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설계 및 제어 개선을 통한 외바퀴 로봇의 제어에 대한 실험적 연구
박준형(June Hyung Park),하민수(Min Soo Ha),정슬(Seul Jung) 대한전자공학회 2014 전자공학회논문지 Vol.51 No.4
본 논문에서는 한 바퀴 구동 이동로봇, GYROBO,에 대한 제어를 실험적으로 수행하였다. 이전 자이로보는 제자리에서 밸런싱을 할 경우, 내부의 짐벌이 한 쪽으로 계속 회전하는 현상이 발생하여 결국 넘어지게 되는 결과를 초래하였다. 이 구조적 문제를 보완하여 균형 제어에 대한 실험적 연구를 수행하였다. 실험을 통해 구한 게인값을 사용하는 게인 스케줄링 방법을 통해 쏠리는 현상에 대한 해결방법을 찾았고, 자세제어를 더 안정화 시켰다. 또한 주행이 가능한지를 확인하기 위해 직선 경로 주행실험을 하였다. This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.
박준형(June Hyung Park),장해인(Hae In Jang),조형민(Hyoung Min Cho),김은영(Eun Young Kim),김경심(Kyoung Sim Kim),김용욱(Yong Wook Kim),김 령(Young Kim) 조선대학교 의학연구원 2021 The Medical Journal of Chosun University Vol.46 No.2
Background: The sentinel polyp (SP) is a term used to refer to inflammatory polyps that are commonly associated with gastroesophageal reflux resulting in esophagitis. However, not only clinical progress, but also relationship of clinical characteristics with clinical outcomes are not well established in children and adolescents. Study Objectives: This study aimed to evaluate the relationship between clinical progress and individual characteristics and the prognosis of SP. Methods: During 8 years from March 2013 through April 2021, 125 patients with symptoms of chronic gastritis or gastroesophageal reflux disease were evaluated and followed with upper gastrointestinal endoscopy and biopsy at least twice. The clinical and laboratory records, macroscopic and microscopic findings of endoscopy were reviewed retrospectively. Results:Eleven cases of SP were identified. Proton pump inhibitors and antacids were prescribed for six months each in 8 cases of SP, and endoscopic follow up was performed after a year in 8 cases. The resolution of SP was detected in 5 (62.5%) cases (improved group). 3 out of 5 cases had a well-controlled diet in the improved group, and 2 out of 3 in the not improved group. Odds ratio was 0.75, and the P-value was 0.85. Conclusions: After 1 year of PPI and antacids medication, SP showed improvement in more than half of the cases (5 out of 8, 62.5%). The association of SP improvement and diet control appeared to be low. A further research is needed on a larger scale.
용산 철도시설·환경분석을 통한 역세권 선진화 방안 연구
이솔민(Sol Min Lee),류원진(Won Jin Ryu),박준형(June Hyung Park),황춘자(Choon Ja Hwang),박정수(Jeong Soo Park) 한국철도학회 2016 한국철도학회 학술발표대회논문집 Vol.2016 No.5
현재, 용산구는 서울의 중심부라는 좋은 위치를 차지하고 있음에도 불구하고 지상철도가 동서남북으로 연결되어 있어 제대로 개발이 이루어지지 못하고 지역발전을 저해하고 있다. 서울시는 지난 2007년 용산역 일대를 서울의 부도심으로 만들기 위한 역세권 개발사업을 추진하기도 하였으나, 사업은 백지화되어 지금까지 방치되고 있는 실정이다. 이에 본 논문은 현재 용산철도의 시설·환경 및 문제점을 분석하고, 이를 통해 용산역세권 선진화 및 철도시설 활성화 방안을 제시하는 것을 목적으로 한다. Now, yongsan-gu that ground railway isn’t realized exploitation properly on account of link all direction and impede local development however be in a good position which seoul’s core. Seoul is push ahead with station influence area development works in order to makes yongsan station surroundings to seoul’s a secondary center of the city last 2007, but a big undertaking was flawed until now. Hence, thesis aim at analyze present yongsan railroad’s facility·condition and problem and suggest yongsan station influence area advancement and railway service vitalization way.