• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• 전자공학회논문지A
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• 제31A권5호
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• pp.85-93
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• 1994

We have studied the effect of channel and/or spacing chirpings on the near field and near field intensity patterns, modal gains and radiation angles of 6 supermodes in the index-guided laser arrays with 6 channels, on the basis of the coupled mode theory. The spacings between channels can be indenpendent parameters for control of the radiation angle. It is found that an asymmetrically v channel-chirped array has both a smaller radiation angle and better supermode discrimination characteristics than a uniform array. Comparing two approaches for enhancing modal stability in point of supermode discrimination characteristics, approach I which increases the coupling cofficient between the outer-most waveguides at each end of an otherwise uniform array, has superior discrimination characteristics to the approach II which increases the propagation constant for the end elements with the same coupling between neighbor elements. Approach III which has a narrower spacing between the outer-most waveguides at one end and a wider channel width of the outer-most waveguide at another end, gets a narrower radiation angle than the approach I and good supermode discrimination characteristics by applying optimized gain profiles.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• 대한기계학회논문집B
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• 제20권3호
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• pp.1061-1073
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• 1996

Vortex tube is a simple device which splits a compressed gas stream into a cold stream and a hot stream without any chemical reactions. The phenomena of energy separation taking place in a vortex tube has been investigated experimentally. Recently, vortex tube is widely used to local cooler of industrial equipments and air conditioner of special purpose. In this study, experimental study on vortex tube efficiency was performed with various cold end orifices and nozzles type. The experimental results indicate that there is an optimum diameter of cold end orifice and nozzle type for the best cooling performance. The variation of the maximum wall temperature along the vortex tube surface provides useful information about the location of the stagnation point of the flow field at the axis of the vortex tube. The similarity relation for the prediction of the temperature of the cold exit air was obtained.

• Journal of the Korean Wood Science and Technology
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• 제36권3호
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• pp.61-69
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• 2008

구조부재의 압축성능을 검토하기 위하여 낙엽송 소재에 대해 섬유방향 및 섬유직각방향 압축시험을 행하였다. 시험편의 길이와 가압판의 크기에 따른 압축성능을 검토하였으며 현행 기준의 최소끝면거리의 적정성에 대해 검토하기 위하여 다우얼 지압지점으로부터 시험편의 섬유방향에 대해 변형율 변화를 측정하였다. 가압판의 크기에 따라 압축성능은 다르게 나타났으며, 다우얼형 파스너의 최소끝면거리(end distance)는 내부변형을 고려할 경우 현행 7 D보다 높게 적용하여야 안전한 것으로 나타났다.

• 한국정보통신학회논문지
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• 제12권6호
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• pp.1113-1119
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• 2008

Zigbee 기반의 센서 네트워크를 IP 기반으로 대체하기 위한 IP-USN에서는 라우팅과 센서 노드에 대한 주소 배정 기법이 주요 핵심이다. 그러나, 기존의 계층적 라우팅은 End 노드를 고려하지 않아 라우팅시 모든 경로를 탐색해야 하는 단점이 있으며, End 노드 기반의 라우팅은 단순 경로 탐색만 지원하여 유동적인 센서 네트워크 환경을 충족하지 못하고 있다. 이에 본 논문에서는 기존 방법들의 장점만을 가진 ComHRP(Complement HRP)를 제안하고, 이에 따른 주소 배정 기법과 검색 방법을 제안한다. ComHRP는 센서 네트워크의 구성을 단순화하고, 네트워크 복잡도를 낮추는 효과를 지닌다. 또한, 예측 불가능한 유비쿼터스 센서 네트워크의 특성에 따른 네트워크 재구성을 효율적으로 처리할 수 있다.

• The Korean journal of internal medicine
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• 제33권6호
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• pp.1039-1049
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• 2018

The populations of Asian countries are expected to age rapidly in the near future, with a dramatic increase in the number of heart failure (HF) patients also anticipated. The need for palliative and end-of-life care for elderly patients with advanced HF is currently recognized in aging societies. However, palliative care and active treatment for HF are not mutually exclusive, and palliative care should be provided to reduce suffering occurring at any stage of symptomatic HF after the point of diagnosis. HF patients are at high risk of sudden cardiac death from the early stages of the disease onwards. The decision of whether to perform cardiopulmonary resuscitation in the event of an emergency is challenging, especially in elderly HF patients, because of the difficulty in accurately predicting the prognosis of the condition. Furthermore, advanced HF patients are often fitted with a device, and device deactivation at the end of life is a complicated process. Treatment strategies should thus be discussed by multi-disciplinary teams, including palliative experts, and should consider patient directives to address the problems discussed above. Open communication with the HF patient regarding the expected prognosis, course, and treatment options will serve to support the patient and aid in future planning.

• 한국정밀공학회지
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• 제14권11호
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• pp.34-41
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• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• 한국통신학회논문지
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• 제31권4A호
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• pp.421-430
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• 2006

본 논문에서는 IEEE 802.11a 무선랜(WLAN) 환경에서 Cross Layer 기반의 채널 모니터링(Cross-Layered Monitoring: CLM)을 이용한 네트워크 적응형 고선명(high definition: HD) MPEG-2 TS 비디오 스트리밍 시스템을 제안한다. 무선 채널 모니터링을 위해 AE(access point)는 MAC(medium access control) 계층의 전송 상태를 주기적으로 측정하고 응용 계층의 스트리밍 서버로 전달한다. 이것은 비디오 스트리밍 응용 프로그램이 피드백 기반의 종단간 모니터링(End-to-End Monitoring: E2EM) 기법을 적용할 때보다 가변적인 무선 채널 상태에 좀 더 빠르고 효과적으로 적응할 수 있게 한다. 스트리밍 서버는 네트워크에 적응적인 전송을 위해 측정된 무선 채널 상태에 따라 우선순위 기반의 프레임 폐기(priority-based frame dropping)를 수행한다. 이를 위해 스트리밍 서버는 실시간 파싱(real-time parsing)과 프레임 기반의 패킷 우선순위화(frame-based prioritized packetization) 기능을 제공한다. 성능 평가를 위해 IEEE 802.11a 무선랜 환경에서의 다양한 스트리밍 실험을 수행한다. 실험 결과는 제안 시스템이 시간에 따라 가변하는 무선 채널 상태에서 기존 기법에 비해 종단간 비디오 스트리밍의 품질을 향상시킬 수 있음을 보여준다.