• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.899-906
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• 2004

In this paper, fault tolerant algorithm is presented for a servo manipulator system. For fault tolerance of a servo manipulator system, reconfiguration algorithm accommodating a motor's failure has been presented. The algorithm considers a transport's degree of freedoms as redundant joints of a servo manipulator. The reconfiguration algorithm recovers the end effector's motion in spite of one motor's failure A modified pseudo inverse redistribution method has been proposed for the reconfiguration algorithm. Numerical examples and hardware tests have been presented to verify the proposed methods.

• 동력기계공학회지
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• 제19권4호
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• pp.24-29
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• 2015

This paper designs a looper-tension controller for strip top-tail parts in hot strip finishing mills. A three-degree linear model of the looper-tension system is derived by a Taylor's linearization method, where the actuator's dynamics are ignored because of their fast responses. A feedforward shaping controller for the strip top part and a feedforward model reference controller for the strip tail part are respectively designed, they are combined with an ILQ(Inverse Linear Quadratic optimal control) feedback controller for the strip middle part. It is shown from by a computer simulation that the proposed controller is very effective to the strip top-tail parts including the middle part.

• 한국연소학회:학술대회논문집
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• 대한연소학회 2003년도 제27회 KOSCO SYMPOSIUM 논문집
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• pp.19-26
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• 2003

Experimental measurements of flame structure and soot characteristics were performed for ethene inverse diffusion flames (IDF). IDF has been considered as the excellent flow field to study the incipient soot because soot particle do not experience the oxidation process. In this study, LIF image clarified the reaction zone of IDF with OH signal and PAH distribution. laser light scattering technique also identified the being of soot particle. To address the degree of soot maturing, C/H ratio and morphology of soot sample were investigated. From these measurements, the effect of flow residence time and temperature on soot inception could be suggested, and more details on soot characteristic in the IDF was determined according to fuel dilution and flame condition. The fuel dilution results in a decrease of temperature and enhancement of residence time, but the critical dilution mole fraction is existed for temperature not to effect on soot growth. Also, the soot inception evolved on the specific temperature and its morphology are independent of the fuel dilution ratio of fuel.

• 한국생산제조학회지
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• 제20권3호
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• pp.322-328
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• 2011

This paper presents inverse kinematics and workspace analysis of a planar three degree-of-freedom (DOF) parallel manipulator. Furthermore, optimization problem of the manipulator is presented. The manipulator adopts PRR (Prismatic-Revolute-Revolute) mechanism and the prismatic actuators are fixed to the base. This leads to a reduction of the inertia of the moving links and hence enables it to move with high speed. The actuators are linear electric motors. First, the mechanism based on the geometry of the manipulator is introduced. Second, a workspace analysis is performed. Finally, design optimization is carried out to have large workspace. The proposed approach can be applied to the design optimization of various three DOF parallel manipulators in order to maximize their workspace. The performance of mechanism is improved and satisfies the requirements of workspace to align micro-components.

• 한국정밀공학회지
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• 한국방사선학회논문지
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• 제13권7호
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• pp.901-907
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• 2019

이 연구의 목적은 기능성 질환의 감마나이프 시상하핵파괴술(또는 담창구파괴술, 시상파괴술)에서 렉셀 감마플랜의 표적 위치측정의 능력을 평가하는 것이다. 렉셀 감마플랜의 위치 설정의 정확성을 평가하기 위해 본원에서 뇌심부 자극술 수술을 받은 10명의 환자에 대해 렉셀 감마플랜(또는 렉셀 써지플랜)과 저자의 알고리즘에 의해 계산된 표적 좌표들의 차이 Δr가 평가 되었다. Δr는 0.0244663 mm에서 0.107961 mm까지 범위의 값을 가졌다. Δr의 평균은 0.054398 mm이었다. 또한 정위 공간과 뇌지도 공간 두 좌표계 사이의 위치 관계를 결정하기 위하여 좌표변환 행렬을 매스매티카(Mathematica)의 의사역행렬 또는 특이값 분해를 사용하여 계산하였다. 정교한 정위틀 장착에도 불구하고 요(yaw)는 -3.44739 도에서 1.82243 도, 피치(pitch)는 -4.57212 도에서 0.692063 도, 롤(roll)은 -6.38239 도에서 7.21426 도까지의 정렬 불량(misalignment)이 나타났다. 결론적으로, 사내 알고리즘을 사용하여 감마나이프 플랫폼에서 렉셀 감마플랜(또는 렉셀 써지플랜)의 위치 설정에 대한 정확도를 확인함으로써 뇌심부 자극술에 금기 사항이 있는 개인이나 노인과 같이 종래 수술에 고위험으로 간주되는 환자에 대한 난치성 운동이상 질환의 대체 치료법으로 안전과 효능을 가진 감마나이프 시상하핵파괴술(또는 담창구파괴술, 시상파괴술)이 추천된다. 향후 기능성 질환의 표적 위치측정을 위해 제안된 알고리즘은 여러 감마나이프 센터의 운동이상 질환 치료에 기여할 것이라 사료된다.

• 한국지반공학회논문집
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• 제15권4호
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• pp.153-166
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• 1999

일반적으로 도심지에서 이루어지는 굴착은 안정성의 중요도에 비하여 해석의 정확도가 떨어지기 때문에 시공 중 현장계측관리가 필수적으로 수반된다. 그러나 계측은 이미 진행된 공정의 거동을 나타내는 것이고, 실제로 시공관리에 도움이 되는 향후 예정된 공정에 대한 예측에는 한계가 있다. 본 연구에서는 계측결과를 해석에 반영하여 예측 결과의 신뢰성을 제고하는 역해석기법을 이용하여 굴착 시공 중 차후 공정의 거동예측을 정확하게 예측할 수 있는 굴착 관리 정보화 시스템을 개발하였다. 개발시스템은 탄소성 지반스프링 모델을 이용한 탄소성 기법을 토대로 측정변위와 모델에 의하여 계산된 변위간의 최소자승 오차를 최소화하는 역해석 기법을 사용하였으며, 정해석, 계측관리, 역해석을 시스템 내에서 일관되게 수행할 수 있고, 실시간 적용과 사용자의 편의를 감안하였다. 개발된 시스템을 두 가지 사례에 적용한 결과 굴착 지반의 거동을 정확하게 예측할 수 있음을 확인하였다.

• 대한간호학회지
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• 제13권1호
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• pp.42-53
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• 1983

The purpose of this study is to help the care of patient and to his family through comparison of the level of anxiety which between the family of admitted patient and the family without in patient, and to his family through comparison of the level of anxiety which between the family of admitted patient and the family without inpatient and exclude the factors which raised the level of anxiety in them. The experimental group in this study were samples of 200 patient's family selected by random sampling in H. University hospital located in Seoul (Department of patient were internal medicine, surgery, pediatrics and neuropsychiatry). The control group were samples of 70 family without inpatient selected by random sampling in Seoul. The data were collected through STAI (State-Trait Anxiety Inventory) by Spielberger (1970) for measurement to level of state and trait anxiety from April 1st to April 15th in 1982. The contents of data analysis by EDPS included the difference of level of anxiety between experimental and control group, correlationship between general characteristics of experimental group and level of anxiety, and correlation of trait and state anxiety in experimental group. The Findings of this study were as follows: 1) Level of anxiety of experimental group is higher than control group. 2) In the correlation between general characteristics and level of anxiety of experimental group, there were no significant difference which revealed in correlation with age of family member, family life cycle, marital status, the relation between patient and family member, the degree of symptom, number of admission, admission or nonadmission of medical insurance, number of family member, and division of disease to level of anxiety However, according to the sex of family member, hospitalization period, a monthly income of family, the degree of confidence toward medical team, religion of family, academic background of family, a tendency of significant differences to level of anxiety were seen. To put them in the concrete, they were as follow; a) Level of. anxiety on female family member is higher than male in experimental group. b) Admission period of patient is positively related to the level of anxiety of patient's family. c) The degree of confidence of patient's family toward medical team is in inverse proportion to the level of anxiety. d) A monthly income of patient's family is in inverse proportion to the level of anxiety. e) Levlt of anxiety of believer in patient's family is lower than unbeliever. f) The academical background of patient's family is in inverse proportion to the level of anxiety g) Level of state anxiety of patient's family at the time of admission is positively related to the level of trait anxiety.

• 한국도서관정보학회지
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• 제42권4호
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• pp.311-330
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• 2011

본 연구는 국내외적으로 우리나라를 대표하는 도시인 서울을 선정하여 기초자치단체의 재정자립도와 공공도서관 건립 운영 사이에 어떤 상관관계가 있는지 조사 분석하였다. 조사 결과 기초자치단체의 재정자립도와 공공도서관 건립 운영사이에는 역상관관계가 있는 것으로 드러났다. 즉, 일반적으로 예상되는 것과는 다르게 대체로 재정자립도가 낮은 자치단체가 오히려 더 많은 공공도서관을 건립 운영하고 있으며, 도서관 예산도 더 많이 배정하고 있는 것으로 밝혀졌다. 결론적으로 서울시의 경우 재정자립도가 낮은 자치구가 공공도서관 건립 운영에 더 많은 관심을 보이고 있다고 하겠다.

• 대한방사선기술학회지:방사선기술과학
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• 제2권1호
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• pp.23-29
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• 1979

Roentgenographic film has to be handled with greatest care during removal from the packing, loading of the cassettes and loading of the hanger. In the case of prior to or after exposed film is handled with mechanical pressure in darkroom, the most common phenomena are desensitization or sensitization on roentgenographic film. In order to observe these defect occurring on, it, the author studied on change of the densities where the mechanical pressure reached to the roentgenographic film. 1. The optimal minimum and maximum densities in routine chest x-ray film are from 0.25 to 1.47 2. The dependence of the desensitization occurring on film upon the bent degree of film is in the portion to bent degree over $10^{\circ}$ 3. Appearances of the desensitization on film by the curved degree of film is inverse proportion to it's degree below intervals of 3cm. 4. The more unexposed film is bent with nail tip and is pressured with palm, the more desensitization it was appeared upon film size and pressure weight. 5. The most serious area of desensitization produced by many types of mechanical pressure is in the portion of lung apex and outside lung fields. 6. The tendency of desensitization due to mechanical pressure on unexposed film is more serious than sensitization on exposed film in the view of radiologic diagnosis.