage of 10.5%. The large pores and cracks were not observed in the sintered body.

體育科 入試 實技考査種目의 妥糖性에 關한 硏究

金正默,林聖愛,李來華,金炳斗,安禹洪,李敏炯,金基學 慶北大學校 師範大學 1977 敎育硏究誌 Vol.19 No.-

The following conclusion has been derived from the foregoing results of analysis and observation. First, we found, in this proposed system, reliability, objecivity, and individuality. Second, this type of system must be able to measure numerable testees. Third, testees are regulated that they are brought to the same condition in which their willful adventage are not allowed, Fourth, when considering the foundamental physical strength and skills can be evaluated in general throughout all skills areas of physical education, the following items of skills are recognized to have the advantages and disadvantages which relatively lack or relieve one another. However, under various conditions of the prevailing system of the entrance physical test, the following measurable items of physical skills selected are concluded as having highest validity primarily for the physical entrance examination. 1. Side Step B Style 2. Zigzag Run 3. Wall Pass 4. Standing Long Jump

경주시민의 여가활동유형과 여가만족간의 관계

김홍석,이동수,조국래 경주대학교 지역개발연구소 2000 地域開發論叢 Vol.- No.3

The purpose of this study was to grasp the relationship between of leisure of leisure activity and leisure satisfaction of the workers. more details, The issues of this research was to hold the relationship between styles of activities which are composed of sport, hobby, sight seeing, travelling, listening, social, educational activities and leisure satisfaction being organized of psychological, educational, social, physiological, relaxational, and environmental satisfaction. Subjects of this study were sampled 412 workers. Statistics employed in this research were analysis of covariance(ANCOVA) and multiple classification analysis(MCA). Based on the procedures and results, the following conclusions were warranted. First, the styles of leisure activity of the citizens in Kyongju were influenced on the social leisure satisfaction, and the social leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju. and then it was revealed high on sports activity. Second, 송 styles of leisure activity of the citizens in Kyongju were influenced on the physical leisure satisfaction, and the physical leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju. and then it was revealed high on social intercourse activity. Third, the styles of leisure activity of the citizens in Kyongju were influenced on the psychological leisure satisfaction, and the psychological leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju. and then it was revealed high on sports activity. Forth, the styles of leisure activity of the citizens in Kyongju were influenced on 송 educational leisure satisfaction, and the leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju and then it was revealed high on sights seeing activity. Fifth, the styles of leisure activity of the citizens in Kyongju were influenced on the relaxational leisure satisfaction, and the relaxational leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju and then it was revealed high on sports activity. Sixth, the styles of leisure activity of the citizens in Lyongju were influenced on the environmental leisure satisfaction, and the environmental leisure satisfaction was differed from according to styles of leisure activities of the citizens in Kyongju and then it was revealed high on sports activity.