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이족 보행 로봇 IWR-III 의 다중 보행 모의 실험
최상호,이보희 世明大學校 1998 世明論叢 Vol.7 No.-
This paper deals with multi-step walking of IWR-Ⅲ(Inha biped Walking Robot-Ⅲ) according to various balancing joint motions. The walking of IWR-Ⅲ is realized by trajectories of a leg, a trunk and the desired ZMP(Zero Moment Point), and balancing joints have to generate the moments to compensate for the moments against the motion of legs and the trunk. The motion of balancing joints can be calcualted by solving the second order differential equation, which contains the dynamic properties of all the links. By combining the six types of pre-defined steps, which are determined by the positions of the swing leg and the trunk, we can realize multi-step walking with the balancing joints motion smooth by the fifth order polynomial interpolation. The result of the simulations by means of the three methods proposed to realize the multi-step walking in this paper shows that IWR-Ⅲ keep ZMP within the stability area all of the waling period, and at the same time realizes stable multi-step walking successfully.
보안 취약점 정보로부터 악용시나리오 및 보안요구사항 도출 방법
김주희,박혜수,최보윤,이병걸 서울여자대학교 2010 정보기술논문지 Vol.8 No.-
The increasing time and cost for the prevention and removal of software securiiy vulnerabiliiy incurs inefficiency in software development since the prevention and removal efforts are mainly concentrated after software implementation. Vulnerability prevention or removal, therefore, should be considered during elicitation of requirements phase. But users who are inexperienced with security vulnerabilities can't specify security requirements correctly and efficiently. This study suggests a method of elicitation and specification of security requirements that can make users who are not familiar with security requirements use easily. By suggesting the method of elicitation of security requirements, developers can easily find security vulnerability and respond to it as early as in software development phase.
유색미에 관한 연구 : Ⅲ. 유색미 유망계통에 대한 주요 생육 특성
김광수,최윤표,김선택,최현구,정종태,김보경,유지홍,이희봉 충남대학교 농업과학연구소 2007 농업과학연구 Vol.34 No.2
국내외 유색미 수집종을 돌연변이원에 의해 유기된 우수 계통과 수집종간 상호교배에 의해 선발된 CNU 20계통을 파종하여 얻어진 주요 작물학적 특성을 살펴보면 다음과 같다. 1. 간장은 유색 메벼인 CNU126 계통이 대조품종인 동진벼와 같이 가장 컸고 메성인 CNU 128계통에서 가장 작았다. 2. 주당 분얼수는 CNU3, CNU50. CNU56, CNU112 계통에서 가장 많았고 대조품종과 CNU 128 계통에서 10개 미만으로 가장 적게 나타났다. 3. 수장은 육성 계통 중 CNU88 계통에서 가장 길었으나 대조구보다 짧고, 육성계통 중에서는 CNU 126 계통이 가장 짧았다. 4. 주당 영화수는 대조구인 동진벼보다 CNU50 계통에서 2배 이상 많았고, CNU158 계통에서 가장 적게 나타났다. 5. 천립중은 CNU113 계통에서 30g이상으로 대조구와 같이 가장 무거웠고, CNU128 계통에서 20g으로 가장 적었다. 6. 주당 수량은 대조구의 26.6g에 비해 CNU50, CNU112 계통에서 두배정도 높았고, CNU128, CNU158, CNU200 계통에서 가장 낮게 타나났다. Aims of this study were carried out to develop the useful lines induced from mutation and pedigree breeding methods among the collected genetic resources from national and domestic areas. In this study, Stem height of CNU126 line and check among them were high, while CNU128 was lower than other lines. Spiklet length of CNU88 was longer, but that of CNU126 was shorter than check. Number of spiklets per plant of CNU50 among lines have twice time than check. 1,000 grains weight of CNU113 was higher than check. In yield per plant, CNU50 and CNU112 were higher than check, Dongjinbyeo.
한대희,정영섭,김봉수,정희원,조병규,최길수,심보성 대한신경외과학회 1986 Journal of Korean neurosurgical society Vol.15 No.1
Suprasellar meningiomas are uncommon intracranial tumors representing approximately 4-10% of intracranial meningiomas and the total excision is sometimes hazardous because of surrounding vital structures. We have experienced four cases of this lesion during last three years and the masses were approached through frontoparietal craniotomy and lateral subfrontal approach and were removed completely with microsurgical technique. Visual disturbances were improved in three cases and unchanged in one case. The literatures are also reviewed.
CT flouroscopy를 이용한 중재적 시술의 유용성
전혜정,박정희,서보경,박상우,신현준,최영철,한혜승,이창희 건국대학교 의과학연구소 2004 건국의과학학술지 Vol.14 No.-
Conventional CT-guided needle localization has been reported many times, but a few reports of interventional procedures by using multidetector CT scan with CT-fluoroscopy have been described. We presented 36 cases of CT-fluoroscopy guided interventional procedures focusing on the puncture technique. Two cases of small pneumothorax and one case of pulmonary hemorrhage out of 2lcases after lung biopsy, were not needed any treatments We can easily and accurately access to the lesion by using CT-fluoroscopy and unique our marker system.