로봇 매니퓰레이터의 선형모델을 이용한 다변수 제어기 설계

이준형,김정주,강진식 濟州大學校 産業技術硏究所 1999 산업기술연구소논문집 Vol.10 No.1

In this paper, we present a multivariable controller for the robot manipulator. By using the linearized model, calculation time is reduced because of the linearized model could relax the nonlinear property. Since the linearized model improve the influence of the modification of the robot dynamic parameters, errors, caused by the variation of dynamics such as the unknown load of a manipulator, nonlinear properties are compensated. By this reason, the presented controller can be adopted in the industrial application. An usual multivariable controller, using pole placement, has relatively a large tracking errors. In order to obtain small tracking errors, rapid response, and stabilize the robot manipulator, the linearized dynamics of the manipulator and PID controller structure are used in the presented controller which is designed via pole placement algorism. To show the suggested controller have rapid trajectory tracking property, and it is not affected by the unknown load and load variation, the simulation results of the 2-link robot manipulator are presented.

산재지정병원 이용 후 산재요양환자에 대한 만족도 조사

이화평,임형준,주영수,권영준,강희태,김정민,조성식,이태경,윤종완 대한산업의학회 2007 대한직업환경의학회지 Vol.19 No.3

골형성부전증 10예의 임상적 특징

이형숙,김현주,조재현,이승원,김현아,최준혁,송영준,김대중,이관우,정윤석 대한내분비학회 2003 Endocrinology and metabolism Vol.18 No.5

연구배경 및 방법: 골형성부전증은 비교적 희귀한 유전병으로 교원질 대사 장애로 인한 골의 취약성과 다발성 골절 및 척추측만증 등을 특징으로 한다. 유전방식과 표현형의 발현 정도에 따라 다양한 임상 양상을 보이며, 임상적 중증도에 따라 4가지 형태로 분류된다. 지금까지 국내 보고는 분만과정이나 태아 진찰시 골격이상으로 발견된 증례보고가 주였다. 저자들은 비교적 경미한 임상 양상을 보이는 예를 포함한 다수의 골형성부전증 환자들의 전반적인 임상적 특징에 대해 보고하는 바이다. 결과: 2001년 6월부터 2003년 2월까지 골형성부전증으로 진단받은 6 가계, 10예를 대상으로 하였다. 평균 나이는 27.3(5∼56)세였고 소아가 2예였다. 모두 상염색체 우성으로 유전되었으며, 제 I형이 4예, 제 III형이 4예, 그리고 제 IV형이 2예였다. 전 예에서 다수의 골절 경험이 있었고, 골밀도 저하와 골피질 두께 감소 소견이 관찰되었다. 전신의 평균 골밀도는 0.690(0.421∼1.039) g/cm²였다. 골형성지표로 측정된 sAlk는 소아의 경우만 증가되어 있었고, 골흡수지표로 측정된 uDPD의 평균치는 12.9(4.4∼36.3) nM/mM Cr으로 증가된 소견을 보였다. mobility score는 대부분 3,4단계에 속해 있었다. 중증형일수록 진단 시의 mobility score가 낮은 경향을 보였다. 결론: 한국인 골형성부전증 환자의 임상적 특징을 살펴본 결과 기존의 보고된 II형 외에도 I, III, IV형이 다양하게 존재함을 알 수 있었으며, 모든 예에서 상염색체 우성으로 유전됨을 확인할 수 있었다. 또한 모든 예에서 증가된 골흡수로 인한 골밀도 저하와 골절을 확인할 수 있었다. Osteogenesis Imperfecta (OI) is a relatively rare hereditary disease, which is characterized by multiple bone fractures and spine scoliosis, due to the fragility of bone, and is often associated with blue sclerae, deafness and dentinogenesis imperfecta. Four types of OI can be distinguished, according to the clinical findings. Although mutations affecting type I collagen are responsible for the disease in most patients, the mechanism by which the genetic defects cause abnormal bone development remains to be fully understood. Here, the clinical characteristics of 10 OI patient cases are reported, with a review of the literature. All the cases, including 4 type I, 4 type III and 2 type IV, inherited OI as an autosomal dominant trait. All the subjects had multiple old fractures and decreased bone densities. In this study, the biochemical marker of bone formation, serum alkaline phosphatase, was found to be increased only in the pediatric OI patients, while the biochemical marker of bone resorption, urinary deoxypyridinoline, was increased in all cases. The mobility score was found to correlate with the severity of the type on diagnosis (J Kor Soc Endocrinol 18:496∼503, 2003).

한의약 컨텐츠를 가미한 강원도 리조트형 웰니스 프로그램 제안

유준상, 권보인, 이재형 상지대학교 한의학연구소 2023 尙志韓醫論文集 Vol.11 No.1

Objectives: As interest in wellness tourism is increasing in Korea, we sought to propose a program with Korean Medicine Contents for eight resorts in Gangwon-do, which has forests and marine resources. Methods: The authors visited eight designated resorts in Gangwon-do, observed the facilities, and interviewed the people in charge. Questions and answers were asked and answered in the form of a questionnaire regarding any deficiencies in the interviews. Afterwards, the contents were analyzed and a Korean Medicine program suitable for each resort was proposed. Results: A total of 17 Korean Medicine Programs were proposed, of which the meditation/yoga program and diet/drink program tailored to each constitution were proposed to be applicable to all 8 resorts. The rest were proposed considering each resort's facilities, environmental characteristics, and main product programs. Conclusions: It appears that the ‘meditation/yoga program’ and ‘constitutional diet and beverage development’ sectors are programs that can be commonly carried out by all facility companies, and for this purpose, the Sasang constitution test and Korean medicine measurement within the resort in Gangwon-do are used to create a program linked to this. In addition, we believe that efforts to improve the program through verification of efficacy will be necessary in the future

운동거리이상의 정량적 평가

이경무,김재욱,이태수,김헌,황준,이주연 大韓再活醫學會 1998 Annals of Rehabilitation Medicine Vol.22 No.2

가스저장탱크에서 가스저장량의 퍼지 제어 방식

이해영,추준욱,김교형 嶺南大學校 工業技術硏究所 1998 工業技術硏究所論文集 Vol.26 No.2

This paper suggests a fuzzy control algorithm which manipulates the quantity of gas in a gas storage tank to a given reference value. Fuzzy control rules proposed in this paper are divided into two groups. The first is to treat the quantity of gas in a gas storage tank, and the second is to manipulate the quantity in pipe which is utilized in moving gas from gas source to a gas storage tank. Fuzzy control rules to treat two control problems mentioned above are designed independently by investigating several special points having inherent features for given assumed possible response characteristics in the sense of common-sense and engineer's technical knowledge. In order to observe the validity of fuzzy control algorithm for manipulating the quantity of gas in a gas storage tank suggested in this paper, computer simulations are done for three cases, which the quantity of generated gas and the required quantity in load have time-varying patterns. Computer simulation results show that fuzzy control rules designed in this paper are well operated for every case.

흉요추부 방출성 골절의 척수강 복원에 대한 방사선학적 고찰

이준규,오기영,김형성 충남대학교 의과대학 지역사회의학연구소 1995 충남의대잡지 Vol.22 No.2

We analyzed 44 cases of burst fractures on the thoracolumbar junction which were operated with posterior instrumentation technique at the Department of Chungnam University Hospital from 1988 to July 1995. Reduction of the spinal fragment through kyphosis correction and distraction were evaluated using conventional radiographs and CT imaging between postop., POD 6 months and POD 12months in 23 cases of burst tractures. The purpose of this study was to evaluate the spinal canal remodeling using radiographic means. The result were as follows : 1. The average kyphotic correction angle was 7.4˚ and there was no correlation between the reduction of retropulsed fragments and the amount of kyphotic angle correction. 2. There was significantly correlation between the amount of reduction of posterior vertebral body and amount of retropulsed fragment. 3. There was no correlation between the degree of canal compromise and the Denis type of thoracolumbar burst fractures. 4. There was significantly correlation between the shape of the patent portion of the spinal canal and neulologic deficits.

로봇 매니퓰레이터의 선형모델을 이용한 다변수 제어기 설계

이준형,김정주,강진식 濟州大學校工科大學産業技術硏究所 1999 尖端技術硏究所論文集 Vol.10 No.1

In this paper, we present a multivariable controller for the robot manipulator. By using the linearized model, calculation time is reduced because of the linearized model could relax the nonlinear property. Since the linearized model improve the influence of the modification of the robot dynamic parameters, errors, caused by the variation of dynamics such as the unknown load of a manipulator, nonlinear properties are compensated. By this reason, The presented controller can be adopted in the industrial application. An usual multivariable controller, using pole placement, has relatively a large tracking errors. In order to obtain small tracking errors, rapid response, and stabilize the robot manipulator, the linearized dynamics of the manipulator and PID controller structure are used in the presented controller which is designed via pole placement algorism. To show the suggested controller have rapid trajectory tracking property, and it is not affected by the unknown load and load variation, the simulation results of the 2-link robot manipulator are presented.

NRW-100을 이용한 H-Na, H-Mg, H-Cs, H-Cu 2성분 양이온 교환 특성

이인형,안현경,김상대,윤형준 순천향대학교 부설 산업기술연구소 2004 순천향 산업기술연구소논문집 Vol.10 No.1

Ion exchange if the most reliable process for removing ionic impurities and is the economic operation with reuse of the resin. Ion exchange is widely used in water and wastewater treatment, especially softening and demineralization. Ion selectivity depends on the hydrated radius, charge of ions and ionic concentration. The objective of this study is to determine the selectivity order of cations with equilibrium and column ion exchanges, and to investigate the effect of the background anion on selectivity. Cation selectivity increases with decreasing concentration and increasing charge(H^+<Na^+<Cs^+<Mg^2+<Cu^2+) in equilibrium and column cation adsorptions.

관상동맥 스텐트 내 재협착의 발생에 미치는 임상적 관동맥 조영술적 요인들

윤혁준,김기식,박형섭,이영수,현대우,한성욱,허승호,김윤년,김권배,박남희,원경숙 대한순환기학회 2003 Korean Circulation Journal Vol.33 No.12