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3-Joint Planar Type 로봇 매니퓰레이터의 자기동조적응제어에 관한 연구
김규로,양희주,유용석,최명진,오택열 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.17 No.-
This study has parallelogram trajectory tracking of Three Joint Planar type Robot Manipulator. The equation of motion for the three joint planar manipulator are obtained by substituting Lagrange's energy expression into Euler-Lagrange's equation and forming the appropriate derivative. Lagrangian method allows us to obtain the dynamics equations for very complicated systems in the simplest manner possible. SISO model is used for design of the controller. The design of controllers may be considered primary controller for manipulators to track the desired trajectory under ideal conditions and secondary controller to compensates for undesirable deviations of the motion from the trajectory caused by external and internal disturbances. The aim of this paper is to evaluate the efficiency by self-tunning adaptive control and considering a characteristic of control. Through the computer simulation, obtained the following results 1) selt-tunning adaptive control is superior to PD control, 2) During the learning period, the adaptive control algorithm is searching proper estimates and controller gains. After this period, the outputs of the joints start tracking closely the desired valued.
Arenimonas daejeonensis sp. nov., isolated from compost
Jin, Long,Kim, Kwang Kyu,An, Kwang-Guk,Oh, Hee-Mock,Lee, Sung-Taik Microbiology Society 2012 International journal of systematic and evolutiona Vol.62 No.7
<P>A Gram-negative, aerobic, motile and rod-shaped bacterium, designated strain T7-07<SUP>T</SUP>, was isolated from compost in Daejeon, Korea. Phylogenetic analysis based on 16S rRNA gene sequencing showed that strain T7-07<SUP>T</SUP> had 99.0 % gene sequence similarity with <I>Arenimonas malthae</I> KACC 14618<SUP>T</SUP> and 94.7-95.9 % with other recognized species of the genus <I>Arenimonas</I>. Cells formed creamy white to yellowish colonies on R2A agar and contained Q-8 as the predominant ubiquinone, C15 : 0 iso, C16 : 0 iso, C17 : 1 iso ω9<I>c</I> and C11 : 0 iso 3-OH as the major fatty acids, and diphosphatidylglycerol, phosphatidylethanolamine, phosphatidylglycerol, phosphatidylmethylethanolamine and an unknown aminolipid as the major polar lipids. The DNA G+C content of strain T7-07<SUP>T</SUP> was 68.3 mol%. DNA-DNA reassociation experiments between T7-07<SUP>T</SUP> and <I>Arenimonas malthae</I> KACC 14618<SUP>T</SUP> resulted in a mean relatedness value of 22.2 %. Combined genotypic and phenotypic data supported the conclusion that the strain T7-07<SUP>T</SUP> represents a novel species, for which the name <I>Arenimonas daejeonensis</I> sp. nov. is proposed. The type strain is T7-07<SUP>T</SUP> ( = KCTC 12667<SUP>T</SUP> = DSM 18060<SUP>T</SUP>).</P>
Status of Marine Environment of Olive Flounder, Paralichythys olivaceus, Culture Ground in Jeju-do
Hyun-Taik OH(오현택),Yong-Min YI(이용민),Yun-Sik CHO(조윤식),Jin-Ho KIM(김진호),Kyu-Hyun LEE(이규현) 한국수산해양교육학회 2016 水産海洋敎育硏究 Vol.28 No.3
In this study, we monitored the status of marine environment of olive flounder, Paralichythys olivaceus, culture ground in Jeju-do, Republic of Korea. It reported the consumption of raw olive flounder meat containing of Kudoa, Kudoa septempunctata, could induce vomitting and diarrhea in Japan. The Kudoa is a new mycosporean species, researchers found Kudoa from the muscles of olive flounder cultured at western Japan and imported from Jeju-do. We choose two Kudoa positive farms and two negative farms in the mid of concern about the relation between Kudoa and habitat. We found two marine invasive species at the water-pumping seabed at one of the Kudoa positive farm. The concentration of pH and DO at on-growing flounder farms showed the decreasing pattern along side the raceway (influent sea waters > on growing sea waters > outfluent sea waters). The TN and TP values increased gradually following to the raceway (influent sea waters < on growing sea waters < outfluent sea waters). The concentration of COD and SS were in the range of 0.100 – 2.581 ㎎·L-1, 1.00 – 12.70 ㎎·L-1, respectively. The calculated residence time was 4hr 32minutes at F1, 11hr 21minutes at F2, and 9hr 50minutes at F3, respectively. It was calculated same distance of 4 km away from effluent pipes. Although direct relation between Kudoa and marine environment could not define well based on this study result, the more studies on marine environmental stressors for olive flounder are required to conduct as a reliable method including socio-economic group and environmental group.
Kinetic Analysis of Thermal Decomposition of Polymer Using a Dynamic Model
Park, Jin Woo,Kim, Hee Taik,Yoo, Kyong Ok,Lee, Hae Pyeong,Oh, Sea Cheon 한국화학공학회 2000 Korean Journal of Chemical Engineering Vol.17 No.5
The objective of this work was to develop a kinetic analysis method by using a dynamic model that accounts for the thermal decomposition behavior of polymers with the variation of the conversion. The proposed method was applied to predict the thermal decomposition of polyethylene. The kinetic analysis was studied by conventional thermogravimetric technique with various heating rates in nitrogen atmosphere. To verify the appropriateness of the proposed method, the results from this work were compared with those of various analytical methods and the literature. The TG data were also compared with the values calculated by using the kinetic parameters from the dynamic method. It was found that the dynamic method gave a reliable value of kinetic parameters, and the activation energy and the reaction order of thermal decomposition of high-density polyethylene were larger than those of low-density and linear low-density polyethylene.
이진희,이창환,안득수,김대곤,오명성,이수택 대한소화기내시경학회 1993 Clinical Endoscopy Vol.13 No.2
A Case of double pylorus, in 56 year old man, was diagnosed by fiberoptic gastroscopy and upper gastrointestinal series. Two ovoid large openings of pyloric canal divided by smooth thickened septum were observed endoscopically And the relevant literatures on tihe subject were reviewed.
김성택,오창진,홍승관,문명선 대한신경외과학회 1991 Journal of Korean neurosurgical society Vol.20 No.8
The authors retrospectively analyzed the MRI findings of the 8 head-injured patients who had showed persistent unconsciousness and severe neurologic deficite after trauma. T2-weighted MR images disclosed high signal intensity lesions of various size and shape at lobar white matter and corpus callosum, subcortical gray matter, brain stem, and cerebral cortex, and assisted greatly in understanding the neurologic deficits of the corresponding patients. The lesions were mostly multiple and involved multiple structures CT's revealed in those patients only small hemorrhages, suspicious low densities, such nonspecific findings as slit ventricles and diffuse brain atrophy, or no abnormality at all. Post-traumatic parenchymatous lesions detected by MR images were either missed or quite underestimated on CT's. MRI was very superior to CT in the detection and anatomic localization of nonhemorrhagic intraaxial cerebral injuries, especially in the cases of small cortical contusions. CT is indicated in order to fastly detect intracranial hematomas which may need emergent surgical evacuation. If CT findings does not explain the neurologic degicits of the patients, especially in the late stage. MRI is indicated, MRI is expected to play a major role in the diagnosis of shear injuries involving white matter and brainstem where CT has been of little contribution or misleading.