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이진 매니퓰레이터의 역기구학 해석을 위한 연속변수 공간 최적화 방법 연구
남상준(Sang Jun Nam),장강원(Gang-Won Jang),김윤영(Yoon Young Kim) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
The prominent advantages of binary manipulators over general manipulators having continuous joints are hyperredundancy, high reliability and high task repeatability. Thus binary manipulators with many modules can be operated effectively under tough and complex work conditions. However, as far as the inverse kinematics is concerned, even the popularly-used Ebert-Uphoff algorithm cannot efficiently deal with binary manipulators having many modules due to its enormous memory requirement for real-time calculation. To overcome this limitation, we develop the inverse kinematics algorithm of binary manipulators based on optimization method. The states of binary joints are treated as design variables and the distance between the target and the end-effecter of the manipulator is constrained during the optimization. Using the proposed method, the inverse kinematics problem of three-dimensional binary manipulators having more than 20 modules can be solved within few seconds with small memory requirement. Furthermore, manipulation considerations such as operation power minimization can be easily incorporated into the proposed method with slight change of the formulation.
산림표층토를 활용한 비탈면 생태복원녹화에 관한 연구(I)
남상준,여환주,최재용,김남춘,Nam, Sang-Jun,Yeo, Hwan-Joo,Choi, Jae Yong,Kim, Namchoon 한국환경복원기술학회 2004 한국환경복원기술학회지 Vol.7 No.4
This research was conducted to develop spraying cultivation method using forest topsoils in order to restore the disturbed slopes. In November the researcher collected a depth of 5 cm of topsoils from a well developed forest, after the fallen leaves were cleared. The essential results of the research are as follows: In the case of using the forest topsoils, during the early stages of planting, time is necessary for the desired vegetation to reach a similar state to the vegetation being restored. The best possible effect is obtained through a method utilizing forest topsoil(30%)+loam silt soil(70%)+seeding with grasses and native plants including trees, shrubs, and herbs. Several plants such as Pinus densiftora, Potentilla fragarioides, Miscanthus sinensis, Erigeron canadensis seemed to be naturally emerged from the topsoils From this experiment, it was recommended that environment potential within topsoil should be comprehended. Also, topsoil deposit and gathering methods should be experimented properly.