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- 저자 : 강이석 (검색결과 188 건)
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강이석,김근묵,윤지섭,조형석 대한기계학회 1992 대한기계학회논문집 Vol.16 No.12
본 연구에서는 조립될 부품사이의 위치 오차를 극복하여, 로봇에 의한 정밀부 품의 자동조립을 가능하게 하는 조립알고리즘을 제시하였다. 제안된 조립알고리즘은 임의로 파지된 자세를 인식하여 조립될 축과 구멍의 중심선을 일치시키는 알고리즘과 복합위치 및 힘제어(hybrid position/force control)를 적용하여 위치오차를 극복하여 주는 구멍검색 알고리즘으로 구성하였으며, 로봇을 이용한 자동조립에 제안된 알고리 즘을 적용한 실험 결과를 보였다. A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.
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강이석,송정섭,조형석 대한기계학회 1991 대한기계학회논문집 Vol.15 No.2
Dynamic chanracterisitcs and control of a submerged working robot manipulator have been investigated for articulated type robot manipulator with three revoluted joints. A dynamic equation of the manipulator has been derived. The dynamic equation includes not only mass matrix, centrifugal and Coriolis terms and gravity terms but also added mass, buoyant force and drag force terms, which are important terms for underwater motion description. A series of simulations using computed torque method have been performed for the cases of straight and circular trajectory motion controls. The results of this study show that the dynamic characteristics of the submerged working robot manipulator are very different from that of the manipulator which works in air. The influences of added mass, buoyant force and drag force terms to the total required torques have been discussed as distribution ratios to the total required torques.
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Transcatheter Closure of Fenestration with Detachable Coils After the Fontan Operation
강이석,허준,이흥재,양지혁,전태국,Sung Hye Kim 대한의학회 2006 Journal of Korean medical science Vol.21 No.5
We report our experience in 13 patients who underwent transcatheter closure of Fontan fenestration with the Cook(R) detachable coils. These patients underwent the extracardiac type Fontan operation with a short conduit fenestration (n=7) or lateral tunnel type with a punch-hole fenestration (n=6). Fenestration closure was done at the mean age of 5.1+/-2.4 yr, average of 32 months after the Fontan operation. We used one to three coils depending on the fenestration type, size, and residual shunt. Aortic oxygen saturations increased by an average of 5.4 (2-9)% and mean pressures in the Fontan circuit increased by an average of 2.1 (0-6) mmHg. During fol-low-up (median of 23 months), five patients (4 in extracardiac, 1 in lateral tunnel) had complete occlusion of the fenestration on echocardiography. There was no immediate or late complication. Transcatheter closure of fenestration in Fontan operation using the Cook(R) detachable coil is a safe and feasible technique. However, the coil was ineffective for closure of a punch-hole fenestration in the lateral tunnel type operation. In the conduit type fenestration, some modification of fenestration method instead of a short conduit for coil closure or use of new device is necessary to increase complete closure rate.
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姜理錫 충남대학교 공업교육연구소 1981 論文集 Vol.4 No.2
To reduce the production cost there is a tendency for refrigerating hermetic compressors for household refrigerators to become smaller and lighter and, accordingly, a high speed rotation is needed. The high speed rotation needs sufficient lubricating oil supply for protection of sliding parts from wear and deposition. In general, the crankshaft of the hermetic compressor performs also the role of the centrifugal lubrication oil pump. In this paper, the characteristics of the centrifugal pump of the crankshaft as a lubricating oil supplier and the structure of the pump which has the property of stable oil supply are described and an equation is presented for predicting of the flowrate in designing a crankshaft as a centrifugal lubricating oil pump.
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강이석 대한소아청소년과학회 2006 Clinical and Experimental Pediatrics (CEP) Vol.49 No.9
The population of adult patients with congenital heart disease(CHD) has increased dramatically because of improved survival of infants and children with CHD. There are still a substantial number of adults with unrepaired CHD. Many adult patients do not know the possible problems of their disease such as ventricular dysfunction, arrhythmia, and what they should pay attention to. They often consider themselves “cured” or “healthy” if only they don't have overt symptoms, and visit hospitals only after deterioration of their problems. Some patients are neglected because they cannot be corrected surgically although careful medical support can improve their survival and quality of life. It is, therefore, essential that the patients, their families, and physicians understand the potential problems of CHD and need for regular follow-up. In this paper we will take a brief review for common medical problems of repaired or unrepaired CHD and also mention a few specific diseases which are common in adults.
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姜理錫 충남대학교 공업교육연구소 1986 論文集 Vol.9 No.1
A theoretical and experimental study for temperature increment and heat transfer through the heat insulation duct for an air cooling system is presented. The environmental condition of the duct is the hottest summer weather of Korea, which means 40℃ of atmospheric temperature, windless and cloudless. The results show that the duct is sufficiently satisfied in the design requirement, that the temperature increment through the duct should be less than 2℃
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