빠른 보행을 위한 이족 로봇의 설계

강민구,배지훈,박경용,김갑일 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-

In this paper, a biped robot is designed and implemented, and walking tests are performed using a fast walking model. In order to embody the human joint structure, designed biped robot has each two degree of freedom attached to the pelvic, knee, and ankle . Using two motors for each knee makes it possible to have the same walking as human walking and fast walking. Also in joint controller, PID control algorithm may causes variation to the robot, which make the system unstable. Therefore, a PD controller is used to limit the vibrations as much as possible allowing steady state error to a certain extent.

저 전력 이족 로봇의 계단보행에 관한 연구

배지훈,강민구,박경용,김갑일 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-

In this paper, stair walking of small power biped robot is implemented by load sharing method of walking gait and adding body. Generally, in one foot standing, load is burdened to especial joint. Further, robot's foot is long steps and is lifted up high to go up stairs. So, especial joint is sometimes overloaded during walking and this makes walking impossible. This problem is solved in this paper using adding body, load sharing method and kick action. By this ways, stair walking of small power biped robot can be implemented without overload to joint.

초음파 센서를 이용한 이동 로봇

배지훈,김종철,박경용,강민구,김갑일 明知大學校 産業技術硏究所 2000 産業技術硏究所論文集 Vol.19 No.-

In this paper, design and construction of mobile robot is conducted and the error reduction and obstacle avoidance techniques is introduced. Up to now, in the design of most mobile robots, there are emphasis on the compensation of tracking errors using the additional sensors and guidance method, rather than the reduction of the tracking errors of motor itself and wheel errors. In this purpose, high performance motor and encoder are used for the driving actuator, and the acceleration/deceleration technic is introduced to reduce the driving errors. Also ultrasonic sensor performs obstacle avoidance, which is proved using the driving test.

퍼지제어를 이용한 이족보행 로봇의 보행

배지훈,강민구,김종철,김갑일 明知大學校 産業技術硏究所 2000 産業技術硏究所論文集 Vol.19 No.-

In this paper, a biped robot is designed and implemented, and walking tests are performed using a stable walking model. In order to embody the human joint structure, designed biped robot has two degree of freedom attached to the pelvic area of each leg. Using two motors for each ankle makes it possible to have the same degree of freedom as human ankle. This paper show that fuzzy control algorithm is suitable for each joint control.

외국 소프트웨어의 한글지원을 위해 한글코드가 나아가야 할 방향연구

이용배,강민구,이성인,강지훈 충남대학교 기초과학연구소 1997 忠南科學硏究誌 Vol.24 No.1

We analyse Hangul codes of KS C 5601 which is currently standardized, Microsoft Hangul, and Unicode2.0 supported in the ISO 10646. First, there are many different codes in the KS C 5601 and we just analysed two important codes of it(completion type code and mixture type code). Second, we analysed Microsoft Hangul and pointed out some problems of it. Finally, we analysed Hangul parts of the Unicode2.0 in detail. After analysis, we study differences between KS C 5601 currently standardized and Unicode nationally standardized. As a conclusion, we have suggested the direction that Hangul code must follow.

전경대원에서 발생한 결핵의 임상 양상

문창기,박상준,조민구,김영중,김소연,김윤권,정준오,안석진,김은실,서승오,김지훈,최원제,이윤영,박형기,최규영,김현근 대한감염학회 2006 감염과 화학요법 Vol.38 No.6

Background: The purpose of this study was to document the incidence and clinical characteristics of patients with tuberculosis (TB) in combat and auxiliary police, living in a group, in Korea where the incidence rate of active TB in a general population is higher than in Western countries. Materials and Methods:We retrospectively reviewed the medical records of all tuberculosis patients diagnosed at National Police Hospital from January 2002 through December 2004. Results:In 2002-2004, a total of 156 cases of tuberculosis were identified with the mean (Standard deviation) age of 20.6 (±1.0) years. Of these, 134 (85.9%) patients were registered as new cases, 11 (7.1%) as relapse, 2 (1.3%) as failure, 5 (3.1%) as treatment-after-default cases whereas 4 (2.6 %) patients were not included in any categories. Average annual new TB rate and smear-positive TB rate were 86.5/10^(5) and 17.4/10^(5) person-years, respectively. In 12 of 31 smear-positive cases, time from onset of symptoms to diagnosis was more than 30 days. Two multidrug-resistance TB cases were identified and two suspected outbreak episodes of TB had occurred during 3 years. Conclusion:There was no statistically significant difference in the incidence rate of new cases of TB between the general population aged 20 to 29 years and combat and auxiliary police in Korea. 배경 : 국내 결핵의 발생은 감소 추세에 있으나 여전히 후진국형 발생양상을 보이고 있다. 특히 집단생활을 하는 젊은이들에서 발생하는 결핵의 유행이 간헐적으로 알려지고 있어 우려를 낳고 있다. 이에 저자들은 최근 전경대원의 결핵 발병 양상에 대해 알아보고자 본 연구를 시행하였다. 재료 및 방법 : 2002년 1월부터 2004년 12월까지 3년간 경찰병원에서 결핵 진료를 받은 전경대원의 의무기록을 후향적으로 분석하여 연도별 결핵 신환발생률, 도말양성결핵 신환율, 진단 지연, 집단발병, 다제내성결핵을 조사하였다. 결과 : 연도별 결핵 신환자 수(10만명당 발생추정치)는 2002년 50명(83.6명), 2003년 42명(83.7명), 2004년 42명(93.5명)이었고 도말양성 폐결핵 신환자 수는 2002년 10명(16.7명), 2003년 11명(21.9명), 2004년 6명(13.4명)이었다. 3년간 도말양성 폐결핵 환자는 31명이 있었고 그 중 12명은 호흡기 증상 발생 30일이 지나서 진단을 받았다. 다제내성 결핵은 2명이 있었으며 결핵의 집단발병이 의심되는 사례는 2차례 있었다. 결론 : 전경대원과 20-29세 연령군 일반인의 결핵 신환발생률, 도말양성 폐결핵 발생률의 통계적으로 유의한 차이는 없었다.

농촌지역 노인들의 우울증상에 관련된 요인들의 특성

송미숙,전기홍,송현종,김정은,박승구,신상건,이동훈,정성현,최연주,최완철,최민규,황재철,홍지만 아주대학교 1997 아주의학 Vol.2 No.2

This study was performed to identify risk factors for depression among the elderly in a rural area. A survey was done for the elderly living in Gosam-myenn, Ansung-kun during the period of July 28, 1997 and July 30, 1997. Demographic and sodoeconornic characteristics, and functional and health Status were assessed using a structured questionnaire, and the level of depression was measured by GDS score. The data obtained were analyzed by frequencies, percentage, t-test, ANOVA, and multiple regression, and the results were as follows: 1. The total sample consisted of 133 elderly. Of them, 47 elderly (35.4%) showed significant depressive Symptoms. 2. The GDS score was the highest for the group over 85 years of age (p < 0.05). Those living alone or widowed showed lower GDS score than those living with someone or married (p < 0.05). 3. The GDS score was the highest in the absolutely dependent group, followed by the partially dependent group, and the independent group (p < 0.01). The elderly who perceived their health Status as excellent showed the lowest GDS score. In contrast, those who had more than five chronic diseases showed the highest GDS score. 4. The elderly receiving financial and emotional support from their family or friends showed lower GDS score compared to those without any support. 5. The economically dependent group showed higher GDS score than that of independent group. 6. The elderly who involved in leisure activities showed lower GDS score than those without any involvement. 7. In terms of risk factors for depression, we found that perceived health Status, subjective economic Status, leisure activities, living arrangement and financial support were inversely associated with GDS score, whereas labor support was positively associated with GDS score. Based upon the above findings, this study suggests that these risk factors for depression in the elderly should be taken into consideration for a comprehensive mental health program for the elderly living in the rural area.

화농성 슬관절염이 동반된 수막구균성 수막염 1예

김태연,유진홍,박성환,김연식,임상현,신완식,강문원,정창훈,최문구,강지민 대한화학요법학회 1997 대한화학요법학회지 Vol.15 No.2

저자들은 최근 화농성 슬관절염과 병발한 수막구균성 수막염 1예를 체험하였고, 이는 국내에서 아직 보고되지 않은 드문 예로 사료되어 문헌고찰과 함께 보고하는 바이다. We recently experienced a case of meningococcal meningitis associated with pyogenic arthritis in a 37-year old male patient. Pyogenic arthritis developed in right knee joint during treatment for meningococcal meningitis. He was treated successfully by appropriate antibiotics and arthroscopic irrigation. To our knowledge, such a rare case has not ever been reported in Korea, Hence we report this case with a review of related literatures.

[PE-0056] Natural variation in total phenol and total flavonoid content of maize varieties cultivated under different environment conditions

Hyoun-Min Park(Hyoun-Min Park),Myeong-Ji Kim(Myeong-Ji Kim),So Ra Jin(So Ra Jin),Min Ho Lee(Min Ho Lee),Yun-Young Kang(Yun-Young Kang),Oh Suk Yu(Oh Suk Yu),Eun-Ha Kim(Eun-Ha Kim),Sang-Gu Lee(Sang-Gu L 한국육종학회 2022 한국육종학회 공동학술발표집 Vol.2022 No.-

전기오븐에서 과열증기주입에 따른 열처리가 닭고기의 이화학적 특성변화에 미치는 영향

천지연,권봉구,이수현,민상기,홍근표,Chun, Ji-Yeon,Kwon, Bong-Gu,Lee, Su-Hyun,Min, Sang-Gi,Hong, Geun-Pyo 한국축산식품학회 2013 한국축산식품학회지 Vol.33 No.1

This study was carried out to observe the effect of superheated steam combined with oven heating on the physico-chemical and sensory properties of chicken meat. Specially, chicken breasts and thighs were heated for 40 min in various heating formulations such as oven heating, superheated steam heating or a combination of two kinds of heating. In the physical properties measurement, the shear force was increased as superheated steam heating time and chicken thighs were higher than chicken breasts in all treatments (p<0.05). The highest level of water holding capacity was solely superheated steam treated chicken for 40 min (p<0.05). The $L^*$ value was decreased but $a^*$ value or $b^*$ value were increased after cooking. Chicken breast exhibited a higher colour value than chicken thigh. Superheated heating was effective to reduce heating loss as 22.64% (p<0.05). However, pH was not different depending on the heating formulation or part of the chicken meat (p>0.05). In the sensory test, the combination of 10 min oven heating and 30 min superheated steam heating was effective to create a good flavour of chicken meat. In this study, an optimum formulation was developed which was a combination of 10 min oven heating and 30 min superheated steam heating. It was more effective to improve the quality of chicken meat than the single heat treatment of chicken meat.