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힘-토크 센서가 없는 로봇 팔의 DC모터 전류 값을 이용한 컴플라이언스 제어기 설계
박영이,백준영,이민철 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
A method of compliance control was proposed to consider environmental characteristics. In previous works on compliance control, force-torque sensors have been used in robot manipulator for sensing external force. there are several drawbacks for using force torque sensor such as high cost big size and complexity of applying them to robot manipulator. they intro-duce into a manipulator’s mechanical and electrical de-sign. So in this paper, a compliance control method for the manipulator by using the current value of DC motor is proposed. The discussion of the paper is focused on formulation only in static cases. The aim of this paper is to compliance of the manipulator and to develop the force control by using the current value of DC motor without force-torque sensor. The cost for making manipulator could be reduced by using current feedback from current sensor and solve several problems related to force-torque sensors. The experimental result for manipulator which is 2-axis pitch-roll is proposed.
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산처리(酸處理) 조건(條件)이 한천(寒天)의 수율(收率) 및 성질(性質)에 미치는 영향(影響)
박영이,이철,양한철,Park, Young-Yi,Lee, Chul,Yang, Han-Chul 한국식품과학회 1985 한국식품과학회지 Vol.17 No.5
참우뭇가사리 (Gelidium amansii sp.)를 원예(原藻)로 하여 추출조건( 抽出條件)(산(酸)의 종류(種類)와 농도(濃度) 및 추출시간(抽出時間) 등)에 따른 한천(寒天)의 수율(收率)과 이화학적성질(理化學的性質)을 분석(分析)하였으며, 조건별(條件別)로 추출(抽出)된 한천(寒天)에 대하여 agarose와 agaropectin의 비율(比率)을 측정(測定) 검토(檢討)하였다. 자숙중(煮熟中)에 염산(鹽酸), 황산(黃酸) 및 초산(酢酸)을 가했을 때, 추출(抽出)된 한천(寒天)의 수률(收率)과 젤리강도를 비교(比較)한 결과(結果) 염산(鹽酸)을 가하여 추출(抽出)한 것이 가장 우수(優秀)하였으며 산(酸)의 알맞은농도(濃度)는 0.005-0.01N HCI의 범위임을 알았다. 산(酸)을 첨가하지 않고 추출(抽出)한 대조구(對照區)의 수율(收率)과 젤리강도는 13.3%, $306g/cm^2$였다. 산(酸)의 종류(種類)와 농도별(濃度別)로 가장 높은 수율(收率)을 보인 추출조건(抽出條件)은 0.007N HCI의 38.7%, 0.007N $H_2SO_4$의 40.5%. 0.05N $CH_2 COOH의 42.4%였다. 그리고 가장 높은 젤리강도를 보인 추출조건(抽出條件)은 0.005N HCI일 때의 $511g/cm^2$, $0.005N\;CH_2 COOH일 때의 $463g/cm^2$, 0.01M $CH_2COOH$ 일때의 $436g/cm^2$였다. 그리고 구(對照區)와 젤리강도 및 수율(收率)이 가장 높게 나타난 산처리추출(酸處理抽出)된 한천중(寒天中) agarose의 함량이 가장 많은 것은 젤리강도가 가장 높은 0.005N HCI 처리구한천(處理區寒天)이었으며, 이때 성분(成分)과 황산기(黃酸基)의 함량은 가장 적었다. Agar was prepared from domestic agarophyte (Gelidium amansii) by a process of acid extraction. Optimal conditions in the acid treatment of the seaweed and the gelling properties of the agar thus prepared were investigated. The yield and gel strength of the control (the agar extracted with distilled water) showed 13,3% and 306g/$cm^2$, respectively. The yield of 38.7% was obtained when agar was extracted with 0.007N Hydorchloric acid while the gel strength of agar,511g/$cm^2$ was observed with the agar extracted with 0.005N Hydorchloric acid solution. The agar extracted with hydrochloric acid solution showed excellent properties of agar at the acid concentration range 0.005N-0.01N The cooking time of 60 min. was found to be effective to the yield and also to the gelling property of the agar and the cooking longer than 60 min. was proved to be destructive to agar. In general, yield and gelling properties of the agar obtained showed a close relation to the acid concentration and cooking time, but no consistent influence on the contents of ash and sulfur trioxide.
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Fe-6 (Cu-Sn) 소결합금의 기계적 성질에 미치는 Sn 첨가량의 영향
박영도,김도연 대한금속재료학회(대한금속학회) 1983 대한금속·재료학회지 Vol.21 No.3
The effects oP Sn contents and sintering temperature on dimensional change, tensile strength and hardness of sintered Fe-6 (Cu-Sn) alloy were investigated. Due to liquid phase occuring during sintering, all the specimens showed dimensional expansion after sintering and the sintering temperature at which a relatively large expansion occured decreased with Sn content. Thus the addition of small amount of Sn in place of Cu aids the sintering operation because it lowers the liquid phase forming temperature. From mechanical property tests, it has been shown that the properties obtained from compacts of Fe-4Cu-2Sn composition sintered at 900℃ were similar to those obtained from Fe-6Cu compacts sintered at 1100℃. For the specimens with larger amounts of Sn, a significant decrease in tensile strength was observed. Therefore, it is concluded that the optimum ratio of Cu : Sn is 2 : 1. The microstructures of the sintered specimens are presented and an attempt is made to relate these to the mechanical properties and dimensional change after sintering.
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카자흐스탄 최초의 무성영화 <켈린>에 재현된 고대 튀르크 전통과 텡그리(Tengri) 신앙
박영은(Park, Young Eun) 한국영화학회 2012 영화연구 Vol.0 No.53
This paper aims at analyzing Ermek Tursynov’s film <Kelin> through the category of ancient Turkish history and tradition, primitive faith and tengri belief, and the representation of a belief in the coexistence of life in order to examine how the film works as a driving force for the recovery of Kazakhstan’s identity in the post-Soviet era. It is one of the most important current trends of Kazakhstan’s film industry to revive the spiritual and cultural heritage of Central Asian mythology and folk beliefs, which had been forbidden for the Soviet period. From this perspective it is clear that the revival of the heritage of Central Asia will be a valuable subject. In this film, first of all, an attention should be paid to the structure of mise en scene, of which the director takes advantage to represent his confidence in the spirit and power of the Turks. He presents the relationship between nature and humans through continuous close-up shots, creates the atmosphere of animistic world through the bird’s eye view, and establishes an aura of shamanism through the eyes of wolves and falcons, the totems of the Turks. Of all things, we should take the fact that <Kelin> is a silent film into consideration, in which appears no difference between the language of human and the sounds of animals. These are to reflect the intention of the director, who tries to highlight the world that animals and humans live in harmony with each other. <Kelin> is not a simple film which reproduces the ancient customs of the Turks, but a film with strong messages. What the director Ermek Tursynov tries to reestablish in this film is new values for the future of Kazakhstan since he believes that it is possible for the present and the future generations of Kazakhstan recovering their national identity only when they are able to keep the memories of the past.
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박영한,배성수,김경 대한물리치료학회 2000 대한물리치료학회지 Vol.12 No.1
BACKGROUND AND PURPOSE. The purpose of this study is to investigate the effect of the disturbed vision on the gait distance parameters on the healthy young population. SUBJECTS. Twenty four healthy college aged individuals are randomly assigned to both a condition with a strobe light and the other condition without a strobe light. METHODS. The instrumentation used for gait analysis is the GaitRite electronic walkway system with a personal IBM computer. The examiner asked all the subjects to walk 6 times on the gait mat without the strobe light and 6 times on the mat with the strobe light. The first 4 trials were practice and the last two trials were recorded in both conditions. The gait parameters analyzed were as follows : velocity, cadence, step length, and heel to heel base of support. RESULTS. Paired samples t-test used for this study did not found any significant differences between the two conditions because the p-values that were analyzed on the experiment were greater than 0.05. The gait parameters that were analyzed included : cadence, velocity, left and right heel to heel base of support, and left and right step length. DISCUSSION AND CONCLUSION. Based on this population, the condition of disturbed vision via the effect of the strobe light was not significantly challenging to compromise the body's sensory systems. However, in the elderly population, these systems can undergo age related changes. Visual changes rapidly decline in people 60 to 80 years of age and changes in the vestibular system include 20-40% reduction in hair cells.
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