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박명욱,이상우,한우용 한국전자통신연구원 2015 ETRI Journal Vol.37 No.3
In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.
Xenon-133 Clearance Method에 의한 皮膚 血流量 測定
??辛英,柳在萬,朴明郁 大韓成形外科學會 1987 Archives of Plastic Surgery Vol.14 No.1
A study was made to determine the skin blood flow of various sites of the body using local clearance method of radioactive inert gas Xenon-133. Xenon-133 dissoved in saline was injected directly into the cutaneous tissue of the region to be operated upon. The clearance curve was recorded continuously by collimated scintillation detector for 30 minutes immediately after injection. The clearance curves plotted semilogarithmically consisted of two expotential components, and the skin blood flow in this region was estimated from the clearance rate of the first component. The first component of the clearance curve was found to reflect the skin blood flow, and the second component to reflect that of the cutaneous tissue. These findings were supported by sequential gamma camera images of Xenon-133 clearance. The skin blood flow was measured from the first and second components of Xenon-133 clearance curve, and the following results were obtained. 1) A significant linear decrease of the skin blood flow was observed with increasing age in the deltoid region. 2) The skin blood flow of anterior chest wall was found significantly higher than the deltoid region. However, the skin blood flow of the dorsum of hand and foot were found significantly lower than the deltoid region.
측두근막-실라스틱 보형물을 이용한 비부 파라핀 종양 제거후의 함몰 비기형 재건술
이윤호,박명욱 大韓成形外科學會 1985 Archives of Plastic Surgery Vol.12 No.3
During the last two years, in the Dept. of Plastic & Reconstr. Surgery, SNUH, 21 patients with saddle nose deformity after ramoval of nasal paraffinoma were treated with satisfactory results by means of inserting temporalis fascia-wrapped silastic implant. Some merits of the above method are found as follows. 1. Silastic is a material that is easy to carve in comparison with cartilage or bone, and that is not absorbed or dead after implantation and its aesthetic result is far better than the latter. 2. Most of the paraffinoma can be removed by using Metzenbaum scissors and electrical rasp only through bilateral rim incision, resulting no visible scars outwardly. 3. The survival rate of grafted autogenous fascia is so great that the extrusion of silastic implant can be prevented owing to the fascial reinforcement of thinned dermis. 4. In one of the three telangiectasis cases from among 21 patients, telangiectasis phenomenon was diminished by this method, therefore we hope that some benefit could be obtained through this method in the treatment of telangiectasis cases.
박명욱(Myungwook Park),박재웅(Jaeung Park),장재훈(Jaehoon Jang),김정하(Jungha Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
The UGV system is composed of navigation system, obstacle detecting system, vision system, vehicle control system, and arbiter system. This paper verifies the information about the design and control of the UGV using SUV of commercial vehicles. The experimental vehicle was mounted Smart motor and Linear motor. Also, we were equipped with a lot of sensors to view the status of vehicle. Based on this, we have accomplished the research about control over longitudinal and lateral direction. The control of the vehicle system can be divided into two: longitudinal control, lateral control. The longitudinal control is composed of acceleration and braking system. The motor used for acceleration and braking was the BLDC motor. The acceleration & brake (pedal) control is associated with each pedal through the wire and done by the motor itself. For the lateral control, the same motor used in the longitudinal control. Also we used Compact RIO real-time controller for designing the control system.
입력성형기법을 이용한 핵연료이송시스템의 수중이동 시의 진동제어
박명욱(Mingxu Piao),샤 우머 하미드(Umer Hameed Shah),전재영(Jae Young Jeon),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.
박명욱(Mingxu Piao),김경한(Gyoung-Hahn Kim),홍금식(Keum-Shik Hong) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.10
In this paper, a super-twisting (i.e., modified 2nd-order) sliding mode control (STSMC) is proposed for sway control of an offshore container crane system (i.e., a mobile harbor system equipped with a container crane on it). The mobile harbor is used for ship-to-ship transfer of containers, where the container ship is anchored in an open sea. To load/unload the containers in an open sea, it is necessary to suppress the position error of the load caused by the wave-induced movements of the mobile harbor. In this paper, a super-twisting sliding mode controller is developed for suppressing the position error of the payload. The sliding surface is designed in such a way that the longitudinal sway of the load is incorporated within the trolley dynamics. The chattering problem is also solved by utilizing a second order sliding surface. Lyapunov function-based stability analysis is performed to prove the uniform stability of the closed-loop system. Simulation results are provided to prove the effectiveness of the proposed control law.