• Proceedings of the Korean Nuclear Society Conference
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• 1998.05a
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• pp.590-595
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• 1998

차세대 원자로(KNGR : Korea Next Generation Reactor)에는 새로운 안전개념으로서 피동형 안전주입탱크(Safety Injection Tank. SIT)의 도입을 고려하고 있는데, 이러한 피동형 유량조절기능은 안전주입탱크내의 유체기구(Fluidic device)인 볼텍스챔버(vortex chamber)에 의해 이루어진다. 볼텍스챔버는 내부에서 발생되는 와류강도에 따라 유동저항의 강도가 달라짐을 이용하여 유량을 피동적으로 조절할 수 있는 유체기구이다. 본 연구에서는 볼텍스챔버의 유동특성을 관찰하기 위하여 소규모 실험장치를 구축하고, 이를 이용하여 실험을 수행하였다. 본 연구는 두 단계로 수행되었다. 제1단계 실험에서는 볼텍스챔버의 기하학적 특성이 안전주입탱크의 안전주입수 방출특성에 미치는 영향에 대한 거시적 관점에서의 연구로서. 볼텍스챔버의 기하학적 변수(유입구 및 방출구의 직경)가 안전주입수의 방출과정에서 발생되는 SIT 내의수위 거동, 안전주입수의 방출유량 특성등에 미치는 영향에 대해 중점적으로 고찰하였다 제2단계 실험에서는 1단계 실험에서 관찰된 안전주입탱크의 여러 가지 방출특성과 볼텍스챔버 내부 유동장의 유동특성과의 관련성을 규명하기 위해 PIV (Particle Image Velocimetry)를 이용하여 볼텍스챔버의 기하학적 변수에 따른 유동장 내부의 국소 유속분포를 측정하였다.

• Journal of Bio-Environment Control
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• v.13 no.1
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• pp.1-7
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• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• Journal of Biomedical Engineering Research
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• v.24 no.3
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• pp.209-215
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• 2003

The goal of this study was to investigate the relationship between kinematic and kinetic characteristics of foot joints resisting ground reaction force. Passive elastic joint moment and angular displacement were obtained from the experiment using 3 cameras and force plate. The relationship between joint angle and moment was mathematically modeled by using least square method. The ranges of motion of joints ranged from 5$^{\circ}$ to 7$^{\circ}$ except metatarsophalangeal joint. In the study, we presented simple mathematical models that could relate joint angle and plantar pressure. From this model, we can got the kinematic data of joints which is not available from conventional motion analysis. Furthermore, the model can be used not only for biomechanical model which simulates gait but also for clinical evaluation.

• Proceedings of the Korean Society of Applied Pharmacology
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• 1993.04a
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• pp.158-158
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• 1993

노화현상에 따른 여러 가지 병태생리조건의 형성과 난치성 성인병질환의 발병 및 진행과정에 활성산소류들과 이들에 의해 유도되어지는 free radical이 관여하고 있다는 증거가 여러연구진에 의해서 보고되어지고 있다. 산소를 이용하여 생명현상을 이어가는 생물체들은 필연적으로 활성산소들을 생성하는 생화학적 산화반응기구를 효율적으로 활용하면서 항상성을 유지시키고 있다. 그러므로 활성산소의 생성과 분해과정의 평형유지는 생물학적으로 대단히 중요한 의미를 갖고 있다. 임상적으로 alcohol은 질병의 악화 내지는 질환의 발병조건을 조성하는 병태생리기구에 기여할 것으로 생각되어 대부분의 환자에게 금주시키고 있으나 그 작용기전에 대해서는 충분히 설명되지 못하고 있다. 본 연구에서는 alcohol을 급ㆍ만성으로 실험동물에 투여하고 생체에서 활성산소 생성에 중요한 역할을 하는 xanthine oxidase와 aldehyde oxidase의 활성변화를 관찰하면서 전자의 형전환속도와 과산화지질 생성속도와의 상관성을 중점 비교 관찰하므로서 alcohol성 간손상 실험 model을 계획하였다. 간 및 신장조직에서 alcohol에 유래되는 활성산소의 생성계에 관여하는 효소 활성의 변화와 조직의 과산화지질 생성반응 속도는 alcohol의 투여방법, 기간, 시간(diurnal variation), 나이 및 암수에 따라 다르게 나타남을 관찰할 수 있었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.336-341
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• 1995

종래의 Cam 구동방식 Pirn Winder에서는 낮은 권취속도와 만권시 권취 Bobbin이 Cradle에서 이탈될 때 권취 Yarn의 대량손실, Pirn 형성시 사층의 붕괴에 따른 과다권취등 기술적 난제가 대두되었다. 이러한 문제점을 해결하기 위하여 구미선진국에서는 Micom 제어 Pirn Winder가 개발되었다. 국내에서는 이 기계를 전량 수입에 의존하고 있어 수입 대체가 시급하지만 선진국의 기술보호주의 때문에 기술도입도 어려운 실정이다. 본 논문에서는 Micom제어 Pirn Winder에서 기본적으로 사층이 무너지지않기 위한 권취량, Traverse속도, 사속(Yarn Speed), 스핀들의 각속도 등을 결정함으로써 기구 학적 제어를 할 수 있는 알고리즘을 제시하고 컴퓨터 모사실험을 통하여 타당성을 보였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.5
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• pp.308-316
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• 2003

This paper describes a tracking control for the mobile robot based on fuzzy systems. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot, which is affected by the derived velocity reference by a kinematic controller. To improve the performance of conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. In this paper, the new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. And simulation results show that the proposed controller is more robust than the conventional back-stepping controller.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.1
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• pp.102-109
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• 1986

Based on the Hartenberg-Denavit symbolic equation, which is one of equations for the kinematic analysis of three dimensional (3-D) linkage, a generalized kinematic motion equation is derived utilizing Euler angles and employing the coordinates transformation. The derived equation can feasibly be used for the motion analysis of any type of 3-D linkages as well as 2-D ones. In order to simulate the general motion of 3-D linkgages on digital computer, the generalized equation is programmed through the process of numerical analysis after converting the equation to the type of Newton-Raphson formula and denoting it in matrix form. The feasibility of theoretically derived equation is experimentally proved by comparing the results from the computer with those from experimental setup of three differrent but generally empolyed 3-D linkages.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.3
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• pp.9-18
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• 2000

This paper presents methods for reducing odometer errors caused by kinematic imperfections in wheeled mobile robots. Wheel diameters and wheelbase are corrected by using encoders without landmarks. And a new velocity trajectory is proposed that compensates for an orientation error due to acceleration-resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. and discuss the results.

• Archives of design research
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• v.14 no.2
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• pp.57-66
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• 2001

This research was carried with emphasis on the technical contents of lighting design which had various knowledge system in the educational viewpoint. First of all, phisiolosical and physical factors were considered with the process of vision between human and light. Next, components of attributes in the lighting fixture were prescribed to analyze concept of the fixture. Finally, I proposed educational program in the instruction to meet the purpose of this research. As a result, in overall research concerning the basic direction and structure, instruction should have balance to reconcile theory and practice about lighting. Second, in terms of expansion of cognition about lighting, experimental education that is considered with interface is needed to make practical verification through relationship with man-made environment and scientific data.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.106-108
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• 2009

In this paper, we handle automatic estimation of mechanical parameters for mobile robots. Most estimation methods are based on the sequence and move-measurement-estimation. Estimated accuracy is largely dependent on the paths. Mathematical conditions minimizing estimation errors are derived, and then a method finding optimal paths for mechanical parameters estimation is proposed.