표정 피드백을 이용한 딥강화학습 기반 협력로봇 개발

전해인,강정훈,강보영 한국로봇학회 2022 로봇학회 논문지 Vol.17 No.3

Human-robot cooperative tasks are increasingly required in our daily life with the development of robotics and artificial intelligence technology. Interactive reinforcement learning strategies suggest that robots learn task by receiving feedback from an experienced human trainer during a training process. However, most of the previous studies on Interactive reinforcement learning have required an extra feedback input device such as a mouse or keyboard in addition to robot itself, and the scenario where a robot can interactively learn a task with human have been also limited to virtual environment. To solve these limitations, this paper studies training strategies of robot that learn table balancing tasks interactively using deep reinforcement learning with human’s facial expression feedback. In the proposed system, the robot learns a cooperative table balancing task using Deep Q-Network (DQN), which is a deep reinforcement learning technique, with human facial emotion expression feedback. As a result of the experiment, the proposed system achieved a high optimal policy convergence rate of up to 83.3% in training and successful assumption rate of up to 91.6% in testing, showing improved performance compared to the model without human facial expression feedback.

유동층 전극반응기의 유효전기비전도도

전해수,강웅기 한국화학공학회 1981 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.19 No.3

황산(0.1M 및 1M) 산성의 황산구리전해액(0.032M Cu)으로 구리입자(0.5㎜)를 유동화시키는 직사각형-십자류(전해액-전류사이에) 유동층전극반응기내에서 층팽창율과 전류밀도를 변화하여 연속상 및 분산상전위를 각각 측정하고, 이로부터 연속상 및 분산상의 유효전기비전도도와 총괄유효전기비전도도를 산출하였다. 그 결과 연속상유효전기비전도도는 층다공율의 3.0승에 역비례하고, 분산상유효전기비전도도는 층다공율의 12.0승에 역비례하고, 총괄유효전기비전도도는 층다골율의 6.8승에 역비례하였다. Potential profiles of continuous electrolyte phase and dispersed particle phase were measured in a fluidized bed electrode reactor of rectangular geometry. The reactor with solid copper particles(0.5 mm in diameter) was used to deposit copper from acidified aqueous solutions. (0.1M and 1M H₂SO₄) containing 0.032M of copper. Effective specific electrical conductivities of individual phase could be calculated from the potential profiles. Rasults showed that the effective specific electrical conductivity of continuous electrolyte phase was inversely proportional to the 3.0 power of the bed porosity and proportional to the electrolyte specific electrical conductivity, the effective specific electrical conductivity of the dispersed particle phase was inversely proportional to the 12.0 power of the bed porosity, and the overall(or equivalent) electrical conductivity of the bed was inversely proportional to the 6.8 power of the bed porosity.

고분자전해질형 연료전지에서 Nafion막 에칭의 영향

박권필,조규진,이건직,전해수,Park Kwon Pil,Cho Gyou Jin,Lee Gun Jik,Chun Hai Soo 한국전기화학회 1999 한국전기화학회지 Vol.2 No.4

고분자전해질형 연료전지에서 에칭한 Nafion막으로 고분자막/전극 어셈블리를 제조하고 그 성능을 측정하였다. 에칭을 함으로서 고분자막과 전극의 접합이 잘 이루어져 hot pressing 압력과 온도를 낮출 수 있었고, 낮은 온도에서 hot pressing이 이루어짐으로서 전지의 성능을 향상시킬 수 있었다. 어셈블리 제조방법중의 하나인 페인팅 방법에서 에칭 된 Nafion막을 이용하면 전지의 성능이 향상됨을 보였으며, 에칭정도에 따라 적당한 양의 전극촉매를 사용해야 함을 보였다. Etched Nafion membrane and electrode assemblies were fabricated and those performances were observed in PEMFC. Adhesion of membrane to electrode increased with abrasion of membrane surface. Membrane surface ething results in reduction of hot pressing temperature, as a consequence, in improving of cell performance. It was found that Nafion etching was effective in painting method. The optimum content of electrode catalyst should be selected according to etching intensity.

철도 인프라 안전 관리 시스템 구축을 위한 AR 기술 및 콘텐츠 도출

전해인,유영수,구본상,서형렬,김지환 대한토목학회 2022 대한토목학회논문집 Vol.42 No.3

With the recent growing importance over safety management the need for advanced and technical approaches for on-site safety inspection methods has increased. Railway construction is subject to its own particular set of temporal and spatial challenges due toits unique facilities and equipment. This study aimed to investigate the field characteristics of railway infrastructure and improve the conventional field safety management methods by identifying the most appropriate features of AR technology. Group interviews andsurveys were conducted with field safety experts to derive the major problems and inspection needs. Subsequently, various features ofAR, such as BIM model projection, and remote conferencing, were investigated to determine their applicability to address safety issues. As a result, four problems in the current safety management process, such as ‘lack of time due to the conventional inspection method and inspection of areas that are difficult to access’, and three major inspection types, such as ‘observance of work procedures, status ofinstallation, adequate dimensional spacing’, were identified to be improved when adopting AR based techniques. Furthermore, AR technology utilizing plans to solve safety inspection problems and effectively manage major inspection types were proposed, and afollow up survey was conducted with the same field safety experts to derive the priority of technology development. 최근 안전 관리의 중요성이 증대됨에 따라 건설 재해사고의 선제적 예방을 위한 현장 안전 점검 방식에 대해 제도 및 기술적 보완이 요구되고 있다. 특히 철도 공사는 궤도, 전차선 등의 고유 시설물로 인해 시공간적 제약 조건하에 점검이 이뤄지고 있어, 이에 적합한 안전 관리 방안이 필요하다. 본 연구에서는 철도 인프라의 현장 특성을 선제적으로 조사하고, 이에 해당하는 적정 AR 기술을 도입하여 기존 현장 안전 관리 방식을 개선하는 것을 최종 목적으로 하였다. 이를 위해 현장 안전 전문가를 대상으로 그룹 인터뷰 및 설문조사를 실시하여, 현행 안전 관리 프로세스 상 주요 문제점과 주된 점검 유형을 도출하였다. 이후 BIM 모델 투영, 원격 회의 등과 같은 AR 기능을 조사하여, 안전 문제 해결에 적용이 가능한지 확인하였다. 그 결과, ‘재래식 점검 방식으로 인한 시간 부족, 접근이 어려운 구간에 대한 점검 불가’ 등 현행 안전 관리 프로세스 상 4가지 문제점과 ‘작업 절차 준수 여부, 부재 설치 여부, 부재의 적정 간격 준수 여부’ 3가지 주요 점검 유형을 AR 기술 도입 시 개선해야 할 사항으로 파악하였다. 이를 기반으로 안전 점검 문제를 해결하고 주요 점검 유형을 효과적으로 관리하기 위한 AR 기술 활용 방안을 제시하였으며, 전문가 대상 설문조사를 재실시하여 기술 개발의 우선순위를 최종 도출하였다.

中國과 韓國 - 韓中關係史 導論의 一齣

전해종(全海宗) 연세대학교 국학연구원 1968 동방학지 Vol.9 No.-

For the extensive studies of the history of Sino-Korean relations for two millenia it is desirable to survey the general trends of China s attitudes toward foreigners, the nature of the tributary system, general patterns of the roles of northrn peoples in connection with China and Korea as well as others. This paper deals with some of the significant points of these problems. Eastern Barbarians Some of Korean scholars have tried to identify the eastern barbarians, or tung-i in Chinese and tong-i in Korean, in the pre-Ch in period with those in the later times. This attempt seems to have been based on the false assumption that the term of eastern barbarians had been a proper noun. Eastern, however, simply meant east to the center of China. Herewith the concerned was the problem of formation of the Chiness people, the process of which took place in the pre-Ch in period culminating at the time of the unification of Ch in and Han. The eastern barbarians in the pre-Ch in classics and other literature were the barbarians in esatern and southeastern parts of the present China proper, but after the unification the eastern barbarians became to mean the foreigners in the area to the east of China. The term in Shih-chi was for those in eastern China in the pre-Ch in period, and the same term in San-kuo-chih was mainly for Koreans in the Korean Peninsula and south Manchuria. Tributary Relationship Chinese historical records often relate the facts that foreign, including Korean, envoys visited Chinese court bringing tributary goods with them in the Han period. But this does not necessarily mean that tributary system as a machine of the Chinese world order was already set up in this period. Since the tributary relationship had to be a constant, not an occasional, relationship, the beginning of the Sino-Korean tributary relationship seems to have started in the early Southern·and·Northern Dynasties period. The Chinese tributary system developed through the ages, and highly institutionalized in the Ming and Ch ing period. But Sino-Korean relations are not to be explained solely in terms of tributary relationship. There have been non-tributary relations along with tributary relations, although the latter became insignificant in the later times. Some of the features of the tributary relations have beeu characteristic, but some have not been. The former may be called fundamental tributary relationship and the latter quasi-tributary relationship. Quasi-tributary relationship has been regulated by the tributary relationship, but they have been such as we may see in the modern, or non-tributary, international relations. The Open Society The T ang, succeeding to the Sui, again achieved the unification of the whole China and the second formation of the Chinese nation. the latter being not so significant as the first formation mentioned above. The Chinese society had been regenerated during the preceeding period of disunion. And the T ang society was full of vigor and vitality to conquer peripheral states, communicate with them, and receive their cultural elements. The peripheral states, on the other hand, were strongly influenced by the T ang culture. The T ang was, therefore, not a closed, but an open society. Northen Peoples The roles played by the Kitans, Jurched and Mongols during the period of the Northern and Southern Sung were really significant. They not only conquered and subjugated China, but changed the Chinese world order. Not the Chinese but the nothern peoples were in the superior position in the relations between Chinese and northern peoples, and the open society of China gradually changed into a closed society. Compared to the T ang China, even the Mongol China was more closed.

Erratum - Standardized multi-institutional data analysis of fixed and removable prosthesis: estimation of life expectancy with regards to variable risk factors

전해인 대한치과보철학회 2024 The Journal of Advanced Prosthodontics Vol.16 No.3

[J Adv Prosthodont 2024;16:67-76]DOI of original article: 10.4047/jap.2024.16.2.67 The article ‘Standardized multi-institutional data analysis of fixed and removable prosthesis: estimation of life expectancy with regards to variable risk factors’ authored by Jeon HI, Yoon JH, Kim JH, Kim DW, Oh N, Park YB, published in the April issue [Vol 16, No 2] of The Journal of Advanced Prosthodontics (2024), has an erratum. In the above article, the society name was published incorrectly. The authors apologize for any inconvenience that it may have caused. Korean Association of Prosthodontics (KAP) The society name should be corrected as follows. Changes are marked by underlines: Korean Academy of Prosthodontics (KAP) The Journal of Advanced Prosthodontics apologizes to the readers for this error.

Li/V₆O₁₃ 리튬 폴리머 전지의 성능

김형선,조병원,윤경석,전해수,Kim, Hyung-Sun,Cho, Byung-Won,Yun, Kyung-Suk,Chun, Hai-Soo 한국공업화학회 1996 공업화학 Vol.7 No.2

The performance of The performance of $Li/V_6O_{13}$ cell and the electrochemical properties of polymer electrolyte based on poly(acrylonitrile)[PAN] was investigated. The ionic conductivity of polymer electrolyte showed $2.3{\times}10^{-3}S/cm$ and the compatibility with lithium electrode was excellent. Also, it showed the electrochemical stability up to 4.3V(vs. $Li^+/Li$). The cell reaction of $Li/V_6O_{13}$ was dominated by the interfacial resistance between $V_6O_{13}$ electrode and polymer electrolyte. The diffusion coefficient of lithium ion within $V_6O_{13}$ was $2.7{\times}10^{-9}{\sim}4.2{\times}10^{-8}cm^2/sec$. The utilization of $V_6O_{13}$ active material was 95% at C/8($50{\mu}A/cm^2$) and 82% at C/4($100{\mu}A/cm^2$), respectively. $Li/V_6O_{13}$ 전지의 성능과 poly(acrylonitrile)[PAN]계 폴리머 전해질의 전기화학적인 성질을 조사 하였다. 폴리머 전해질의 이온 전도도는 상온에서 $2.3{\times}10^{-3}S/cm$를 보였으며 리튬 전극과의 상용성도 우수하였다. 또한 4.3V(vs. $Li^+/Li$)까지의 전기화학적인 안정성이 있는 것으로 나타났다. $Li/V_6O_{13}$ 전지 반응은 $V_6O_{13}$ 전극과 폴리머 전해질간의 계면 저항이 지배적 이었다. $V_6O_{13}$내의 리튬 이온의 확산 계수값은 $2.7{\times}10^{-9}{\sim}4.2{\times}10^{-8}cm^2/sec$로 나타났다. $V_6O_{13}$ 활물질의 이용률은 C/8($50{\mu}A/cm^2$)에서 95%였으며 C/4($100{\mu}A/cm^2$)에서는 82%로 각각 나타났다.

Poly ( ethylene oxide ) - Li 계 고분자 전해질의 전기화학적 특성 및 물리적 성질

김형선,조병원,윤경석,전해수 ( Hyung Sun Kim,Byung Won Cho,Kyung Suk Yun,Hai Soo Chun ) 한국공업화학회 1996 공업화학 Vol.7 No.3

분자량이 큰 Poly(ethylene oxide)[PEO] 고분자에 LiClO₄, LiCF₃SO₃ 등의 리튬염과 ethylene carbonate(EC), propylene carbonate(PC) 등의 가소제를 고정화시킨 고분자 전해질의 전기화학적 특성 및 물리적 성질을 조사하였다. 가소제가 첨가된 PEO-Li계 고분자 전해질은 상온에서 10^(-4)S/㎝의 이온 전도도를 보였고 4.5 V(vs. Li^+/Li)까지 높은 전기화학적인 안정성을 나타냄으로써 리튬 2차전지에 적용 가능한 것으로 나타났다. 리튬염 및 가소제의 첨가에 따라 PEO의 결정상이 감소되었고 특히 LiClO₄, PC 등이 LiCF₃SO₃, EC 등에 비하여 더 효과적인 것으로 나타났다. 리튬염의 농도가 증가할수록 고분자 전해질의 유리전이온도(T_g)는 증가되었으며 반면에 융점온도(T_m)는 감소하는 것으로 나타났다. 가소제가 첨가된 고분자 전해질은 6℃에서 결정화 되었다. Electrochemical characteristics and physical properties of polymer electrolyte which immobilized lithium salts such as LiClO₄ and LiCF₃SO₃ and plasticizers such as ethylene carbonate(EC) and propylene carbonate(PC) in high molecular weight polyethylene oxide)[PEO] polymer was investigated. PEO-Li based polymer electrolyte with plasticizers showed ionic conductivity of 10^(-4)S/㎝ at room temperature and high electrochemical stability up to 4.5 V(vs, Li^+/Li), so it can be applied to lithium secondary battery. The crystallinity of PEO decreased with the addition of lithium salts and plasticizers, especially LiClO₄ and PC showed more effective than LiCF₃SO₃ and EC. Glass transition temperature(T_g) of polymer electrolyte increased with increasing lithium salt concentration whereas melting temperature(T_m) decreased. Polymer electrolyte with plasticizers crystallized at 6℃.

Li / V6O13 리튬 폴리머 전지의 성능

김형선,조병원,윤경석,전해수 ( Hyung Sun Kim,Byung Won Cho,Kyung Suk Yun,Hai Soo Chun ) 한국공업화학회 1996 공업화학 Vol.7 No.2

Li/V_6O_(13) 전지의 성능과 poly(acrylonitrile)[PAN]계 폴리머 전해질의 전기화학적인 성질을 조사 하였다. 폴리머 전해질의 이온 전도도는 상온에서 2.3×10^(-3)S/㎝를 보였으며 리튬 전극과의 상용성도 우수하였다 또한 4.3V(vs. Li^+/Li)까지의 전기화학적인 안정성이 있는 것으로 나타났다. Li/V_6O_(13) 전지 반응은 V_6O_(13) 전극과 폴리머 전해질간의 계면저항이 지배적 이었다. V_6O_(13)내의 리튬 이온의 확산 계수값은 2.7×10^(-9)∼4.2×10^(-8)㎠/sec로 나타났다. V_6O_(13) 활물질의 이용률은 C/8(50㎂/㎠)에서 95%였으며 C/4(100㎂/㎠)에서는 82%로 각각 나타났다. The performance of Li/V_6O_(13) cell and the electrochemical properties of polymer electrolyte based on poly(acrylonitrile)[PAN] was investigated. The ionic conductivity of polymer electrolyte showed 2.3×10^(-3)S/㎝ and the compatibility with lithium electrode was excellent. Also, it showed the electrochemical stability up to 4.3V(vs. Li^+/Li). The cell reaction of Li/V_6O_(13) was dominated by the interfacial resistance between V_6O_(13) electrode and polymer electrolyte. The diffusion coefficient of lithium ion within V_6O_(13) was 2.7×10^(-9)∼4.2×10^(-8)㎠/sec. The utilization of V_6O_(13) active material was 95% at C/8(50㎂/㎠) and 82% at C/4(100㎂/㎠), respectively.

중년여성 근로자의 감정노동, 신체화 증상, 정서적 지지가 삶의 질에 미치는 영향

전해옥(Jeon, Hae Ok),권유림(Kweon, Yoorim) 한국성인간호학회 2015 성인간호학회지 Vol.27 No.5