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차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어
변용진(Yong-Jin Byeon),김병국(Byung-Kook Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.9
We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot’s dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.
복합행정타운 내 보건소의 공간구성요소와 면적구성에 관한 건축계획적 연구
변용진(Byun, Yong-Jin),박재승(Park, Jae-Seung) 한국실내디자인학회 2010 한국실내디자인학회논문집 Vol.19 No.3
As urban function has become diversified and complicated, multifunctional complex facilities to satisfy new functional desires are necessary. Since local autonomy started, many facilities previously run and managed by central administrative agencies are now under management of localities, and functionally, the necessity for governments complexes town to satisfy diverse taste of populace such as creating local community becomes imminent. Analyzing characteristics by space composition factor of the public health center, newly built as part of such governments complexes town and understanding required area of each part, this project is to be used as basic material for construction plan of public health center that is equipped with local characters while devising construction of the public health center in the governments complexes town. Research method is to analyze four public health center facilities located in governments complexes town sites built after 2007, among. twenty five public health centers in Seoul, by spatial functions. Also, based on statistical documents of usage of public health center facilities, research over spatial compositional factors and area composition has been conducted. As a result, connectivity between local government building located inside the governments complexes town and public health center and that of spatial composition factor by part, area ratio by part and floor type of public health center are comprehended. Connectivity type of public health centers are. divided into horizontal and vertical connectivity and it is found that spatial composition of public health center is compartmentalized into low level, mid level and high level, to make access by users easier. Level type is decided as radial, rotational and combined by hallway connecting facilities.
이해남 ( Hae Nam Lee ),변용진 ( Yong Jin Byeon ) 대한산부인과학회 2003 Obstetrics & Gynecology Science Vol.46 No.4
목적 : 한국의 중소도시인 충주지역 여성들의 피임 실태 및 방법을 설문조사를 통해 알아보았다. 연구 방법 : 2002년 8월부터 2002년 12월까지 지방공사 충주의료원과 충주시 보건소를 방문한 성 경험이 있는 가임기 여성 316명을 대상으로 설문조사를 하였다. 설문 내용은 대상자의 일반적 특성 및 피임방법, 만족도, 부작용, 피임실패여부 및 실패했을 때의 피임방법 등이었다. 결과 : 설문지 작성이 정확한 305명에 대한 자료를 사용하였고 이중 현재 임 Objective : We researched contraceptive practice and attitudes in Chungju, Korea by questionnaires. Methods : We gave questionnaires to 316 reproductive women who visited Local Corporation Chungju Medical Center and public health center in Chungju city fr
라영호(YH Rha),변용진(YJ Byen),신영우(YW Shin),김창학(CH Kim),이응수(ES Lee) 대한산부인과학회 1985 Obstetrics & Gynecology Science Vol.28 No.3
Although it was an observation during a short period of time, among 27 women who received surgery under the impression of ectopic pregnancy and confirmed pathologically as tubal pregnancy in our hospital in 1982, 9 women, that is 33.3%, were turned out to have received tubal sterilization before. The methods had been largely LTS. And with the positive history of previous sterilization, many of them were in some troubles in both being sent to a gynecologist and being diagnosed as ectopic pregnancy. Through this study, we insist that if a woman of her reproductive age presents herself in front of a physician with amenorrhea, lower abdominal pain and/or vaginal spotting, the possibility of tubal pregnancy would be much higher if she has a positive history of tubal sterilization.