• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.548-550
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• 2006

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX-117 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

• Archives of Pharmacal Research
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• 제29권9호
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• pp.757-761
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• 2006

Six protoberberine alkaloids were isolated from the chloroform layer of the rhizome of Coptis japonica Makino (Ranunculaceae). The structures of the isolated compounds were determined to be 6-([1,3]dioxolo[4,5-g]isoquinoline-5-carbonyl)-2,3-dimethoxy-benzoic acid methyl ester (1), oxyberberine (2), 8-oxo-epiberberine (3), 8-oxocoptisine (4), berberine (5) and palmatine (6) by physicochemical and spectroscopic methods. The compound 3 (8-oxo-epiberberine) was first isolated from natural sources. The compounds were tested for cytotoxicity against five tumor cell lines in vitro by SRB method, and also tested for the MDR reversal activities. Compound 4 was of significant P-gp MDR inhibition activity with ED50 value $0.018\;{\mu}g/mL$ in MES-SA/DX5 cell and $0.0005\;{\mu}g/mL$ in HCT15 cell, respectively.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.161-166
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• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• 대한치과교정학회지
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• 제13권1호
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• pp.95-103
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• 1983

By observing the lateral cephalometric radiograms of the Naso-pharynx of the mouth breatheres with adenoid hyperplasia, orthodontists could use the 'discriminant function' as the supplementary diagnotic aid for the malocclusion cases with mouth bloating. The purpose of this study was to ustilize the 'discriminant function' as the indicator to remove the etiologic factor producing the relapse. The author used the 19 boys and 20 girls, who were the nasal-breathers with normal occlusion as the control group, and 16 boys and 20 girls, who were the mouth breathers with adenoid hypaplasia and malocclusion. The age of the both groups was ranged from 12ys to 15ys. Results were as following; 1. There was the difference in the bony structure of Naso-pharynx between the mouth-breathers nasal-breathers. 2. IMRA of the mouth breathers was smaller than the nasal breathers'. 3. The mouth-breathers had the skeletal open bite tendency. 4. Discriminant function: $$D_i=9.85374+ax_2+bx_4+cx_6+dx_7+ex_8$$ a = -0.1211273 b = 0.5908992 c = -1.508446 d = -1.541869 e = 1.404478.

• 대한토목학회논문집
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• 제14권5호
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• pp.1091-1096
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• 1994

콘크리트 포장구조에 있어서 온도팽창과 건조수축으로 인한 평면 변위 거동은 차량 하중에 관계없이, 포장슬래브와 노반과의 마찰에 의한 줄눈의 개폐에 주로 기인하고 있다. 따라서 콘크리트 포장구조의 평면 변위 거동을 해석하기 위하여 한 절점에서 dx, dy, 2 자유도를 갖는 직사각형 평면요소의 강성행열과 마찰, 건조수축, 온도 등으로 인한 등가절점 하중을 유도하였다. 콘크리트의 건조수축으로 인한 포장슬래브의 구조해석결과, 슬래브 길이가 길거나 지반과의 마찰계수가 큰 경우를 제외하고는, 큰 응력은 발생하지 않았지만, 차량하중과 조합할때는 인장응력의 증가와 함께 포장 슬래브에 균열이 발생할 수 있음을 보여주고 있다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2003년도 봄 학술발표회 논문집
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• pp.912-917
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• 2003

In this paper a new truss modeling technique for describing the beam shear resistance mechanism is proposed based on the reinterpretation of the well-known relationship between shear and the rate of change of bending moment in a reinforced concrete beam subjected to combined shear and moment loads. The core of the model is that a new perspective on the shear resistance can be gained by viewing the internal stress filed in terms of the superposition of two base components of shear resistance; arch action and beam action. The arch action can be described as a simple tied-arch which is consisted of a curved compression chord and a tension tie of the longitudinal steel, while the beam action between the two chords can be modeled as a membrane shearing element with forming a smeared truss action. The compatibility of deformation associated to the two action is taken into account by employing an experimental factor or internal state force factor a. Then the base equation of V=dM/dx is numerically duplicated. The new model was examined by the 362 experimental results. The shear strength predicted by the internal force state factor a show better correlation with the tested values than the present shear design.

• 한국환경과학회:학술대회논문집
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• 한국환경과학회 2003년도 International Symposium on Clean Environment
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• pp.61-64
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• 2003

This study was conducted to investigate the chemical characteristics of $PM^{10}$ at Anmyeon-do during the periods from January 1998 to December 2001. The $PM^{10}$ samples ($PM^{10}$) were collected by High Volume Air sampler (HVAS). The measured items were mass concentration of $PM^{10}$ with the major ions ($Cl^{-}$, ${SO_{4}}^{2-}$, ${NO_3}^{-}$, ${Mg}^{2+}$, ${Ca}^{2+}$, ${K}^{+}$etc.) and metallic elements (AI, Fe, Mn, Cr, Zn, Pb etc.). The chemical analysis of major ion components were made by Ion Chromatography (DX-500) and that of metallic elements were made by Inductively Coupled Plasma Spectrometer (ICP-AES, ICP-Mass). The average mass concentration of $PM^{10}$ increased substantially during the heavy dust periods (Asian Dust cases). For water-soluble ions, concentrations of ${Ca}^{2+}$, ${SO_{4}}^{2-}$ and ${NO_3}^{-}$ were remarkably enhanced. Concentrations and mass fraction of crustal elements such as Na, Mg, Ca, Fe, Mn were highly elevated, but those of pollution-derived heavy metals were appreciably decreased. The factor analysis was conducted in order to make the large and diverse data set as manageable levels and to qualitatively examine the relationship between the variables.

• 한국정밀공학회지
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• 제27권2호
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.

• 한국구조물진단유지관리공학회 논문집
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• 제8권3호
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• pp.243-250
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• 2004

SPS 공법에서 철골보는 가설상태에서 띠장을 지지하는 버팀대로 사용되며, 시공후 구조물에서 휨재의 역할을 한다. 기존 실험연구결과에서 RC 띠장-철골보 접합부는 소정의 휨강성을 갖는다고 보고하고 있다. 본 연구에서는 SPS 공법으로 시공된 지하복합골조에 대하여 RC 띠장-철골보 스터드 접합부의 고정도에 따른 거동을 평가하기 위하여 비선형 해석을 실시하였다. 해석변수는 시공단계, 횡력의 크기, RC 띠장-철골보 접합부의 고정도 등이다. 해석결과에서 골조의 항복과정, 보 중앙부 휨모멘트 및 처짐에 대한 접합부의 고정도의 영향을 보여준다.

• 한국게임학회 논문지
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• 제6권1호
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• pp.29-36
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• 2006

본 논문에서는 게임과 3D 모델링에 많이 이용되는 라이브러리, MS사의 Direct3D를 파이썬(Python)에서 사용할 수 있도록 하는 인터페이스 구현 기술에 대하여 논한다. 현재 주로 MS에서 출시되는 언어군에서만 DirectX를 사용할 수 있지만, 본 논문에서 제시한 방법을 이용하면 파이썬 뿐 아니라 다양한 언어에 DirectX라이브러리를 인터페이스를 제작할 수 있고, 다양한 언어를 쓰는 사용자들에 의해 이 라이브러리의 활용폭을 넓힐 수 있을 것이다. 본 논문에서는 인터페이스 모듈 작성 기법을 설명하고 파이썬을 이용했을 때의 장점과 단점들을 설명한다.