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정해관(Jeong Hae-Kwan),최현도(Choi Hyun-Do),김상도(Kim Sang-Do),곽윤근(Kwak Yoon-Keun) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.11
Up to now, non-explosive demining system adaptable to a mobile robot has been developed. This system has much smaller platform and consists of non-explosive mechanism. Brief experiment indoors showed that developed demining system can remove landmines well. But out of doors, some problems are detected i.e. Inclination of overall system causes a suspension of rake rotation. In this research, a study on performance improvement of developed non-explosive demining system is mainly discussed. To compensate the inclination of the system, mechanical sensor composed of shaft and spring is used. This sensor gives a signal to a leadscrew motor and controls a rotating direction From an experiment it is confirm ed that the mechanical sensor as stated is a good solution of the inclination of the system.
정해관(Jeong Hae Kwan),최현도(Choi Hyun Do),곽윤근(Kwak Yoon Keun ) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
Under international recognition of the indispensability for the demining operations, non-explosive demining system based on the rake rotation to settle inferiorities of any demining machines has been developed. However, outdoor experiment for the practicality shows that the system doesn't work well by reason of its basic structure and system inclination after downhill effect. To solve these problems, we conceive a mechanical sensor whose concept extracted from ON/OFF switch. Repeated experiments authenticate that system performance for the demining operations make progress. Finally, system optimization including both determination of platform weight and design guide of a rake assembly is mentioned.
정해관(Hae-Kwan Jeong),김상도(Sang-Do Kim),이청희(Cheong-Hee Lee),곽윤근(Yoon-Keun Kwak) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4
This paper introduces a link-type tracked vehicle which is developed for demining operations. The vehicle consists of three parts - front frame, rear frame and body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism which is a driving mechanism of the vehicle. Additionally, the demining system which is adaptable to mobile robot is developed to clear small Anti-Personnel(AP) mines with inexplosive method. In other words, assembled rakes unearth mines by their opposite rotation to the direction of the robot. Finally, the motions of demining rakes and design parameters of the demining system are analyzed.
장애물 극복이 가능한 구조로봇의 주행모드 변형을 위한 PI-based Feedforward 제어
정해관(Hae Kwan Jeong),강현석(Hyun Suk Kang),곽윤근(Yoon Keun Kwak) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.5
This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.
곽경운,정해관,최덕선,박용운,곽윤근,김수현,Kwak, Kyung-Woon,Jeong, Hae-Kwan,Choe, Tok-Son,Park, Yong-Woon,Kwak, Yoon-Keun,Kim, Soo-Hyun 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.6
An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.
성인 남자에서 대장경 검사로 확인된 하부대장 선종성 용종과 비만의 관련성
김창섭,정해관,정태흠,김문찬,Kim, Chang-Sup,Cheong, Hae-Kwan,Jeong, Tae-Heum,Kim, Moon-Chan 대한예방의학회 2005 Journal of Preventive Medicine and Public Health Vol.38 No.4
Objectives : We wanted to evaluate the relationship between obesity and left colonic adenomatous polyps in Korean adult men. Methods : This study was conducted among 575 adults men (aged between 40 and 69), who had colonoscopy done from January to December 2002 during a routine health examination at Health Promotion Center, Ulsan University Hospital. The patients' colons were examined up to splenic flexure by using fiberoptic colonoscopy. A questionnaire survey on behavioral factors and physical measurements were also done. The body mass index (BMI) and waist-hip ratio (WHR) were used as the indices of obesity. The BMI was categorized into three levels: normal ($BMI{\leq}22.9$), overweight ($23{\leq}BMI{\leq}24.9$), and obese ($BMI{\geq}25.0$). The WHR was categorized into four levels with cutoff points at the 30th, 60th, and 90th percentile of the control group. Age, education, smoking, alcohol use and exercise were controlled for by performing multiple logistic regression analysis. Results : There were 99 cases of colonic adenomatous polyps. Four hundred seventy six subjects with normal colonoscopy findings served as the control. The BMI and WHR were associated with the adenomatous polyps (odds ratio, 1.81 [95% CI=1.02-3.19] for a $BMI{\geq}25.0$ as compared with a $BMI{\leq}22.9$, odds ratio, 3.94 [95% CI=1.77-8.77] for a $WHR{\geq}0.95$ as compared with a $WHR{\leq}0.86$). The BMI was not associated with the risk of adenomatous polyps after additional adjustment was made for the WHR, but the association between the WHR and adenomatous polyps was still positive and independent of the BMI (odds ratio, 4.15 [95% CI=1.63-10.59]). Conclusions : The results support that obesity, and particularly abdominal obesity, can be associated with an increased risk of incurring colonic adenomatous polyps.
허베이스피릿호 유류유출사고 방제작업에 참여한 주민의 정신건강
송민교,홍윤철,정해관,하미나,권호장,하은희,최예용,정우철,허종일,이승민,김은정,Song, Min-Kyo,Hong, Yun-Chul,Cheong, Hae-Kwan,Ha, Mi-Na,Kwon, Ho-Jang,Ha, Eun-Hee,Choi, Ye-Yong,Jeong, Woo-Chul,Hur, Jong-Il,Lee, Seung-Min,Kim, Eun-Jung 대한예방의학회 2009 예방의학회지 Vol.42 No.2
Objectives : Our objective was to examine and evaluate the psychological health of the residents of Taean during the cleanup of the Hebei Spirit(HS) oil spill and to review some factors associated with the results. Methods : A community survey of 71 men and women was conducted 8 weeks after the HS oil spill. Questionnaires used were the PWI(Psychological Well-being Index) scale for psychosocial distress, the CES-D(Center for Epidemiologic Studies-Depression) scale for depressive symptoms, and a questionnaire created to assess suicidal impulses. Results : The overall prevalence of high-risk psychosocial distress among the study group was 64.2%. The percentages of respondents with scores on the CES-D Scale above 16 and above 21 were 77.6% and 62.7%, respectively. The percentage of respondents categorized as having suicidal impulses was 18.3%. When compared with unexposed groups in the general population taken from various sources, the residents of Taean were 6.5 times as likely to have high stress and 9.4-9.7 times as likely to be depressed. No significant difference in the rate of suicidal impulse was found between the residents of Taean and the general population. Factors associated with high stress, depression, and suicidal impulses were age, a change in income, educational level, number of days working on the cleanup, and positive responses to questions about "affected daily activity" and "hospital visit due to work on cleanup". Conclusions : The results suggest that the HS oil spill had a significant impact on the psychological health of residents of Taean, but the comparability of the unexposed groups is a limitation of the study.