이동로봇의 장애물 회피기술

김준홍,심병균,오세봉,Nguyen Huu Cong,한성현 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-

In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture, It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels

粉末 燻乾정어리 加工 및 貯藏中에 品質變化

金洙賢,李應昊,韓鳳浩,金世權 釜山水産大學校 1978 釜山水産大學 硏究報告 Vol.18 No.1

1976年 以來 우리나라에서 漁獲量이 急增하고 있는 정어리를 보다 效率的으로 食用化하기 위한 方法을 檢討하기 위하여 粉末燻乾정어리의 加工 및 貯藏에 관한 實驗을 하였다. 製品은 水分이 11.7%, 脂肪이 22.9%, 蛋白質은 61.7%였고, 原料 fillet에 대한 收率은 16.8%였으며, 담백한 맛과 燻乾品特有의 香氣가 있었다. 그리고 製品은 탄산가스 중에 貯藏하면 貯藏 중 酸化酸量의 變化가 거의 없고 品質을 安全하게 保藏할 수 있다는 結論을 얻었다. Since 1976 the catches of sardine have been increased rapidly in Korea. A processing method of smoked sardine meat powder and its quality changes during storage were studied. The fillets of raw sardine meat were boiled at 98℃ for 1 hour in a wire basket. After cooling at room temperature, the boiled fillets which small bones were removed were smoked at 60-70℃ for 8 hours. The second smoking was carried out under same conditions after 24 hours. The products were cleaned with brush and then powdered. The contents of moisture, lipid and protein were 11.7%, 22.9% and 61.7%, respectively. The yield of the product to the weight of raw fillet was 16.8%. According to the results of panel test, the product was well accepted having meaty taste and characteristic smoky flavor. The amount of oxidized acid in the product increased only a little during the storage in carbon dioxide gas.

3차원 복합재료 구조물의 해석

김세원,한봉구 서울産業大學校 2005 논문집 Vol.54 No.2

복합재료로 이루어진 거의 모든 구조물들은 적절한 설계 없이 제작된다. 항공기나 자동차등의 부품이 아닌 건설 구조물들은 실물 테스트가 불가능하다. 10층짜리 빌딩이나 100 미터짜리 교량을 직접 실험할 순 없기 때문이다. 그러나 사람들은 100층짜리 건물이나 아주 긴 교량은 건설하길 원한다. 이러한 열망을 현실화 할 수 있는 "건설에서의 복합재료"위하여 다음 주제 는 상세하게 연구되어야한다. 구조물 개념의 최적화, 구조물 해석의 간편한 방법, Folded plate 이론, 파괴에 대한 치수효과, 진동해석들과 재대의 재료들의 비대한 설계와는 달리, 그의 설계는 재료의 설계, 제작방법의 선택과 품질검사를 포함한다.

混合리간드를 抱合하는 팔라듐(Ⅱ) 錯物의 合成과 結合性質에 關한 硏究

金奉坤,金世奉 慶尙大學校 1984 論文集 Vol.23 No.2

Palladium(Ⅱ) complexes with diamines such as ethylenediamine(en), propylenediamine(pn), cyclohexanediamine(chxn) and trimethylenediamine(tn), and phosphines such as triphenylphosphine, 1,2-bis[(diphenylphosphino) amino] propane that contain phosphines atom as sigma-donor and pi-electron accepter were prepared, and the bond character of ligand for complexes have been investigated by means of infrared and UV-Visible spectroscopy.

Chromium(Ⅲ)의 전기화학적 환원에 관한 연구

김일광,김윤근,김세봉 圓光大學校 基礎自然科學硏究所 1987 基礎科學硏究誌 Vol.6 No.1

The electrochemical reduction of chromium(Ⅲ)in 1×10exp(-1)M sodium perchlorate and 1×10exp(-2)M sulfuric acid aqueous solution has been examined by polarography and cyclic voltammetry. The cyclovoltammetric results showed quasirreversible electrode processes that reduction of chromium(Ⅲ) proceeds by two electron transfer at first reduction step and second reduction step of one electron transfer followed to form chromium metallic state although the direct current polarogram shown to be a three electron transfer process in one reduction step. The height of reduction wave was suppresed and strongly shifted to the more negative potential in cationic surfactant(CTABr), nonionic surfactant triton x-100 and EDTA effects. In anionic surfactant NaLS solution, the height was increased while the half-wave potential shifted to the height negative potential.

Al/P-Si MIS型 太陽電池의 製作과 그 特性에 관한 硏究

金載文,安永奉,崔世崑 嶺南大學校 工業技術硏究所 1985 연구보고 Vol.13 No.1

The Al/P-Si MIS solar cells were fabricated by vacuum evaporation method. The interfacial oxide layer was grown by ramp heating for 5 minutes. Thin Aluminum film was deposited on the chemically etched (100) surface of a single sillcon crystal by vacuum evaporation. The solar cells showed good rectification properties which have the built-in potential of 0.76V and the quality factor of 1.6 under dark condition. The cells indicated that the open circuit voltage, short circuit photocurrent density, fill factor and energy conversion efficiency were 0.53V, 35mA/㎠, 0.62 and 12.4%, respectively, under 98mw/㎠ tungsten halogen lamp irradiation.

공기 보조 분사 장치를 이용한 엔진 성능 향상 및 연비 개선

김세웅,심국상,이근봉 金烏工科大學校 1995 論文集 Vol.16 No.-

This paper describes the improvement of engine performence and fuel consumption through improved combustion formed by the tumble and swirl flows of an in-cylinder fuel-air mixture that uses an air forced fuel injector(AFI) which used compressed air. The AFI is designed to promote fuel atomization and to form uniform fuel-air mixture. In order to make up the tumble and the swirl flows of the in-cylinder mixture, the end of AFI is attached to the tube containing the fuel-air mixture to ensure the adequate flow and to ensure that the remaining kinds of mixture will flow effectively. In order to investigate the improvement of engine performence and fuel consumption, 2 models of tubes which make tumble and swirl flows were utilized. Each model was examined according to engine speed, intake manifold pressure and excess air ratio and compared with a base engine. Compared with the base engine, the results show that the AFI improves the engine performance and the brake specific fuel consumption(BSFC) in all of the engine speeds and the boost pressures at the tumble and the swirlflows. It also decreases exhaust emission of hydrocarbon(HC)

이미지 데이터베이스를 위한 정보 검색 시스템의 설계 및 구현

김만순,오세봉,김미연,민은미,박미영,정문숙,문현수,김상욱 강원대학교 정보통신연구소 2002 정보통신논문지 Vol.6 No.-

This paper presents design and implementation of an information retrieval system for a large volue of an image database. Our system supports three kinds of queries: attribute-based queries, keyword-based queries, and color-based queries. The attribute-based query is the most-typical query that finds target images based on their attribute values. The keyword-based query is to find target images by referring to their description information their attribute values. Finally, the color-based query is to search for target images by comparing the colors of a query image with those of images in the database. In this paper, we presents the system architecture and approaches adopted in our system for supporting the above three queries effectively and efficiently. We also discuss the user interface of our system that enables users to manipulate our system easily and conveniently.

복합 산화법과 MEMS 기술을 이용한 RF용 두꺼운 산화막 에어 브리지 및 공면 전송선의 제조

김국진,박정용,이동인,이봉희,배영호,이종현,박세일 한국센서학회 2002 센서학회지 Vol.11 No.3

본 논문에서는 양극반응과 복합 산화법( H_2O/O_2 분위기에서 500℃, 1시간 열산화와 1050℃, 2분간 RTO(Rapid Thermal Oxidation) 공정)을 이용한 두꺼운 OPSL(Oxidized Porous Silicon Layer)을 형성하여 이를 마이크로머시닝 기술을 이용함으로써 10 ㎛두께의 OPS(Oxidized Porous Silicon) 에어 브리지를 제조하고, 그 위에 전송선로를 형성하여 그 RF 특성을 조사하였다. OPS 에어 브리지 위에 형성된 CPW(Coplanar Waveguide)의 손실이 OPSL 위에 형성된 전송선의 삽입손실보다 약 2 dB 정도 적은 것을 보여주었으며, 반사손실은 OPSL 위에 형성된 전송선의 반사손실보다 적으며 약 -20 dB를 넘지 않고 있다. 본 연구에서 개발한 산화된 다공질실리콘 멤브레인 및 에어 브리지 구조는 CMOS 공정 후에 사용 가능하며, 초고주파 회로 설계시 편리성과 유용성을 제시하고 있다. This paper proposes a 10 ㎛ thick oxide air-bridge structure which can be used as a substrate for RF circuits. The structure was fabricated by anodic reaction, complex oxidation and micromachining technology using TMAH etching. High quality films were obtained by combining low temperature thermal oxidation (500 ℃,1 hr at H_2O/O_2) and rapid thermal oxidation (RTO) process (1050 ℃, 2min). This structure is mechanically stable because of thick oxide layer up to 10 ㎛ and is expected to solve the problem of high dielectric loss of silicon substrate in RF region. The properties of the transmission line formed on the oxidized porous silicon (OPS) air-bridge were investigated and compared with those of the transmission line formed on the OPS layers. The insertion loss of coplanar waveguide (CPW) on OPS air-bridge was (about 2 dB) lower than that of CPW on OPS layers. Also, the return loss of CPW on OPS air-bridge was less than about - 20 dB at measured frequency region for 2.2 mm. Therefore, this technology is very promising for extending the use of CMOS circuitry to higher RF frequencies.

흰쥐 중추신경계내 난소로 투사하는 미주신경로에 관한 연구

김명주,장명세,고미희,노해숙,조해영,오문유,이봉희 濟州大學校 基礎科學硏究所 2001 基礎科學硏究 Vol.14 No.1

본 실험은 부교감신경의 하나인 미주신경이 난소를 지배하는 신경으로 관여하고 있는지를 pseudorabies 바이러스를 이용하여 난소신경로와 난소주사후 미주신경절단을 통하여 조사한 연구 보고이다. 이를 위하여 Sprague Dawley계 암흰쥐를 대상으로 pseudorabies 바이러스를 난소에 주사한 무리와 난소 주사후 미주신경을 절단한 무리에서 뇌를 적출하여 pseudorabies 바이러스에 대한 면역조직화학 염색을 시행하여 비교하였다. 본 실험결과 미주신경 중추신경로내의 상위신경핵들이 pseudorabied 바이러스에 대하여 양성반응이 줄어들었거나 관찰되지 않는 차이를 보였다. 즉 적색핵, 종말판혈관기관, 줄무늬체, 침상핵과 이마엽겉질은 부분적으로 난소의 미주신경로에 관여하고 있으며 미주신경등쪽핵, 고립로핵, 최후영역, 청색반점, 팔옆핵, 코리케퓨즈핵, 흑색질 및 시각교차위핵은 양성반응이 관찰되지 않아 미주신경으로 투사하는 부교감신경핵으로 조사되었다. The mammalian ovary has been known as receiving its innervation by sympathetic and sensory neurons of the peripheral nervous system from the brain. Recently, there were several functional reports that the vagus nerves were also regulating the ovarian function, but the vagus nerve had not been identified by clear morphological evidence. A viral transneuronal tracing technique has been used to demonstrate the morphological evidence for the central vagal involvement in ovarian innervation in brain areas. Bartha strain of pseudorabies virus injection was made into the ovary of Sprague Dawley rats. In experimental group, the vagus nerve of the same injection side was removed right after ovarian injection. At five days after initial injection, all the rats were sacrificed and brains were processed for immunohistochemistry. Several central nuclei including hypothalamic paraventricular nucleus showed strong bilateral positive labelings after unilateral injection in control rats, but the positive labelings were disappeared or decreased in several hypothalamic nuclei and nuclei of the vagus nerve. I n conclusion, these results provide the morphological evidence that vagus nerve has neural connection to ovary and by which the central nervous system may maintains the state of ovulation and reproduction as a possible parasympathetic routes in mammals.