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타일 격자무늬 추적 자율주행 로봇을 위한 위치 인식과 주행 제어
구경완,김정주,김동진 대한전기학회 2021 전기학회논문지 Vol.70 No.6
Human visual intelligence refers to the ability to use the visual environment to suit one's own survival. Humans can use visual intelligence to find a target location using only visual perception information in an unknown indoor space. In this paper, we propose a method for the robot to recognize the location and determine the driving direction using the grid pattern information of tiles installed on the floor of an indoor space by imitating human visual intelligence
Holmium:YAG laser를 이용한 요관경하쇄석술의 초기 경험 : 기존의 쇄석술과의 결과 비교
구경완,노용수,김홍섭,양상국,나공찬 건국대학교 의과학연구소 2003 건국의과학학술지 Vol.13 No.-
Purpose: Holmium:YAG lasertripsy for the 33 patients with lower ureteral calculi compared the outcome with other results using Lithoclast and ultrasonic lithotripsy. Materials and Methods: Thirty-three patients with symptomatic urinary calculi underwent Holmium:YAG lasertripsy from March 1999 to December 2000. Twelve patients were treated with Ultrasonic lithotripsy and twenty-one patients with Lithoclast lithotripsy from April 1997 to October 1999. All calculi of the above patients were located in their lower ureters. The size of ureter stones was ranged from 3.5 mm to 12 mm (mean 6.54 mm). Results: The age of the patients ranged was from 19 to 62 years (me~n 35.7 years). After a single ureteroscopic lasertripsy calculi were conlpletely cleared in 83 % of the cases for the patients with lower ureter calculi. The immediate complications of lasertripsy were gross hematuria, fever, and flank pain. However in the long term follow up (up to 3 months after the procedures) there were no further complications, such as, vesicoureteral reflux or ureteral stricture. In other two lithotripsies Lithoclast and Ultrasonic lithotripsy accomplished calculi were completely cleared in 71 % and 74 % of cases respectively. But Holmium:Y AG lasertripsy is cleared in 94 % effectiveness. Holmium:Y AG lasertripsy is more effective than two other methods compared by stratified analysis that unmasking from confounding factors such as impacted situation. Conclusions: Lasertripsy with Holmium:Y AG laser is considered effective and safe procedure for the lower urinary calculi lithotripsy (Ultrasonic, Lithoclast).
구경완,백동현 한국화재소방학회 2013 한국화재소방학회논문지 Vol.27 No.6
Catastrophic disasters are sprouting out recently, i.e., the radiation leaks and the hydrofluoric acid gas leaks, etc. The restoration work for these kinds of disasters is very harmful and dangerous for human beings to handle themselves, thus allowing manless robots to fly the reconnaissance planes over to the disaster stricken areas and do the necessary work instead. For this endeavor and purpose, we created and tested an intelligent robot that can inspect those areas, using Mbed (ARM processor) technology temperature sensors and gas sensors aided by CAM (Computer-Aided Manufacturing) cameras. Also, HTTP Server, PC, androids and their combined efforts allow their remote controlled operation from far away with timing control. These intelligent robots can be on duty for 24 hours, minimizing the accidents and crimes and what not, and can respond more quickly when these misfortunes actually happen. We can anticipate the economic effects as well, derived from the reduced needs for hiring human resources. 최근 원자력 발전소의 방사능 누출 사고, 삼성 불산 유출사건 등의 재난과 같은 사고는 사람이 직접 복구 작업이나관리하기 매우 위험하다. 따라서 사람을 대신해 사고장소의 정찰이나 작업을 할 수 있는 무인로봇의 활용이 필요하며,이를 위해 Mbed (ARM 프로세서)에서 온도/가스 센서와 습도 센서를 이용해 캠 카메라를 통해 영상을 전송받을 수 있도록 하여 시설물 곳곳을 감시할 수 있는 감시스마트로봇을 설계 시험하였다. 또한 외부에서도 인터넷망만 접속되면HTTP Server를 통하여 PC, Android로 원격조종을 할 수 있도록 하여 시간, 장소에 관계없이 로봇을 원하는 곳으로주행할 수 있도록 하였다. 이와 같은 감시스마트로봇은 24시간 감시 할 수 있으므로 사고발생의 최소화 및 범죄예방 등의 여러 목적으로 활용할 수 있고 사고 발생 시 빠른 대응을 할 수 있다. 아울러 사람대신 사용할 수 있으므로 인건비를 절감하여 경제적인 효과까지 기대할 수 있다.
구경완,김도우,왕진석 대한전기학회 2005 전기학회논문지C Vol.54 No.7(C)
The effect of plasma cleaning was examined on package delamination phenomena in the integrated circuit (IC) packaging process. Without plasma cleaning, delamination was observed for all three experimental treatments applied after the packaging step, which include bake of IC, reflow, and bake of IC followed by reflow. However, no delamination was observed when the plasma cleaning was performed before and after the wire bonding step. Plasma cleaning was found to be a critical step to improve the reliability of the package by reducing the possibility of contact failure between die pad and bonding wire.
문자 인식을 이용한 격자무늬 추적 로봇의 자율주행 방법에 관한 연구
구경완,김정주,김동진 대한전기학회 2022 전기학회논문지 Vol.71 No.7
In the indoor space where we live and use, various indoor signs such as floor information, room name, and walking guidance display are installed for the convenience of users. Humans can use this visual information(character/symbol information) to determine their current location and find their destination. In this study, we propose an autonomous driving method for a grid-pattern tracking robot that mimics human visual intelligence. The grid-pattern tracking robot recognizes characters from images acquired while driving, identifies the current location, plans a route to the destination, and performs autonomous driving.ㅍ
천연 점토질 재료를 이용한 고실리카 제올라이트의 합성에 관한 연구
구경완,임경천,황재효 永同大學校 1999 硏究論叢 Vol.5 No.1
본 논문에서는 천연 고령토로 고실리카 제오라이트인 ZSM-5를 합성하는 방법을 제안한다. 합성시, 알칼리 종으로 KOH를 첨가하였다. 또한, ZSM-5의 합성을 위해 회전반응을 수행하는 원통형 합성장치를 제작하였다. 이 장치는 회전속도 및 반응온도를 제어할 수 있도록 설계되었다. ZSM-5의 합성영역을 밝히기 위하여 SiO_2/Al_2O_3의 몰비와 K_2O/SiO_2를 조절하였다. 그 결과, 몰비에 대응하는 결정생성물의 영역 및 ZSM-5의 합성영역을 밝혔다. In this paper, a synthesis method of high silica zeolite (ZSM-5) using Koryung clay from Kyungnam Province is proposed. We select KOH as alkali seed. We fabricate the synthesis apparatus which attends rotative reaction. The synthesis apparatus controls rotation speed and reaction temperature. To reveal the synthesis range of ZSM-5, we adopt various mole ratio of SiO_2/Al_2O_3 and K_2O/SiO_2. As the results, synthesis range of ZSM-5 which corresponds to mole ratio is appeared.