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높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어
안재국(Jae-Kook Ahn),이승준(Seungjun Lee),정슬(Seul Jung) 대한전자공학회 2010 대한전자공학회 학술대회 Vol.2010 No.6
This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. Lastly, the robot is designed to have the capability of separating into two systems, the robot arm and the mobile robot as well.
안재국(Jae Kook Ahn),정슬(Seul Jung) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.
높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어
안재국(Jae Kook Ahn),정슬(Seul Jung) 大韓電子工學會 2011 電子工學會論文誌-SC (System and control) Vol.48 No.1
본 논문은 실내에서 사용할 이동로봇의 구현과 제어에 대한 것이다. 로봇은 두 팔을 가지고 이동할 수 있는 베이스로 구성된다. 로봇은 디자인에 있어 몇 가지 특징을 가진다. 첫 번째, 로봇의 허리는 높낮이 조절이 가능하다. 두 번째로 로봇은 4점 접촉인 이동로봇 모드에서 2 점 접촉인 밸런싱 모드로 전환이 가능하다. 마지막으로 로봇은 상체와 하체의 분리 기능을 갖는다. 이동 베이스 부분은 청소작업에 사용이 가능하다. This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot arm and the mobile robot as well. The mobile base can be separately used for a cleaning service.
Pachysolen tannophilus 융합주와 영양요구성 변이주에 의한 xylose 이용성 및 발효성의 비교연구
이재동,전홍기,안원근,안재국 한국균학회 1991 韓國菌學會誌 Vol.19 No.4
Auxotrophs induced by UV irradiation were lysine, arginine, methionine, and cysteine requirement. The optimal protoplast-producing conditions of Pachysolen tannophilus were obtained in 1 hr incubation treated zymolyase 0.5 ㎎/㎖ at 37-42℃(pH 6.5-8.5 with 0.6 M KCl as osmotic stabilizer. Cell volumn of fusants were counted in about 4 times of parents and their morphological characteristics were similar to parents which were global or egg-shaped, though in fusant, pseudohypha were observed frequently. Ethanol production of fusants were similar to parents, but arginine and methionine auxotrophs were showed increased ethanol production respectively 1.6 times and 1.25 times more than parents.