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박강일,우창준,이장명,Park, Kang-IL,Woo, Chang-Jun,Lee, Jangmyung 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8
This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.
<日本의 中國占領地 阿片政策의 諸樣相; 中日戰爭期를 중심으로>
박강 釜山外國語大學校 1998 外大論叢 Vol.18 No.3
日本在中國占領區所實行的鴉片政策是根據中日戰爭爆發之前在日本植民地所實行的鴉片消費地和生産地分離結構而模倣的. 卽把各占領區分成生産地, 生産消費地和消費地而實行的鴉片政策. 中日戰爭之前蒙疆地區不僅是鴉片的消費和通過地區戰略上也是重要地區, 因而日本爲了解決僞蒙疆政權的財源不足問題而被重視成鴉片生産地 華北占領區雖然是主要鴉片消費地, 可是在華北的日本統治力量不穩定而無可奈何在華北叉採用消費地和生産地的分離結構. 因華北占領區所需要的鴉片消費量太多, 不得己讓華北的一定地區內生産鴉片了. 華中占領區雖然興華北占領區相似, 而在這地區內不生産鴉片是興英美化國際社會(흔)有關. 卽這地區過去以來因英美的利益非常多的關係, 不得己抛棄生産鴉片而採用消費爲主的鴉片政策 總之在中日戰爭時期日本爲了確保財源而在中國占領區所旅行的鴉片政策是在當地日本統治力量的不穩定和國際社會的批判等變數所反映出來的. 在這鴉片政策所獲得的鴉片收入不僅有志日本的中國占領區也在日本的侵略戰爭中做了一定的作用.
Bias 전압에 따른 ZnO:Al 투명전도막의 전기적 특성
박강일,김병섭,임동건,이수호,곽동주 한국전기전자재료학회 2004 전기전자재료학회논문지 Vol.17 No.7
Recently zinc oxide(ZnO) has emerged as one of the most promising transparent conducting films with a strong demand of low cost and high performance optoelectronic devices, ZnO film has many advantages such as high chemical and mechanical stabilities, and abundance in nature. In this paper, in order to obtain the excellent transparent conducting film with low resistivity and high optical transmittance for Plasma Display Pannel(PDP), aluminium doped zinc oxide films were deposited on Corning glass substrate by dc magnetron sputtering method. The effects of the discharge power and doping amounts of $Al_2$$O_3$ on the electrical and optical properties were investigated experimentally. Particularly in order to lower the electrical resistivity, positive and negative bias voltages were applied on the substrate, and the effect of bias voltage on the electrical properties of ZnO:Al thin film were also studied and discussed. Films with lowest resistivity of $4.3 \times 10 ^{-4} \Omega-cm$ and good transmittance of 91.46 % have been achieved for the films deposited at 1 mtorr, $400^{\circ}C$, 40 W, Al content of 2 wt% with a substrate bias of +30 V for about 800 nm in film thickness.
ZnO 투명전도막의 전기적 특성에 미치는 Al₂O₃의 도핑 농도의 효과
박강일,김병섭,이성욱,김현수,이세종,곽동주 경성대학교 공학기술연구소 2003 공학기술연구지 Vol.10 No.-
Al doped Zinc Oxide(ZnO:AI) films, which is widely used as a transparent conductor in optoelectronic devices such as solar cell, liquid crystal display, plasma display panel, thermal heater, and other sensors, were prepared by using the capacitively coupled DC magnetron sputtering method. In this paper the effect of doping amounts of Al₂0₃ on the electrical, optical and morphological properties were investigated experimentally. The results show that the structural and electrical properties of the film are highly affected by the doping. The optimum growth conditions were obtained for films doped with 2 wt% of indium which exhibit a resistivity of 8.5×10^(-4)Ω-cm associated with a transmittance of 91.7 % for 840 nm in film thickness in the wavelength range of the visible spectrum.
An Analysis of Recent Oriental Medical Research on Dysmenorrhea
박강인,김진우,박경선,이진무 대한한의학회 2013 대한한의학회지 Vol.34 No.4
Objectives: This study aimed to evaluate oriental medical research on dysmenorrhea published within 10 years to analyze the trends of study on dysmenorrhea at home and abroad for progress in future clinical research. Methods & Results: Publication research was carried out on several online database systems using keywords like 'dysmenorrhea', 'traditional medicine', 'herb', 'acupuncture', 'CAM', 'complementary and alternative medicine', 'moxibustion' within 10 years(2002-2012). 32 Korean journal articles and 29 oversea journal articles were selected. Conclusions: This study concludes that more well-designed randomized-controlled studies and diverse approaches are necessary to make accumulation of evidence on oriental medical therapy of dysmenorrhea.
박강일(Kang-Il Park),김해중(Hae-Joong Kim),김도진(Do-Jin Kim),홍정표(Jung-Pyo Hong) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
Recently, the research and development which the main component of hybrid vehicle is underway. So, improving the efficiency of electric motors is important. In this paper, the efficiency according to the ratio of out diameter and stack length is studied analytically. To verify proposed method, the analytic results are compared to the characteristic results which are calculated from equivalent circuit.