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유연한 로봇팔의 선단 위치 제어를 위한 강인한 제어기의 설계
신봉철,이형기,최연욱,안영주 한국융합신호처리학회 2002 융합신호처리학회 논문지 (JISPS) Vol.3 No.2
본 연구는 유연한 로봇팔의 선단 위치를 제어하기 위한 강인한 제어기의 설계하고 이것의 효과를 실험을 통하여 확인하는 데 있다. 이를 위해 먼저 유연한 로봇팔의 모델링을 Lagrange 방정식을 이용하여 수행하여 시스템의 수식모델을 구한 뒤, 이 모델을 기본으로 하는 강인한 제어기의 설계를 LMI(Linear Matrix Inequality)을 적용한 H$_{\infty}$이론을 도입하여 수행한다. 이 과정에서 로봇팔의 선단부하 변경으로 인한 시스템 파라미터의 변동을 플랜트가 가지는 불확실성 영역으로 간주하여 이를 설계에 적극적으로 반영함으로서 결과적으로 플랜트의 파라미터 변동에 강인한 제어기를 구현하고 이것의 유효성을 실험을 통하여 확인한다. .실험을 통하여 확인한다. . The objective of this paper is to design a robust controller for a flexible robot arm manipulator using LMI(Linear Matrix Inequality) theory, and confirm its effectiveness through experimentation. We first describe a modeling Process of the flexible arm in order to get a mathematical model, and then discuss how to approximately obtain the uncertainty of the model for robust control. As to the control system design, we adopt the LMI-based H$_{\infty}$ synthesis algorithm which has the merits of eliminating the regularity restrictions attached to the Riccati-based methods. As a result of this, we can cope with the parameter variation (that is, modeling uncertainty) due to the tip-load variation. Finally we confirm the effectiveness of the controller through experiment and simulation.
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정상 면역능 환자에서 Mucormycosis에 의한 위궤양 1예
신봉철,김형준,우재곤,서은희,허내윤,박종하,김태오 대한내과학회 2011 대한내과학회 추계학술대회 Vol.2011 No.1
Mucormycosis has emerged as an important opportunistic fungall infection in diabetics and other immunocompromised hosts. Rhinosinusitis, pansinusitis, rhino-orbital and rhinocerebral are the common classical manifestations of mucormycosis. However, primary gastrointestinal (GI) mucormycosis is an uncommon disease associated with a high mortality rate. Reported cases of GI mucormycosis in an immunocompetent host are very few in the literature. Standard therapy for invasive mucormycosis includes parenteral amphotericin B (AMB) in combination with radical debridement of infected tissues. We report a 53-year-old man patient with gastric mucormycosis who had only diabetes mellitus and completely recovery after only amphotericin B treatment.
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E-manufacturing을 위한 가공공정 모니터링 시스템 개발
신봉철,윤길상,최진화,김동우,조명우 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-
Recently, with the rapid growth of information technology, many studies have been performed to implement web-based manufacturing system. Such technologies are expected to meet the need of many manufacturing industries those want to adopt E-manufacturing system for the construction of globalization, agility, digitalization to cope with the rapid changing market requirements. In this research, a real-time web-based machine tool and machining process monitoring system is developed as a first step for implementing E-manufacturing system. In this system, main spindle motor current and feed current are measured using hall sensors. And the relationship between the cutting force and the spindle motor RMS current at various spindle rotational speed is obtained. Also, a rule-based expert system is developed in order to monitor the machining process effectively. Finally, developed system is applied to real machining process to verify the effectiveness.
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헬무트 콜의 독일 통일 정책이 한반도 통일 정책에 주는 시사점 연구
신봉철,정훈 동아대학교 동아시아연구원 2010 동아시아 : 비교와 전망 Vol.9 No.2
본 논문에서는 독일 통일 당시의 동서독 통일 과정과 정책을 살펴보고, 그를 통해 남한의 통일정책에 대한 시사점을 알아보는데 목적이 있다. 헬무트 콜의 10조항 통일정책은 독일의 통일에 중대한 영향을 주었다. 동독과의 상호주의적인 교류를 강조하고, 동독의 체제 전환을 전제로 모든 통일국가의 형태에 대한 가능성을 열어두었으며 독일의 통일을 유럽의 평화라는 목적을 실현하기 위한 수단으로 사용함으로써 주변 국가들을 설득시켰다. 헬무트 콜의 통일정책에 동독 국민들의 민주화에 대한 열망과 서독의 경제적 지원이 뒷받침되었기에 독일 통일은 가능했다. 독일에 비하면 현재 한반도가 처해 있는 조건은 훨씬 불리하다. 경제적으로나 외교적으로도 취약하고, 서로의 이데올로기에 대한 폐쇄성과 왜곡된 이해에도 불구하고 민족을 앞세운 감성적인 통일론이 남북한 모두를 지배하고 있다. 독일 통일이 실현되고 20년이 지난 오늘날 독일 통일은 완성된 것이 아니라 여전히 진행 중이다. 통일 부작용에는 여러 가지 원인이 있겠지만 가장 큰 원인은 동독의 실상을 정확히 몰랐기 때문에 그에 대한 정확한 준비를 하지 못했다는 것이다. 독일의 통일은 통일이 결코 짧은 시간에 완수할 수 있는 것이 아님을 보여준다. 하지만 통일의 과정은 독일의 경우와 같이 급속히 진행될 가능성이 있다. 지금 우리 사회는 통일에 대비하여 어떠한 준비를 하고 있는가는 자문해볼 필요가 있다. This paper will investigate the implications of the South Korean policies of unification through analyzing the policies and process of unification of East and West Germany. Helmut Kohl's "10 Punkte Programm" had a great influence in the unification of Germany. Frist, it was emphasized the reciprocal interaction with the East Germany. Second it was opened the possibility of the forms of all of the unifying nations with East Germany's regime change as a precondition. Third, it was convinced the surrounding nations that the unification of Germany could be the path towards the European peace. The unification of Germany was possible thanks to the East Germany's people's passion for democracy and the financial aid of the West Germany along with Helmut Kohl's policies of unification. Compared to Germany, the Korean Peninsula is in much worse conditions. This is because in both of the Koreas dominates a sensitive belief of unification based on nationalism, despite the diplomatic and economic weakness and distorted understanding about each other. Even after twenty years after the unification of Germany, the true integration is still in progress. There may be several reasons for the side effects of unification, but the biggest reason is that the realities of DDR were not understood accurately and were not perpared for properly. Germany's unification shows that unification can't be attained in a short span of time. However, the process of unification might occur rapidly just like it happened in Germany. It is important to reflect on what has our society done in order to prepare for our unification.
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신봉철,Sin, Bong-Cheol 한국제품안전협회 2006 제품안전 Vol.2 No.-
"1963년에 설립된 (주)뉴지로는 전기 매트류(Electric Mats)의 발열선 (PVC열선, 실리콘 특수열선) 및 조절기용 케이스와 접속기(Connectors)류 등의 주요 전기 부속품을 제조하는 공장으로 출발하여, 이제 선두기업으로 성장하였습니다. 일관된 정책과 철저한 경영방침으로 목표 달성에 노력하며 그동안의 축적된 노하우와 철두 철미한 관리로 안정된 바탕위에 꾸준한 성장을 거듭해 올 수 있었습니다." 그리고 이제 미래를 향해 웅비를 펼치려 합니다. "철저한 품질관리 시스템과 엄격한 환경 기준에 의한 제조공정으로 신뢰와 믿음을 기초로 앞서가며 항상 미래지향적인 제품을 꾸준히 연구, 개발 하는 노력을 지속적으로 경주 하겠습니다. 설립 당시의 "안전제일", "품질향상", "인화단결" 이라는 사훈의 이념아래 21세기를 이끌어가는 환경친화적이고 미래지향적인 기업이 되겠습니다.
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신봉철,정동규,박용석,김영백,민병국,석종식,최덕영 대한신경외과학회 1989 Journal of Korean neurosurgical society Vol.18 No.3
The author analyzed 73 patients with hydrocephalus, who were managed by ventriculoperitoneal shunt in recent 5 years at Chung-Ang University Hospital. The causes of hydrocephalus were brain tumor(23%), head trauma(21%), aqueductal stenosis(16%), myelomeningocele(4%), spontaneous subarachnoid hemorrhage(14%), meningitis(12%) and idiopathic normal pressure hydrocephalus(10%). Their symptoms and signs were gait disturbance(39 patients), mental change(31 patients), papilledema(30 patients) and urinary incontinence(20 patients). Gait disturbance of 39 patients was improved in 23 patients(59%), but visual acuity was improved in only 1 patient. The brain computed tomography showed "roundness" of frontal horns(100%), moderate ventricular dilatation(61%), obliteration of cerebral sulci(68%) and periventricular low densities(56%). Accu-Flo distal slit valve system was applied in all cases and medium pressure valve(closing pressure : 5-9㎝ H₂O) was selected in 65 patients. Twenty reoperations were done in 16 patients and their causes were shunt malfunction(13 cases) and infection(4 cases). Ventricular puncture was done through the Keen's point in all cases and ventricular catheter tip was inserted into the contralateral frontal horn in 30 cases, but there was no shunt malfunction in those patients.
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유동해석을 통한 MR fluid jet polishing 시스템의 재료제거 특성 분석
신봉철,임동욱,이정원 한국금형공학회 2019 한국금형공학회지 Vol.13 No.3
Fluid jet polishing is a method of jetting a fluid to polish a concave or free-form surface. However, the fluid jet method is difficult to form a stable polishing spot because of the lack of concentration. In order to solve this problem, MR fluid jet polishing system using an abrasive mixed with an MR fluid whose viscosity changes according to the intensity of a magnetic field is under study. MR fluid jet polishing is not easy to formulate for precise optimal conditions and material removal due to numerous fluid compositions and process conditions. Therefore, in this paper, quantitative data on the factors that have significant influence on the machining conditions are presented using various simulations and the correlation studies are conducted. In order to verify applicability of the fabricated MR fluid jet polishing system by nozzle diameter, the flow pattern and velocity distribution of MR fluid and polishing slurry of MR fluid jet polishing were analyzed by flow analysis and shear stress due to magnetic field changes was analyzed. The MR fluid of the MR fluid jet polishing and the flow pattern and velocity distribution of the polishing slurry were analyzed according to the nozzle diameter and the effects of nozzle diameter on the polishing effect were discussed. The analysis showed that the maximum shear stress was 0.45 mm at the diameter of 0.5 mm, 0.73 mm at 1.0 mm, and 1.24 mm at 1.5 mm. The cross-sectional shape is symmetrical and smooth W-shape is generated, which is consistent with typical fluid spray polishing result. Therefore, it was confirmed that the high-quality surface polishing process can be stably performed using the developed system.
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