세포성 면역 알고리즘을 이용한 AGV의 조향 제어기 설계에 관한 연구

이영진,이진우,이권순,Lee, Yeong-Jin,Lee, Jin-U,Lee, Gwon-Sun 제어로봇시스템학회 2001 제어·로봇·시스템학회 논문지 Vol.7 No.10

The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.

MRAC 기법을 이용한 무인 컨테이너 운송차량의 조향 제어

이영진,허남,최재영,이권순,이만형,Lee, Y.J.,Huh, N.,Choi, J.Y.,Lee, K.S.,Lee, M.H. 한국항해항만학회 2000 韓國港灣學會誌 Vol.14 No.3

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

수치해석을 이용한 흙막이벽체의 사보강버팀보에 적용하는 축강성에 대한 현장 적용성 연구

이영진,이성규,이강일,Lee, Yeong-Jin,Lee, Soung-Kyu,Lee, Kang-Il 한국지반신소재학회 2022 한국지반신소재학회 논문집 Vol.21 No.2

Unlike the horizontal strut, the corner strut causes bending behavior by the installation angle when soil pressure occurs, so there is a limit to its application as a elasto plastic method that requires only the axial stiffness of struts. Therefore, this study attempted to approach a method of modifying axial stiffness data to present an analysis method for corner struts in elasto plastic method, and linear elasticity analysis was used for this. And, through Linear elasticity analysis, axial stiffness data for corner struts installed at the actual site were calculated. The behavior of the retainingwall was confirmed by applying the calculated axial stiffness data of corner struts to elasto plastic method, and its applicability was evaluated by comparing it with the measurement results and the finite element analysis results. As a result of the study, when the axial stiffness data of the corner struts was applied using Linear elasticity analysis(Case 1, Case 3), the axial stiffness data decreased to 9% to 17% compared to the general method of applying the axial stiffness of the struts(Case 2, Case 4), and the displacement of the retainingwall increased to 25.33% to 64.42%. Comparing this result with the measurement results, when Linear elasticity analysis was used(Case 1, Case 3), the behavior of the retainingwall during the elasto plastic method was better shown.

습도에 따른 다이아몬드성 카본필름의 잔류응력 변화에 대한 연구

이영진,김태영,이광렬,양인상,Lee Young-Jin,Kim Tae-Young,Lee Kwang-Ryeol,Yang In-Sang 한국진공학회 2004 Applied Science and Convergence Technology Vol.13 No.4

라디오파 플라즈마 화학증착법 (radio frequency plasma assisted chemical vapor deposition: r.f.-PACVD) 법으로 증착된 다이아몬드성 카본 (Diamond-like Carbon : DLC) 필름에서 나타나는 습도에 따른 압축 잔류 응력의 변화 거동을 체계적으로 조사하였다. 합성에 사용된 탄화수소 가스의 종류와 -100V에서 -800V 범위의 기판 바이어스 전압의 조절을 통해 폴리머성 필름에서 흑연성 필름까지 광범위한 구조의 DLC 필름을 합성하였다. 상대습도가 10%-90% 범위에서 변화하는 분위기 챔버 내에서 박막의 잔류응력의 변화를 실시간으로 측정하였다 박막의 경도와 잔류응력이 최고 값을 가지는 합성조건에서 얻어진 치밀한 DLC박막에서는 습도에 따른 잔류응력의 변화가 관찰되지 않았다. 그러나, 폴리머상이나 흑연상의 박막에서는 두 경우 모두 습도가 높아짐에 따라 압축 잔류응력이 증가함을 관찰할 수 있었으며, 습도의 변화에 대해 잔류응력이 즉각적으로 변화하였다. 한편, 동일한 습도에서 압축 잔류응력의 증가량은 필름의 두께에 반비례하는 것이 관찰되었다. 이 결과는 물분자가 필름의 구조내로 침투하면서 생기는 변화가 아니라, 박막의 표면에서 일어나는 물분자와의 반응에 의해 필름의 잔류응력이 변할 수 있음을 의미한다. Dependence of residual compressive stress of diamond-like carbon (DLC) films on relative humidity was investigated. Polymeric, graphitic and diamond-like carbon films were prepared by r.f.-PACVD using methane or benzene with the negative self bias voltage of the substrate ranging from -100 to -800 V. In-situ measurements of the residual stress were carried out in an environment chamber where the relative humidity was varied from 10% to 90%. In dense DLC film of high residual compressive stress and hardness, we could not observe any change in the residual compressive stress with relative humidity. However, in the cases of graphitic and polymeric DLC films, abrupt change in the residual stress occurred by changing the relative humidity. The quantity of the stress change was inversely proportional to the film thickness, which means that the stress change with humidity is not due to the penetration of the water molecule into the film structure, but due to surface interaction between water molecules and film surface.

랜덤 부분 ID를 이용한 저비용 RFID 상호인증 프로토콜

이영진,문형진,정윤수,이상호,Li Yong-Zhen,Mun Hyung-Jin,Jeong Yoon-Su,Lee Sang-Ho 한국통신학회 2006 韓國通信學會論文誌 Vol.31 No.7C

Previous RFID technique, it is recognizable without the physical contact between the reader and the tag, causes the serious privacy infringement such as excessive information exposure and user's location information tracking due to the wireless characteristics. Especially the information security problem of read only tag is solved by physical method. In this paper, we propose a low-cost mutual authentication protocol which is adopted to read-only tag and secure to several attacks using XOR and Partial ID. The proposed protocol is secure against reply attacking, eavesdropping, spoofing attacking and location tracking. 기존 RFID 기술은 리더와 태그사이에 물리적인 접촉 없이 인식 가능하고 태그의 정보가 전송과정에 무선특성에 따른 과도한 정보 노출과 사용자의 위치정보 추적과 같은 심각한 프라이버시 침해를 유발시킨다. 특히 읽기전용 태그에서의 보안문제는 단지 물리적 방법으로만 해결하고 있다. 이 논문에서는 간단한 XOR연산과 부분 ID를 이용하여 다양한 공격에 안전하며 읽기전용 태그에 적합한 저비용 인증 프로토콜을 제안한다. 제안 프로토콜은 재전송, 도청, 위장 및 위치 추적 등 공격에 안전하다.

Development of a Standardized Job Description for Healthcare Managers of Metabolic Syndrome Management Programs in Korean Community Health Centers

이영진,추진아,조정현,김소남,Hye-Eun Lee,윤석준,서문경애 한국간호과학회 2014 Asian Nursing Research Vol.8 No.1

Purpose: This study aimed to develop a job description for healthcare managers of metabolic syndrome management programs using task analysis. Methods: Exploratory research was performed by using the Developing a Curriculum method, the Intervention Wheel model, and focus group discussions. Subsequently, we conducted a survey of 215 healthcare workers from 25 community health centers to verify that the job description we created was accurate. Results: We defined the role of healthcare managers. Next, we elucidated the tasks of healthcare managers and performed needs analysis to examine the frequency, importance, and difficulty of each of their duties. Finally, we verified that our job description was accurate. Based on the 8 duties, 30 tasks, and 44 task elements assigned to healthcare managers, we found that the healthcare managers functioned both as team coordinators responsible for providing multidisciplinary health services and nurse specialists providing health promotion services. In terms of importance and difficulty of tasks performed by the healthcare managers, which were measured using a determinant coefficient, the highest-ranked task was planning social marketing (15.4), while the lowest-ranked task was managing human resources (9.9). Conclusion: A job description for healthcare managers may provide basic data essential for the development of a job training program for healthcare managers working in community health promotion programs.

정적 자기장이 무순(radish sprouts)의 초기 발아와 성장에 미치는 영향

이영진,임지훈,박동국,Lee, Young-Jin,Lim, Ji-Hun,Park, Dong-Kook 한국정보통신학회 2013 한국정보통신학회논문지 Vol.17 No.1

심각한 기후변화로 인한 농업의 생산성 약화에 대비하기 위해 식물 성장을 촉진할 수 있는 방안에 대한 연구가 요구되고 있다. 식물성장을 촉진하는 방법으로 자기장을 이용하는 방법이 소개되고 있지만, 식물에 자기장을 인가하는 효과적인 방법에 대해서는 아직까지 자세히 연구된 문헌이 없다. 본 논문에서는 인가하는 정적 자기장의 세기, 자기장의 인가 방향, 자기장 노출 시간 변화에 따른 무순(radish sprouts)의 성장과 초기발아 효과에 대해 실험을 하고. 효과적인 자기장 노출 방법에 대해 조사하였다. 실험의 결과를 종합하면 자기장에 노출되지 않은 무순 보다 자기장에 노출된 무순의 초기발아가 약 3~4일정도 빠른 것으로 나타났고, 효율적인 무순의 성장을 위해서는 자기장의 세기를 적절히 선택해야 함을 알 수 있었고, 자기장의 인가 방향에 따라서는 큰 영향을 받지 않는 것을 알 수 있었다. In order to prepare for weakening of the productivity of agriculture due to serious climate change, the researches on promoting the growth of plant are required. Although the method of using magnetic field for improving the growth of plant was introduced, the effective method of imposing the field on the plant have yet to be studied thoroughly in the literatures. In this paper, we investigated the effects of static magnetic field on the growth and the early seed germination of radish sprouts according to the strength, direction of excitation and the expose time of the magnetic field, and present the effective method of imposing magnetic fields. From the measurements, it was found that the radish sprouts exposed in the field shows a rapid germination of about 3~4 days than those which had no field, and in order to the effective growth, the strength of the magnetic field should be properly selected, and the excitation direction of magnetic field has little effect on the radish sprouts growth.

제4위 이물 적체로 인한 제4위식체

이영진,Lee, Yeong-Jin 대한수의사회 2013 대한수의사회지 Vol.49 No.7

가축분뇨 Biochar의 물리·화학적 특성분석을 통한 흡착제 적용성 평가 연구

이영진,오민아,박경주,이재영,Lee, Youngjin,Oh, Minah,Park, Kyoungjoo,Lee, Jai-young 한국지하수토양환경학회 2017 지하수토양환경 Vol.22 No.2

As livestock husbandry has broadened from family-scale to enterprise-scale, the number of farming families has decreased in contrast to the increase of the number of livestock, and the amount of livestock manure discharged per household has increased. Livestock manure is difficult to handle and its disposal in the ocean is prohibited. Moreover, facilities that compost and liquefy manure are blamed as sources of soil, ground water, and surface water pollution because the amount of manure generated from husbandry farms causes eutrophication. In this study, livestock manure was utilized as a feedstock of hydrothermal carbonization (HTC) process to produce biochar for use as an environmental medium. The biochar was tested for iodine adsorption capability and its performance was compared with other adsorbent materials.

"국산 돼지고기 소비증가를 위해서는 햄의 소비증가가 필요하다"

이영진,Lee, Yeong-Jin 대한양돈협회 2007 養豚 Vol.29 No.12