3 Dimensional Position Estimation for Eye-in-Hand Robot Vision

장원,김경진,정명진,변증남,Jang, Won,Kim, Kyung-Jin,Chung, Myung-Jin,Bien, Zeungnam The Institute of Electronics and Information Engin 1989 전자공학회논문지 Vol.26 No.8

This paper describes a 3 dimensional position estimation method for a eye-in-hand robot vision system. The camera is mounted on the tip of a robot manipulator, and moves without restriction. Sequences of images are considered simultaneously for nonlinear least-square formation, and the best estimation of the 3 dimensional position is searched by the Simplex search algorithm. The experiments show that the proposed method can provide fairly accurate position information, while the robot is executing a given task.

1993년 춘계 학술발표회 요약집 : 수도권 매립지 종합환경조사에 관하여

장원,정종관 한국폐기물자원순환학회(구 한국폐기물학회) 1993 한국폐기물자원순환학회 춘계학술발표논문집 Vol.1993 No.-

Image Data Acquisition System의 기술 개발

장원,변증남,오상록,김경진,이채우 한국통신학회 1989 한국통신학회 학술대회논문집 Vol.1 No.2

수도권 매립지의 특정폐기물 매립에 관한 연구

장원,정종관 ( Won Jang,Jong Gwan Jung ) 한국폐기물자원순환학회(구 한국폐기물학회) 1993 한국폐기물자원순환학회지 Vol.10 No.2

Subarachnoid hematoma after spinal anesthesia - A case report -

장원,조용현,이동현,김선희 대한마취통증의학회 2018 Anesthesia and pain medicine Vol.13 No.2

Spinal subarachnoid hematoma is a very rare complication of spinal anesthesia. This complication can, and is, often overlooked and dismissed as a fatal neurological consequence of (what amounts to) delayed diagnosis. In this case, a 59-year-old female patient with no specific medical history underwent right knee arthroscopy under spinal anesthesia. The arthroscopic surgery concluded without complications but, on the first postoperative day, the patient complained of lower back pain, headache, nausea, vomiting. On the fifth postoperative day, magnetic resonance imaging was taken and it revealed evidence of a subarachnoid hematoma involving the L3 and L4 vertebral levels. Hematoma evacuation was performed, and the patient recovered without sequelae. Here, we report this case that lumbar spinal subarachnoid hematoma was found five days after spinal anesthesia which was done in a patient without coagulopathy

폐기물 매립지 침출수에 의한 중금속 용출에 관한 연구

장원,정종관,박영숙 한국환경영향평가학회 1997 환경영향평가 Vol.6 No.1

Sanitary landfill is a general method as a final disposal of municipal solid waste (MSW), therefore leachate characteristics are very various as time goes by because of highly concentrated organic acids are contained nonbiodegradable COD. So it is hard to abide by the mandatory standards of discharge even though applying the physicochemical and biological processes to treat the leachate. The process of treating leachate are determined by the degree of removal and components, but they are highly contained organic materials. It is a removal method to use jointly with the physicochemical process if the hard and fast rule is needed. The critical components of material are COD, ammonia, salts and heavy metals in the case of treating biologically. Biological process is to use metabolism of microorganism, therefore it is a desirable condition which heavy metals are not contained, because they acting as an inhibitor of enzyme. Of these are contained, organic decomposition and synthetic function of microorganisms decrease significantly. Consequently, this research paper lays emphasis on the concentraion of heavy metals in leachate and for the purpose of forecasting the factors which are affecting the leaching of metalic waste in some degree, experimented the various reacting conditions. 1. When the concentration of heavy metals in leachate is in comparison with the level eluted after reaction, at pH 7.9 the result of reaction for PCB to CCL scrap showed that Zn, Mn, Cu was more eluted 11.6 times, 340.3 times, and 2,705.5 times respectively than the leachate undiluted solution. 2. At the condition of strong acid pH 4.7, the concentration of heavy metals in EM undiluted solution showed that Zn, Mn, Cu was more eluted 26.5 times, 147.3 times, and 3,656.3 times respectively than leachate undiluted solution. 3. When the ratio leachate to EM was 50 vs 50(V/V%). Mn was more eluted 198.7 times than leachate undiluted solution, but Zn and Cu do not show the meaningful results. 4. The color of landfill leachate was black-brown. And fulvic acid that is main ingredient of NBD COD contained oxygen of 44∼50%. For that reason, I estimated that the level of Zn, Mn, Cu was higher than the case of leachate. 5. COD of leachate from general landfill is difficult to remove. Because the solution of heavy metals is improved by the character of leachate (pH & ingredient of oxygen etc.) hence the Mn, Cu, Zn act as disturbing factor, the biochemical treatment is hard. Therefore the type of PCB & CCL scrap, iron, aluminum contained metals need to previously separate from general wastes as much as possible.

쌀 및 토양의 중금속 오염에 관한 연구

張元 대전대학교 기초과학연구소 1990 自然科學 Vol.1 No.-

지난 한세대 동안의 급격한 산업화와 도시화로 환경오염이 날로 심화되어 가고 있다. 이에 따라 농업용수나 토양 등 농업환경도 오염되어 거기에서 생산되는 농작물 역시 오염될 가능성이 높게 되었다. 본 연구는 특히 우리나라 전국의 논토양과 현미, 백미 중의 중금속 농도가 환경보전법상의 기준치를 초과한 경우는 없었으나, 일부 공단지역에서 채취된 시료의 경우 기준치에 거의 접근해 우려할만한 농도를 가지고 있는 것으로 판명되었다. With the rapid urbanization and industrialization during the last two decades, agricultural lands have been contaminated with heavy metals such as Cd, Cu, Pb, Zn, and Hg. If heavy metals are not managed properly they can serve as serious pollutants in the agricultural environment. Paddy soils and rice were analyzed to evaluate the degree of heavy-metal contamination in Korea. Results of the study showed that the concentration of heavy metals in paddy soils was relatively high, but that in rice samples was not in serious level.

Realization of Robot Maniqulators Using Computer Graphics

장원,정명진,변증남,Jang, Won,Chung, Myung Jin,Bien, Zeungnam The Institute of Electronics and Information Engin 1987 전자공학회논문지 Vol.24 No.2

In this paper, we developed a method of describing the structure of robot arms and a systematic way to use it as a robt-design-aid tool. To describe the structure of robot arms, a robot was regarded as a collection of various links in the form of polygonal pillars. With the aid of the homogeneous transformation, a set of commands for describing the information on how all the links in the robot are connected was defined and used in graphically realizing complex link-based structures including robot manipulators.

한국 노인의 수산물 섭취 추이 및 이에 영향을 주는 요인에 관한 연구 -2009~2019 국민건강영양조사를 이용하여-

장원,조정희,이동림,김양하 한국식품영양과학회 2022 한국식품영양과학회지 Vol.51 No.7

본 연구에서는 국민건강영양조사 자료를 기반으로 2009년부터 2019년까지 10년간 우리나라 노인의 평균 수산물 섭취량과 수산 단백질 섭취 비율의 연차적 추이를 분석하였다. 또 수산물 섭취와 사회경제적 요인과의 관련성을 분석하였으며 결과는 다음과 같이 요약된다. 지난 10년간 우리나라 노인의 평균 수산물 섭취량은 전반적으로 증가하는 추이를 보였으나(P-trend<0.0001), 멸치육수, 다시마 육수 등 액체 섭취량을 제외한 수산물 섭취량은 통계적으로 유의적인 경향성을 보이지 않았다(P-trend=0.8867). 2019년 기준으로 전체 국민의 경우 동물성 단백질 급원으로 육류로부터 공급되는 단백질의 비율이 어패류로부터 공급되는 단백질보다 약 2배 높았다. 본 연구에서 노인의 경우 동물성 단백질 급원으로 육류와 어패류의 기여 비율이 각각 14.4%, 11.7%로 거의 비슷하여 노인에게 어패류가 매우 중요한 동물성 단백질 공급원임을 알 수 있었다. 노인의 수산물 섭취에 영향을 미치는 사회경제적 요인으로 교육수준이 높을수록(P<0.0001), 경제수준이 높을수록(P<0.0001) 수산물 섭취 수준이 높았다. 본 연구 결과는 수산물 섭취에 취약한 노인집단을 선별하여 수산물 섭취와 관련 있는 사회경제적 요인의 영향을 최소화하여 노인들의 수산물 섭취 증가를 통한 영양학적 편익을 도모하기 위한 과학적 근거를 제공한다는 점에서 중요한 의미가 있다.

영상특징을 이용한 로봇의 시각적 구동 방법

장원,정명진,변증남,Jang, Won,Chung, Myung-Jin,Bien, Zeung-Nam 대한전자공학회 1990 전자공학회논문지 Vol. No.

본 논문에서는 시각정보에 의하여 로봇을 제어하기위해 영상으로부터 추출되는 feature를 이용하는 한 방법을 제안한다. 특별히 feature에 대한 수학적인 정의를 제안하였으며 로봇의 움직임과 feature vector의 미소한 변화 사이의 관계를 기술하였다. 이 과정에서 feature jacobian matrix와 그의 gene-ralized inverse가 사용되었다. 로봇 자유도의 수보다 많은 feature를 사용하면 visual servoing의 성능을 향상시킬 수 있었다. 여러 예를 통하여, 본 논문에서 제안된 방법이 유효함을 보였다. This paper proposes a method of using image features in serving a robot manipulator. Specifically, the con-cept 'feature' is first mathematically defined and then differential relationship between the robot motion and feature vector is derived in terms of Feature Jacobian Matrix and its generalized inverse. Also, by using more features than the number of DOFs of the robot, the visual servoing performance is shown to be improv-ed. Via various examples, the method of feature-based servoing of a robot proposed in this paper is proved to be effective for conducting object-oriented robotic tasks.