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레이저 다이오드를 이용한 정현파 위상변조 간섭에 의한 실시간 극미세 진동 측정에 관한 연구
강성철(Kang Sungchul),진상규(Jin Sangkyu),지철근(Chee Chulkeun) 한국조명·전기설비학회 1991 한국조명·전기설비학회 학술대회논문집 Vol.1991 No.-
A new signal processing system for real time displacement measurement in sinusoidal phase modulating interferometry is described. Although sinusoidal phase modulating interferometry is effective in measuring with high accuracy the displacement of an object, conventional signal processing takes along time. In this method, detection of the object"s displacement is easily achieved by sampling the interference signal at those times that satisfy certain conditions and by processing the sampled signals with electric circuits in real time. The delay time of this signal processing system is 〈 45㎲. Specially in this paper we describe all electronic circuit and optical system design.
냉전기 북한과 중국의 이상과 현실 -협력과 갈등의 연속-
강성철(Kang, SungChul) 숭실대학교 사회과학연구소 2022 사회과학논총 Vol.25 No.-
본 논문은 상호친선과 우호협력의 관계로만 알려졌던 냉전기 북·중 관계에 대해 “정말 그러했을까?”라는 의문으로부터 출발한다. 한반도 평화와 번영을 위해 북·중 관계연구가 필수적이라는 명제를 기반으로, 통시적 방법을 통해 특히 그 변화 과정이 심했던 냉전기 양국관계의 양상과 변화 과정의 특징을 분석하고 살펴보았다. 이를 통해 탈냉전기 및 현재에 미치는 함의를 파악하는 것이 연구목적이다. 냉전기 북·중 관계의 동학을 이해하는 것은, 한국의 대중전략 방향 설정에 중요한 함의를 제공해 주고 있다. 한국은 동북아 평화정착을 위해 북·중 관계의 이해와 양국 관계가 좋을 때와 나쁠 때의 대응 방안을 각각 갖고 있어야 한다. This paper starts with the question of Did it really happen? about the relationship between North Korea and China in the Cold War, which was known only as a relationship between mutual friendship and friendly cooperation. Based on the proposition that research on North Korea-China relations is essential for peace and prosperity on the Korean Peninsula, we analyzed and examined the aspects and characteristics of the two countries relations during the Cold War, which were particularly severe. Through this, the purpose of the study is to understand the implications of the Post-Cold War era and the present. Understanding the dynamics of North Korea-China relations in the Cold War provides important implications for establishing Koreas strategic direction toward China. South Korea should have an understanding of North Korea-China relations and countermeasures when bilateral relations are good or bad for peace settlement in Northeast Asia.
모바일 기기를 위한 진동촉각 디스플레이와 선호하는 패턴 생성방법
양기훈(Gi-Hun Yang),진연섭(Yeonsub Jin),강성철(Sungchul Kang) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
In this paper, a vibrotactile pad system, T-mobile, is developed to provide vibrotactile cues for hand-held devices. A grooved and slim design is adapted to the back-side plane of the T-mobile, and the contact part consists of 12 vibrotactile panels which can operate independently and separately. To be isolated among vibrotactile actuators, the surface of the cover is divided into several pieces. Each vibrating module consists of a linear resonant actuator, a section of covering surface, and a vibration isolator. In order to provide spatial and directional information, sensory saltation and phantom sensation are applied to the T-mobile. To evaluate the developed device, two experiments were conducted to test whether directional information and spatial information can be successfully displayed by the device. Additionally, in order to find optimal stimulation by sensory saltation, an empirical test was conducted. As a result, spatial and directional information would be useful for displaying intuitive information for hand-held devices with vibrotactile feedback and reasonable near-optimal value for sensory saltation was obtained.
조창현(Changhyun Cho),이우섭(Woosub Lee),강성철(Sungchul Kang) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7
This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.
무인차량의 강인한 경유점 주행을 위한 베지어 곡선 기반 경로 계획
이상훈(Sanghoon Lee),전창묵(Changmook Chun),권태범(Tae-Bum Kwon),강성철(Sungchul Kang) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.
최태영(Taeyoung Choi),이수준(Soojun Lee),이우섭(Woosub Lee),김계리(Keri Kim),강성철(Sungchul Kang) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
This paper presents an active cannula robot system and its development for microsurgery. The active cannula robot is composed of concentric precurved tubes in telescoped arrangement and controlled by translation and rotation of each tube. For practical implementation to the various microsurgery operations, a peculiar but undesirable phenomenon, bifurcation is investigated and tried to be managed to avoid the problem. For performance, the overall control system is improved on the point of processing speed and pose accuracy. The pose on the tip is measured by telecentric scope and its workspace is examined for reliable operation.