• 한국공작기계학회논문집
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• 제10권2호
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• 대한전기학회논문지
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• 제36권2호
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• pp.129-139
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• 1987

In this paper the programming language for Hero-1 robot is developed using Apple II micro computer. The language is composed of main monitor mode, editing mode, execution mode, and debugging mode. The main monitor mode is a main flow of the whole language system and controls starting and terminating procedures of operating the controller, and monitors the others. The editing mode has capability to make a user's maniqulation program. Trajectory planning algorithms(point-to-point motion and linear approximate motion)have been realized in the robot language, and in the case of point-to-point motion, inverse kinematics have been solved for the desired point.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.561-573
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• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• Journal of Microbiology and Biotechnology
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• 제33권12호
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• pp.1552-1562
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• 2023

Soybean (Glycine max) is an important ingredient of cuisines worldwide. While there is a wealth of evidence that soybean could be a good source of macronutrients and phytochemicals with healthpromoting effects, concerns regarding adverse effects have been raised. In this work, we reviewed the current clinical evidence focusing on the benefits and risks of soybean ingredients. In breast, prostate, colorectal, ovarian, and lung cancer, epidemiological studies showed an inverse association between soybean food intake and cancer risks. Soybean intake was inversely correlated with risks of type 2 diabetes mellitus (T2DM), and soy isoflavones ameliorated osteoporosis and hot flashes. Notably, soybean was one of the dietary protein sources that may reduce the risk of breast cancer and T2DM. However, soybean had adverse effects on certain types of drug treatment and caused allergies. In sum, this work provides useful considerations for planning clinical soybean research and selecting dietary protein sources for human health.

• 대한원격탐사학회지
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• 제37권5_1호
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• pp.1163-1175
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• 2021

자율 주행에서 도로 표시는 객체 추적, 경로 계획을 위한 필수 요소이며 측위를 위한 중요한 정보를 제공할 수 있다. 이 논문은 역 관점 매핑 이미지와 정밀도로지도 투영 이미지를 매칭하여 비교함으로써 도로 노면 표지의 갱신 및 위치 측위를 하는 접근 방식을 제시한다. 역 관점 매핑(IPM; Inverse Perspective Mapping) 기법을 사용하여 차량의 전방을 촬영한 카메라 이미지에서 원근 효과를 제거하고 2D 도메인으로 버드뷰 이미지를 생성한다. 그 다음에 GNSS/INS를 참조하여 촬영된 이미지와 동일한 정밀도로지도 영역을 이미지로 생성하여 두 이미지의 노면표지가 최대한 일치하도록 피팅 한다. 또한 정지선, 횡단 보도, 점선 및 직선 등 문자와 화살표를 인식하여 정밀도로지도의 객체와 비교 함으로써 갱신 여부를 판단 한다. 그리고 새로 설치된 객체의 측위는 주변의 객체의 위치 좌표값을 정밀도로지도에서 참조하여 얻을 수 있다. 우리는 매우 낮은 계산 비용과 저가의 카메라 및 GNSS/INS 센서 만으로도 빠르게 갱신된 정밀도로지도를 얻을 수 있다.

• 한국의학물리학회지:의학물리
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• 제19권2호
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• pp.89-94
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• 2008

토모치료기는 선형가속기에서 사용되는 세기 변조방사선치료와 Mega-voltage Computed Tomography (MVCT) 3차원 영상정보에 의한 영상유도방사선치료(Image Guide Radiation Therapy, IGRT)가 가능하고 나선식 빔 조사를 통해 표적과 정상조직에 효율적으로 선량(dose)을 집중하고 분산할 수 있다는 장점을 가진다. 이에 본 논문에서는 2006년 9월부터 운용을 시작한 국립암센터의 토모치료기를 이용하여 10명의 두경부암 환자를 대상으로 토모치료계획과 선형가속기기반 세기변조방사선치료계획의 선량분포를 비교하였으며 또한, 영상유도 방사선치료장치가 구비되지 못하여 환자의 위치보정이 부정확한 구형 세기변조방사선치료기에 대해 표적의 움직임에 따라 균일성(Homogeneity)과 정상조직부작용율(Normal Tissue Complication Probability, NTCP)이 상대적으로 어떻게 변화하는지 연구하였다. 이 연구를 위하여 토모치료기의 치료계획용 시스템인 Hi-Art (Hi-Art2_2_4 2.2.4.15, TomoTherapy Incorporated, 1240 Doming Way, Madison, WI S3717-1954, USA)와 선형가속기기반 세기변조방사선치료계획용 시스템인 CadPlan (CadPlan R.6.4.7, Varian Medical System Inc. 3100 Hansen Way, Palo Alto, CA 94304-1129, USA)을 이용한 역치료계획(inverse Planning)이 수행되었으며 치료계획은 각각의 환자에 대해 같은 표적과 최적화조건을 가지도록 고려되었다. 총 10명의 환자를 대상으로 한 연구결과, 환자의 신체내 외부가 완전히 고정되어 있는 이상적인 경우에 대해서 토모치료기를 이용한 치료계획이 선형가속기에 의한 세기 변조 방식보다 표적에 대해 보다 높고 일정한 선량분포를 주면서도 주변 장기의 선량이 선량체적 히스토그램(Dose Volume Histogram, DVH)에서 오히려 감소함을 보여 주었다 또한 토모치료기의 MVCT를 이용하여 한 달간 토모 환자의 표적위치변화를 측정하였고, 이를 토대로 평균 표적위치변화를 고려하였을 경우 선형가속기기반 세기변조방사선치료계획인 CadPlan에서 표적의 등가균질선량(Equivalant Uniform Dose, EUD)이 감소하고 정상조직의 부작용율의 발생가능성이 상대적으로 증가함을 발견하였다.

• 한국지하수토양환경학회지:지하수토양환경
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• 제22권3호
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• pp.27-41
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• 2017

This study dealt with the characteristics and the interrelations of hydrogeological parameters such as hydraulic conductivity, dispersivity and effective porosity of unconsolidated sediments for providing the basic data necessary for the planning of the management and preservation of groundwater quality in the Nakdong River Delta of Busan City, Korea. Groundwater quality in this area has been deteriorated due to seawater intrusion, agricultural fertilizer and pesticide, industrial wastewater, and contaminated river water. The physical properties (grain size distribution, sediment type, sorting) and aquifer parameters (hydraulic conductivity, effective porosity, longitudinal dispersivity) were determined from grain size analysis, laboratory permeability test and column tracer test. Among 36 samples, there were 18 Sand (S), 7 Gravelly Sand (gS), 5 Silty Sand (zS), 5 Muddy Sand (mS), and 1 Sandy Silt (sZ). Hydraulic conductivity was determined through a falling head test, and ranged from $9.2{\times}10^{-5}$ to $2.9{\times}10^{-2}cm/sec$ (0.08 to 25.6 m/day). From breakthrough curves, dispersivity was calculated to be 0.35~3.92 cm. Also, effective porosity and average linear velocity were obtained through the column tracer test, and their values were 0.04~0.46 and 1.06E-04~6.49E-02 cm/sec, respectively. Statistical methods were used to understand the interrelations among aquifer parameters of hydraulic conductivity, effective porosity and dispersivity. The relation between dispersivity and hydraulic conductivity or effective porosity considered the sample length, because dispersivity was affected by experimental scale. The relations between dispersivity and hydraulic conductivity or effective porosity were all in inverse proportion for all long and short samples. The reason was because dispersivity was in inverse proportion to the groundwater velocity in case of steady hydrodynamic dispersion coefficient, and groundwater velocity was in proportion to the hydraulic conductivity or effective porosity. This study also elucidated that longitudinal dispersivity was dependent on the scale of column tracer test, and all hydrogeological parameters were low to high values due to the sand quantity of sediments. It is expected that the hydrogeological parameter data of sediments will be very useful for the planning of groundwater management and preservation in the Nakdong River Delta of Busan City, Korea.

• 지능정보연구
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• 제29권4호
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• pp.91-110
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• 2023

화학물질 사고는 신속한 대응 및 복구가 어렵고, 환경오염과 인명피해가 동반된다는 점에서 매뉴얼의 중요성이 점차 주목받고 있으며, OECD에서는 화학사고 예방, 대비 및 대응을 위한 OECD 지침서(이하 OECD 지침서)를 2023년 6월 개정하였다. 또한, 기존 연구에서는 화학사고에 대한 인식 제고를 통해 법규, 규정, 매뉴얼 등 시스템적 대응이 필요하다는 점을 강조하고 있으나. 매뉴얼에 대한 정보속성 비교연구는 찾아보기 힘들었다. 이에, 본 연구는 기존 OECD 지침서(2판)와 개정된 OECD 지침서(3판)을 비교분석하여 OECD 지침서별 정보속성을 파악하고 시사점을 발굴하는 것을 목표로 하였다. 세부적으로는 어떤 단어가 중요해졌는지 파악하기 위해 TF-IDF(Term Frequency-Inverse Document Frequency) 분석을 적용하였으며, 유사하게 사용한 단어와 차별성있게 사용한 단어를 파악하기 위해 Word2Vec을 적용하였다. 최종적으로는 2X2 매트릭스를 제안하고, 각 사분면에 어떤 단어들이 있는지를 도출하여 OECD 지침서별 정보속성을 심층적으로 비교하였다. 본 연구는 연구자들이 정보속성을 파악하는데 도움이 되는 프레임워크를 제공하고자 하였으며, 실무적으로는 국내 화학관련 정부부처 및 기업의 표준메뉴얼 개정에 참고할 수 있을 것으로 보인다.

• 농촌계획
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• 제21권1호
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• pp.77-87
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• 2015

In this study, we try to quantify resident's conflict by rural development project based on previous researches about community capacities required for residents and social networks in rural village for suggesting efficient project model. we analyzed conflict elements in six category such as 'conflict in residents', 'conflict in residents and leaders', 'conflict in leaders', 'conflict in villages', 'conflict in development fund', 'conflict in village by common income project'. These results also analyzed by personal background(age, role, education, income) of respondent in questionary survey. Results show that 'conflict in residents and leaders', 'conflict in leaders', 'conflict in development fund' are perceived differently by age, role, education, and income in 5% significance level. Especially, relatively young age(below 40 years old) expressed clearly about conflict and high scored in item of 'residents and leaders'. Regression model show statistical significance(F=39.807, P=0.000) in influence relation analysis of conflict, network, leadership, and project fund. In this model, network ${\beta}=-0.237$, leadership ${\beta}=-0.375$, project fund ${\beta}=-0.000$ show network and leadership have negative relation to conflict but project fund is difficult to find relation with conflict. In this study, we defined social vulnerability using conflict, network, and leadership and verified the vulnerability of rural village applying regional community capacity in analysis results; vulnerability increased by the size of region and show inverse correlation to future vision of residents.