복수의 자율이동로봇의 협조운동에 관한 연구

정원갑,최유식,서호철,이석규,이달해 영남대학교 공업기술연구소 1999 工業技術硏究所論文集 Vol.27 No.2

This paper proposes a fuzzy algorithm for cooperative behaviors of multiple autonomous mobile robots. Each robot makes decision of his behavior based on the information obtained by ultrasonic sensors to measure the position and angles of other robots. To enhance the industrial applicability of the suggested algorithm, we add disturbances of error angle caused by wheel steering when autonomous mobile robot navigates toward next destination point. This algorithm uses the position and velocity information of both the nearest robot and other robots within the detective radius of sensor with different weighting. Based on the fuzzy rule table and fuzzy inference, we obtain the rotational angle of the robots. The effectiveness of the proposed algorithm is shown by some computer simulations where a group of mobile robots encircles with equi-interval. In addition each robots is given weighting value to avoid the wall. Finally, the suggested algorithm shows that the more robots exist, the more effective it is.

운동처방 유형이 중년여성의 혈중지질 및 체지방량에 미치는 영향

정혜윤,임달식,박후성,전용욱,김재호,노재성 朝鮮大學校 스포츠科學硏究所 2007 스포츠科學硏究 Vol.18 No.-

This study was to examine the effects of Aerobic exercise program of body fat and mood state for women with obesity, and to apply this exercise program to the treatment and the promotion of health maintenance of obese women as a nursing intervention. Date were analysed by SPSS Win 12.0 program. Descriptive statistics used on demographic data of the participants was analysed in real number and percentage, body fat and the difference in mood state before and after the walking exercise program were analysed using the paired t-test . The results of this study were as follows: With administration of this program, so, the Aerobic exercise program showed and effect of the decrease for women with obesity and it also had an effect on the decrease of percentage of body fat for them. According to the results of this study, the walking exercise program as a nursing intervention had an effect of the body fat for women with obesity. however, the program did not prove the statistical significance for the change of mood state. Aerobic exercise program showed that effect is though fat woman's sieve local rate, Decrease that T-C keeps in mind from exercise rakeful and great kindness change to 207.8±23.2 as statistical difference that appeared, and decreased from great kindness change to shame upper HDL-C's exercise ago but keep in mind as statistical appear, Is looked that decrease that change before LDL-C's exercise keeps in mind as statistical by 138.1±20.5 appears. When see on the basis of result of something wrong continuous and regular abortion small success exercise because have middle age woman's physical strength E according to exercise form health promotion plan though to effect by Iteulgeot is considered, and decrease to note sieving amount power of a number and sieve local amount and appeared that abortion small success exercise exerts more affirmative effect.

마인드맵을 이용한 수학학습이 학생들에게 미치는 영향

정인철,박달원,박혜연 공주대학교 과학교육연구소 2004 과학교육연구 Vol.35 No.-

본 연구의 동기는 제7차 교육과정에 따라 21세기에 주도적으로 지적 가치를 창조할 수 있는 학생들이 교육될 수 있도록 돕기 위해 시작되었다. 마인드맵은 1) 학생들의 마인드맵 도식이 수학적 경향이나 정서적 측면에 어떻게 영향을 주는지를 조사하고 2) 학생들이 그리는 마인드맵의 형태나 특성을 연구하고 3) 마인드맵을 그리는 과정에서 학생들이 겪는 장점과 단점을 분석하고 또 그들을 극복할 수 있는 제안을 제공함으로써 해답을 찾게 하는 것이다. 연구 결과에 의하면 학생들은 마인드맵을 그림으로써 훨씬 더 동기가 유발되는 것을 보여 주었다. 마인드맵에는 나무형과 방사형의 두 형태가 있으며 각 형태는 그 자신의 장점을 가지고 있다. 그러나 좋은 마인드맵이 되기 위해 가장 중요한 요인은 각 개념이 어디에, 어떻게 위치하고 연결되는가 하는 것이다. 학생들이 마인드맵을 그림으로써 배우는 것에 대한 더 큰 구조를 알게 도와주는 하는 것이 사실이더라도 주의해야 할 여러 어려움이 있다. 본 연구는 이런 시도가 다양한 수준의 학생이나 내용으로 확대하도록 주장하고자 한다. This study was initiated by the idea to help students to be more ideally educational following the 7th curriculum that seeks the proactive students along with creativity for the 21st century, Mind-map was the main tool throughout the study and this was performed to find answers for the following questions : 1) to examine how students' drawing a mind-map affects their mathematical tendency or emotional aspects (motivation) for study, interest, etc); 2) to investigate the types and characteristics of mind-maps that students draw; 3) to analyze advantages and obstacles that they experience during the process of drawing a mind-map and provide some suggestions for overcoming them. The research shows that students were highly motivated by the drawing a mind-map. There are types of mind-maps: tree shape and radial shape, and each shape has its own advantages. But the more important factor for being a good mind-map is where and how each concept is located and connected. Although it is true that drawing a mind-map helped students to see the bigger structure of what they learned, but there are several hardships taken care of. The study suggests to extend the experiment to various levels of students and diverse contents.

冷戰과 脫冷戰의 南北關係

張達重,李貞澈 서울大學校 國際問題硏究所 2002 세계정치 Vol.- No.24

경북 최초의 신장이식 1례

이중현,김용섭,이정호,이창우,김상욱,이문섭,오민구,하달봉,이경섭 동국대학교 의학연구소 2000 東國醫學 Vol.7 No.-

신장이식은 환자의 삶의 질을 높이고 거의 정상적인 사회생활을 가능하게 함으로써 말기신부전 환자의 3가지 신대체 요법(혈액투석, 복막투석, 신장이식) 중에 가장 효과적이고 각광받는 치료법이라 할 수 있다. 최근 들어 의료기술과 의학의 발달로 신장이식의 성공률은 과거에 비해 비약적으로 높아지고 있으며 국내에서도 점차 신장이식수술을 받는 환자가 증가하고 있으나 서울이나 다른 대도시에 비해 의료환경이 열악한 중소도시나 지방의 병원에서는 아직도 시행하지 못하고 있는 형편이다. 이에 저자들은 경북 최초로 자체 의료진에 의해 고혈압과 말기 신부전으로 동국대 포항병원에서 혈액투석을 받고 있던 32세의 남자환자에게 부인으로부터 신장을 제공받아 신장이식을 성공적으로 시행하였기에 문헌고찰과 함께 보고하고자 한다. Kidney transplantation is the preferred treatment modality for many patients with end-stage renal disease (ESRD), because it offers improved quality of life over both hemodialysis and peritoneal dialysis. Patients who do well after transplantation generally report improvement in vitality and freedom to return to the style of life that they experienced before their progression to ESRD. Recently, the success rate of kidney transplantation is greatly being increased as the surgical technique and immunosuppressive drugs are developed. Kidney transplantation is also popular in Korea which has good result. But, until now the general hospitals which are located at small city can't try the kidney transplantation because they don't have proper facilities and experts. We firstly experienced a case of kidney transplantation in a 32 years old man with hypertension and chronic renal failure at KyoungBuk province. So we report this case with references.

흡인세포학적 진단

이중달 대한의학협회 1990 대한의학협회지 Vol.33 No.12

首都圈 衛星都市의 住民福祉向上을 위한 市議會와 行政機關의 役割에 관한 硏究 : Centering Around Koyang-Shi Kyung Ki-Do Area. (京畿道 高揚市를 中心으로)

윤석달,박오화,함영훈,황정룡,허희영 한국항공대학교 1993 論文集 Vol.31 No.-

地方化時代의 到來로 高揚市는 많은 變化가 豫想되고 있다. 1980年부터 繼續的으로 論議되던 地方自治의 問題가 지금은 現實化되어 1991年 4月에는 基礎地方自治의 議會를 構成하고 6月에는 廣域自治團體의 議會를 構成하였고 머지않은 將來 에 地方自治團體의 長을 選出할 豫定이다. 앞으로 많은 施行錯誤가 있을 수 있겠으나 地方自治時代에 돌입한 것은 누구 도 否認 할 수 없는 사실이다. 1997年경의 住民構成은 1990年代初期의 高揚市에 居住하고 있던 原住民과 一山을 포함한 新高揚 開發地域에 90萬의 新 入住者로 구성될 것이며, 이러한 高揚市 住民構成의 變化는 地方自治에 커다란 衝擊要因으로 작용될 것이다. 新.原住民의 要求를 調和하는 問題는 여러 形態로 나타날 수 있으나 住民福祉라는 側面이 매우 강하게 대두될 것이다. 高揚市의 福祉活動은 生活保護者들을 위한 특수한 경우를 제외하고는 거의 전무한 상태이다. 地方自治制度가 어느정도 安定的인 국면으로 접어들면, 地域的 次元에서 市民 모두를 위한 福祉活動이 深度있게 展開되어야 할 것이다. 市行政機 關과 市議會는 兒童福祉, 婦女福祉, 老人福祉및 醫療福祉에 대한 現況울 把握하고 이에 대한 해결의 優先順位를 결정하 여 다가오는 人口의 增加에 따른 福祉需要를 충족시켜 나가야 할 것이다. 福祉需要에 대한 優先順位를 硏究者들이 제시하여 보면 託兒施設과 더불어 綜合病院施設을 擴充하여 市民들에게 奉仕 하는 태세를 體系化하여야 할 것이며 그밖에는 施設을 擴充하는 方式보다는 年齡과 性別 및 職業 등의 基準에 맞게 "프 로그램"을 積極的으로 開發하는 努力이 경주되어야 할 것이다. 그러으로써 量的인 意味에서 뿐만이 아니라 質的인 意味 에서 福祉活動을 展開할 수 있는 基盤을 造成할 수 있을 것이다. It is expected that Koyang City have lots of changes according to the emergence of Decentralization era. Nowdays local self-government has been realized since its disscussion in 1980. On april, 1991, the assembly of basic self-government was established, and the assembly of extensive self-government constructed on june, 1991. The chairman of local-government assembly is supposed to be elected in the new future. None can deny the beginning of local-government era inspite of potential trial and errors. Population structure in 1997 is expected to be composed of the existing civilians of Koyang City in early 1990's and about 0.90millions of new comers in new cities including llsan area, and he change of the city population will significant impacts on the self-government scheme of Koyang City. The problem to coordinate desires of existing civilians and that of new comers might be embodied in many kinds of aspects, but welfare-raising will be strengthed first of all. Existing welfare programme of Koyang City dosen't show any signigicant activities except the case of Green Card programme. It is desirable that whole-sideed welfare programme be perfomed by local levels in the stage of staionary self-government systems. Administrative institutions and assembly of city should survey and research the present situations of children welfare, female welfare, the old age welfare, and medical welfare, and decide their priorities to meet increasing desires coming from rapid increase of city-population. We, researchers, propose several outstanding problems by priority as follows; to expand medical institutions and public nursery schools accompanies by strenthening the attitude of government employees for public service, to develop various programmes in order to activate many exiting institutions more efficiently rather than to build new institutions needed, in consideration of ages, sex and occupations of their users. If these propositions accomplished the welfare programme will have cornerstone to enrich its activities as well as activities as well as enlarge it bounderies.

무연탄 분말의 사과나무 생산성에 미치는 영향 (1)

宋承達,李容夏,鄭三澤,黃正儀 慶北大學校 1974 論文集 Vol.18 No.-

Effects of coal powder on the apple productivity were investigated from the plant eco-physiological point of view. 1) Light absorption by the dispersion of 10, 30 and 50g/㎡ of 54μ meshed coal powder was 42, 82 and 94% of the incident light, respectively. 2) Leaf area index of the coal treated apple tree on June (nearly maximum) was slightly larger than that of the control plant, i.e., 4.5-5.0 for Jonathan and 5.5-6.0 for Rolls Janet. Relative light intensity under this apple leaf population declined to 3.4-2.4% on June 26, 1974. 3) Application of coal powder on apple tree resulted in an increase of specific leaf area. 4) Assimilation rate measured by the half leaf method showed a decreased rate in the treated leaf. 5) Transpiration rate decreased by 9.6% on the coal powdered leaf. 6) Surplus photosynthesis of the apple leaf population was 31.1-32.7g/㎡/day from the estimation by the formula of Monsi-Saeki. 7) Growth rate of fruit diameter and shoot length showed the obstructive effect of coal treated apple tree. 8) Rate of June drop of the coal treated apple (50g/㎡) increased 11.0-15.7% as compared with that of the control plant.

교양 교육과정의 문제점과 개선 방안 : 조선대학교 건학이념 및 교육목적 달성을 위한 교양 교육과정

이달석,조주환,노봉오,김정주 조선대학교 사범대학 부설 교과교육연구소 1998 敎科敎育硏究 Vol.1 No.1

진공 중에서 고전계 SiO₂의 전구방전 특성

김정달 慶南大學校 附設 工業技術硏究所 1997 硏究論文集 Vol.15 No.1

본 논문은 고전계 하에 놓여진 고전계 SiO₂진공계에서 전구파괴의 특성에 관해 연구했다. 충격전압 인가시 고순도 SiO₂와 진공계를 구성하여 전압(Vt), 전류(It) 그리고 광방사(IRt)의 관계를 실험적으로 구하여 파괴까지의 시스템응답의 시간 의존성에 대해 분석한 전구파괴 특성을 보고한다. In this paper, characteristics of preflashover in high field SiO₂-Vacuum system behavior under high electric field is discussed. Time dependence of the voltage drop(Vt), electrical current(It) and light emission(IRt) are analyzed for high-purity SiO₂Vacuum systems under Impulse voltage stress. I will summarize the experimental results showing the main feature of the time-dependent system response up to flashover.