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이희범,김현진 한국항공우주학회 2014 한국항공우주학회 학술발표회 논문집 Vol.2014 No.11
무인기의(UAV) 활용에 있어 중요한 자율항법과 관련하여 목적지까지 안전하면서도 최단시간에 나아가는 경로계획 문제가 주요한 문제가 된다. 비교적 적은 계산량과 빠른 경로 생성 속도에 의하여 인기를 끌고 있는 Rapidly exploring Random Tree (RRT)와 같은 샘플링기반의 경로계획기법은 생성된 경로의 질, 즉 최적성에 대해 보장할 수 없다는 한계점이 있다. 이를 극복하기 위하여 샘플링 횟수가 증가함에 따라 최적경로로 수렴하는 경로를 생성하는 RRT* 알고리듬이 개발되었고, RRT* 알고리듬의 최적 경로로의 수렴 속도를 증가시키기 위한 RRT*smart 알고리듬이 개발 되었다. 본 논문에서는 RRT*와 RRT*smart 의 성능 비교를 통해 RRT*smart 의 효율성을 확인하였고, 알고리듬의 성능을 높이기 위해 시뮬레이션 시행 시에 노드 사이에 추가 노드를 생성하는 방법을 적용하고 RRT*smart 알고리듬의 beacon 노드에서의 샘플링 비율을 결정하는 방식을 변경하여 적용하였다. In usage of UAV (Unmanned Aerial Vehicle), path planning for reaching destination with both safety and least time elapse is very important for autonomous navigation. Sampling based path planning methods, Such as RRT method, which is popular because of relatively low amount of calculation and fast path generation, have a limitation that it cannot guarantee quality of the generated path (or optimal path). To overcome this problem, RRT* method which generates asymptotic optimal path when sampling iteration increases has been developed and RRT*smart algorithm for increasing convergence speed toward optimal path has been developed. In this paper, efficiency of RRT*smart method was confirmed by comparison between RRT* and RRT*smart. For better performance, additional nodes generation method between conventional nodes and modified way of determining sampling ratio in beacon node are applied.
기침에 대한 비내시경을 이용한 한열변증(寒熱辨證)의 임상적 가치평가
이희범,박의근,백현정,이범준,정승기,정희재,Lee, Hee-Beom,Park, Eui-Keun,Baek, Hyun-Jung,Lee, Beom-Joon,Jung, Sung-Ki,Jung, Hee-Jae 대한한방내과학회 2014 大韓韓方內科學會誌 Vol.35 No.3
Objectives: This study was aimed to figure out an agreement between the diagnosis of nasal endoscopy and a preexisting questionnaire focusing on Cold-Heat pattern. Methods: 52 patients with cough who met the criteria filled out a pattern questionnaire and the examiner looked at their nasal cavities through nasal endoscopy. According to the checked questionnaire results, the subjects were identified by 6 patterns. After examining subject's mucous membrane of oropharynx and nasal cavity through nasal endoscopy, we classified each to the Cold or Heat group. Correlation between questionnaire and nasal endoscopy results was analyzed. Results: In diagnosing Cold-Heat, there was no significant difference by McNemar test (p=0.227) between nasal endoscopy and the questionnaire, and the two methods agreed moderately (${\kappa}=0.428$). The color of mucous membrane of oropharynx and the Cold-Heat pattern on questionnaire agreed slightly (${\kappa}=0.133$). The color of mucous membrane of nasal cavity and the Cold-Heat pattern on questionnaire agreed fairly (${\kappa}=0.384$). In the patients with cough related to upper respiratory tract, they got higher diagnosis accuracy than the patients with cough related to lower respiratory tract did. Similarly, external cough patients got higher diagnosis accuracy than internal cough patients did. Conclusions: To identify Cold or Heat, examining oropharynx and nasal cavity using nasal endoscopy is a meaningful method in patients with cough, showing that two diagnosis methods which use nasal endoscopy and questionnaire agreed moderately. Especially, it is more useful diagnosing patients with cough related to the upper respiratory tract than diagnosing the patients with cough related to the lower respiratory tract.
이희범,장인성,정대현,오광민,심민선 한국자동차공학회 2006 한국자동차공학회 Workshop Vol.2006 No.-
Laser welding is high power density welding method which is higher speed and productivity, lower thermal deformation, without material restrictions for car body welding. But, in case of zinc coated sheet metal welding, the gap is needed 0.1~0.2㎜ to avoid weld bead blowup. This paper describe that it used dimple and pressure roller tool to improve laser welding quality for 3-layer zinc coated sheet metal.
이희범,Lee, Hui-Beom 한국광산업진흥회 2001 광산업정보 Vol.6 No.-
정부는 광산업을 국가전략산업으로 광프로젝트를 추진하고 있다. 21세기 대표산업으로 광산업이 꽃 피우기 위해서는 중앙부처와 지방자치단체가 합심하여 광주에서 축을 형성, 광산업을 한층 발전시켜나가야 한다. 앞으로 정부는 국내시장을 비롯한 세계시장을 겨냥한 사업선정과 광산업 선진국인 미국,일본 등과의 네트워크 구축, 우수인력 유치와 양성을 통한 첨단기술 확보에 최선을 다할 계획...