http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
4-구륜 2-자유도 이동 로보트를 위한 스트랩다운 관성항법시스템에 관한 연구
김기열,임호,박종국 慶熙大學校 1996 論文集 Vol.25 No.-
This paper proposes a kinematic modeling and position control algorithm using Strapdown Inertial Navigation System(SDINS) for 4-wheeled 2-degrees of freedom mobile robot(WMR). The kinematic model represents wheel motion equation, actuated inverse and sensed forward solution for the calculation of actuator and robot velocity. We derive the error model of Inertial Navigation System(INS). This error model and discrete linear kalman filter are applied to position control algorithm for WMR. Inertial Navigation System has initial error because of the rotation rate of earth and gravity acceleration. So, the error model of INS is derived by Gauss-Newton method. Then, we pursue fitness diagnosis of probability characteristics for real data and estimated data to test availability of error model. The performance of inertial sensor with error model and kalman filter is compared to performance when kalman filter and error model are excluded. The result demonstrate that the position error is increase without initial error compensation. The simulation results show that the kinematic modeling and position control algorithm for WMR are useful.
디지털 위성 방송을 위한 이동체의 위성 지향 알고리즘에 관한 연구
김기열,김성회,박종국 慶熙大學校 材料科學技術硏究所 1999 材料科學技術硏究論集 Vol.12 No.-
To receive satellite broadcasting data in vehicle, it is inevitable to have active antenna control system, which traces the satellite in real time. In this paper, it is proposed the real time algorithm for pointing satellite. Earth geostationary satellite is stationary in the sky. However, looking relative view in space, geostationary satellite seemed to move around earth with speed. Therefore, it is needed the fast and accurate satellite pointing algorithm. Applying the Newton's law of motion and Kepler's the second law, the proposed algorithm derives the angle of azimuth and elevation for vehicle. And it is preferred the Euler's roll, pitch and yaw system Ⅲ to represent vehicle's motion. The effectiveness of proposed algorithm was proved by the simulation.
정용욱,김기열,박종국 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.19 No.-
We presents a systematic method for the dynamic modeling of Wheeled Mobile Robot. We treats the dynamic modeling for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation results show that the proposed dynamic modeling is useful. We can easily extend the proposed WMR modeling to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.
Contractile and Electrical Responses of Guinea-pig Gastric Smooth Muscle to Bradykinin
Kim. Chul-Soo,Jun. Jae-Yeoul,Kim. Sung-Joon,So. In-Suk,Kim. Ki-Whan 대한생리학회 1995 대한생리학회지 Vol.29 No.2
The nonapeptide bradykinin has been shown to exhibit an array of biological activities including relaxation/contraction of various smooth muscles. In order to investigate the effects of bradykinin on the contractility and the electrical activity of antral circular muscle of guinea-pig stomach, the isometric contraction and membrane potential were recorded. Also, using standard patch clamp technique, the Ca<sup>2+</sup>-activated K currents were recorded to observe the change in cytosolic Ca<sup>2+</sup> concentration. 0.4 μM bradykinin induced a triphasic contractile response (transient contraction-transient relaxation-sustained contraction) and this response was unaffected by pretreatment with neural blockers (tetrodotoxin, atropine and guanethidine) or with apamin. Bradykinin induced hyperpolarization of resting membrane potential and enhanced the amplitude of slow waves and spike potentials. The enhancement of spike potentials was blocked by neural blockers. Both the bradykinin-induced contractions and changes in membrane potential were reversed by the selective B<sub>2</sub>-receptor antagonist (N α-adamantaneacetyl-<sub>D</sub>-Arg-[Hyp, Thy,<sub>D</sub>-Phe]-bradykinin). In whole-cell patch clamp experiment, we held the membrane potential at -20 mV and spontaneous and transient changes of Ca-activated K currents were recorded. Bradykinin induced a large transient outward current, consistent with a calcium-releasing action of bradykinin front the intracellular calcium pool, because such change was blocked by pretreatment with caffeine. Bradykinin-induced contraction was also blocked by pretreatment with caffeine. From these results, it is suggested that bradykinin induces a calciumrelease and contraction through the B<sub>2</sub> receptor of guinea-pig gastric smooth muscle. Enhancement of slow wave activity is an indirect action of bradykinin through enteric nerve cells embedded in muscle strip.
Kim, Sung-Joon,Jun, Jae-Yeoul,Choi, Youn-Baik,Kim, Ki-Whan,Kim, Woo-Gyeum The Korean Physiological Society 1994 대한생리학회지 Vol.28 No.1
Synthetic potassium channel openers (KCOs) are agents capable of opening K-channels in excitable cells. These agents are known to have their maximal potency in the smooth muscle tissue, especially in the vascular smooth muscle. Much attention has been focused on the type of K-channel that is responsible for mediating the effects of KCOs. As the KCO-induced changes are antagonized by glibenclamide, an $K_{ATP}$ (ATP-sensitive K-channel) blocker in the pancreatic ${\beta}-cell,\;K_{ATP}$ was suggested to be the channel responsible. However, there also are many results in favor of other types of K-channel $$(maxi-K,\;small\;conductance\;K_{Ca,}\; SK_{ATP}) mediating the effects of KCOs. Effects of lemakalim, (-)enantiomer of cromakalim (BRL 34915), on the spontaneous contractions and slow waves, were investigated in the antral circular muscle of the guinea-pig stomach. Membrane currents and the effects on membrane currents and single channel activities were also measured in single smooth muscle cells and excised membrane patches by using the patch clamp method. Lemakalim induced hyperpolarization and inhibited spontaneous contractions in a dose-dependent manner. These effects were blocked by glibenclamide and low concentrations of tetraethyl ammonium (< mM). Glibenclamide blocked the effect of lemakalim on the membrane potential and slow waves. The mechanoinhibitory effect of lemakalim was blocked by pretreatment with glibenclamide. In a whole ceIl patch clamp condition, lemakalim largely increased outward K currents. These outward K currents were blocked by TEA, glibenclamide and a high concentration of intracelIular EGTA (10 mM). Volatage-gated Ca currents were not affected by lemakalim. In inside-out patch clamp experiments, lemakalim increased the opening frequency of the large conductance $Ca^{2+}-activated$ K channels $(BK_{Ca},\;Maxi-K).$ From these results, it is suggested that lemakalim induces hyperpolarization by opening K-channels which are sensitive to internal Ca and such a hyperpolarization leads to the inhibition of the spontaneous contraction.