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이족 보행 로보트의 운동 궤적 계획 및 동적 시뮬레이션에 관한 연구
김창부(Chang-Boo Kim),김웅태(Woong-Tae Kim) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking parameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.
Spinel 페라이트 Cu(1-x)Mn(x)Fe(2-y)AI(y)O(4)계의 양이온분포 연구
이성호 ( Sung Ho Lee ),백서욱 ( Seo Wook Paik ),김웅태 ( Woong Tae Kim ),권우현 ( Woo Hyun Kwon ) 건국대학교 기초과학연구소 1995 理學論集 Vol.20 No.-
Spinel 페라이트 CU(1-x)Mn(x)Fe(2-y)Al(y)O(4)(X=0.4, 0.6, y=0.0~0.8) system을 X-ray 회절실험, SQUID 및 Mossbauer spectrum의 초미세자기장으로부터 collinear spin structure임이 확인되었다. 위의 결과로부터 양이온 분포식을 구하였고, 이에 따른 이론적인 격자상수와 자기모멘트를 계산하였으며 실험 값과 매우 잘 일치하였다. The spinel ferrite Cu(1-x)Mn(x)Fe(2-y)Al(y)O(4)(x=0.4, 0.6, y=0.0~0.8) ststems have been investigated by means of X-ray diffractometry, SQUID and Mossbauer spectroscopy. The crystal structures have been found to be cubic spinel phase in the entire composition range. The lattic constants and the magnetic moment per formula unit decreas linearly with the in crement of Al concentration. All samples have been found to have a collinear spin structure from the saturation magnetic moment and the magnetic hyperfine field of Mossbauer spectrum. The cation distributions have been determined from the above results. On the basis of these cation distributions, the lattice constants and the magnetic moments are calculated. They agree fairly well with the experimental values.
The Studybon the Cation distrbution of a Spinel Ferrite Cu1-xMnxFe2-yAIyO4 System
권우현,김웅태,백서욱,이성호 建國大學校基礎科學硏究所 1995 理學論集 Vol.20 No.-
Spinel 페라이트 Cu₁-xMnxFe₂-yAlyO₄(x=0.4, 0.6, y=0.0~0.8) system을 X-ray 회절실험, SQUID 및 Mossbauer spectrum의 초미세자기장으로부터 collinear spin structure임이 확인되었다. 위의 결과로부터 양이온 분포식을 구하였고, 이에 따른 이론적인 격자상수와 자기모멘트를 계산하였으며 실험값과 매우 잘 일치하였다. The spinel ferrite Cu₁-xMnxFe₂-yAlyO₄(x=0.4, 0.6, y=0.0~0.8) systems have been investigated by means of X-ray diffractometry, SQUID and Mossbauer spectroscopy. The crystal structures have been found to be cubic spinel phase in the entire composition range. The lattic constants and the magnetic moment per formula unit decreas linearly with the increment of Al concentration. All samples have been found to have a collinear spin structure from the saturation magnetic moment and the magnetic hyperfine field of Mossbauer spectrum. The cation distributions have been determined from the above results. On the basis of these cation distributions, the lattice constants and the magnetic moments are calculated. They agree fairly well with the experimental values.