• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.433-440
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• 2012

Various studies to improve the physical abilities of the human have been steadily continued from the past to the present. Only recently such technology has been realized, and those are expected to replace or complement human beings in large part. In this paper, the current status of developed wearable robots is investigated and studies were conducted in order to apply the types of robots in industry spot. In order to apply wearable exoskeleton robot to industry which enhances human physical capability, driving range of the robot's degrees of freedom were selected by analyzing working motion, and augmentative exoskeleton structure design process is presented by analyzing require torque and power during selected working motion. At the end of this paper, the designed mock-up is introduced to validate the feasibility of designed robot.

• Journal of the Korea Computer Graphics Society
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• v.20 no.3
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• pp.9-17
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• 2014

This paper presents a method to retarget a source motion to the rig-space parameter for a target character that can be equipped with a complex rig structure as used in traditional animation pipelines. Our solution allows the animators to edit the retargeted motion easily and intuitively as they can work with the same rig parameters that have been used for keyframe animation. To acheive this, we analyze the correspondence between the source motion space and the target rig-space, followed by performing non-linear optimization for the motion retargeting to target rig-space. We observed the general workflow practiced by animators and apply this process to the optimization step.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.3
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• pp.17-24
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• 2004

We present a P-type iterative learning control(ILC) scheme for uncertain robotic systems that perform the same tasks repetitively. The proposed ILC scheme comprises a linear feedback controller consisting of position error, and a feedforward and feedback teaming controller updated by current velocity error. As the learning iteration proceeds, the joint position and velocity mrs converge uniformly to zero. By adopting the learning gain dependent on the iteration number, we present joint position and velocity error bounds which converge at the arbitrarily tuned rate, and the joint position and velocity errors converge to zero in the iteration domain within the adopted error bounds. In contrast to other existing P-type ILC schemes, the proposed ILC scheme enables analysis and tuning of the convergence rate in the iteration domain by designing properly the learning gain.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.85-86
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• 2007

본 논문은 기존에 사람의 인력이나 열화상 카메라에 의존하고 있는 배전선 기자재 점검을 사람대신 로봇이 점검 작업을 하고 기존의 열화상 카메라만 사용하는 점검 방법에 CCD 카메라를 추가로 사용하여 열화상 이미지와 실영상을 같이 획득하도록 하여 배전선 점검 작업의 안전성 확보와 고장진단의 결과 값들의 객관성 있고 정확한 데이터를 획득을 할 수 있도록 하였다. 그리고 로봇이 가공지선을 자율주행하면서 발생하는 포스트 간 이동, 가공지선 회피, 가공지선 다 분기와 같은 문제가 발생하게 되는데 이러한 문제점들은 센서 융합 방법을 사용하여 로봇이 가공지선을 원활하게 자율주행을 할 수 있도록 하였다. 그리고 배전선 기자재들의 자연적 현상 때문에 발생하는 기자재의 부식과 열화로 변하게 되는 기자재들의 온도를 열화상 카메라로 분석하여 배전선 기자재들의 불량 기준 온도를 초과하게 되면 열화상 이미지와 CCD 카메라의 실영상 이미지가 자동으로 캡쳐 되고 저장 될 수 있게 하였다. 이러한 모든 동작들은 로봇이 자율주행을 하면서 이루어진다.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.10
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• pp.445-454
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• 2023

Recently, various fault diagnosis studies are being conducted utilizing data from collaborative robots. Existing studies performing fault diagnosis on collaborative robots use static data collected based on the assumed operation of predefined devices. Therefore, the fault diagnosis model has a limitation of increasing dependency on the learned data patterns. Additionally, there is a limitation in that a diagnosis reflecting the characteristics of collaborative robots operating with multiple joints could not be conducted due to experiments using a single motor. This paper proposes an LSTM diagnostic model that can overcome these two limitations. The proposed method selects representative normal patterns using the correlation analysis of vibration and current data in single-axis and multi-axis work environments, and generates residual patterns through differences from the normal representative patterns. An LSTM model that can perform gear wear diagnosis for each axis is created using the generated residual patterns as inputs. This fault diagnosis model can not only reduce the dependence on the model's learning data patterns through representative patterns for each operation, but also diagnose faults occurring during multi-axis operation. Finally, reflecting both internal and external data characteristics, the fault diagnosis performance was improved, showing a high diagnostic performance of 98.57%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1405-1411
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• 2012

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

• Convergence Security Journal
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• v.14 no.2
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• pp.17-24
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• 2014

Form of backdoor penetration attacks "trapdoor" penetration points to bypass the security features and allow direct access to the data. Backdoor without modifying the source code is available, and even code generation can also be modified after compilation. This approach by rewriting the compiler when you compile the source code to insert a specific area in the back door can be due to the use of the method. Defense operations and the basic structure of the backdoor or off depending on the nature of the damage area can be a little different way. This study is based on the diagnosis of a back door operating mechanism acting backdoor analysis methods derived. Research purposes in advance of the attack patterns of malicious code can respond in a way that is intended to be developed. If we identify the structures of backdoor and the infections patterns through the analysis, in the future we can secure the useful information about malicious behaviors corresponding to hacking attacks.

• Journal of the Korea Convergence Society
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• v.8 no.7
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• pp.23-28
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• 2017

For manufacturing industry to achieve efficient manufacturing process, improving a company's productivity and reducing cost is a required task of the current manufacturing companies. For design of efficient manufacturing process and improvement of productivity, efficient manufacturing process method is studied through removal of unnecessary elements analyzing motions and using test-bed linkage system based on virtual reality. When building process line after verifying optimization through virtual process arrangement simulation in advance, it is available to save additional cost for process modification or supplement to result in practical effects of improving a company's manufacturing competition. Reducing design period, improving equipment, making automation, realizing ergonomics, and improving process through this study, it will be available to achieve improvement of productivity, enhancement of quality, cost reduction as well as employees' satisfaction for safety and health.

• Therapeutic Science for Rehabilitation
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• v.4 no.1
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• pp.39-51
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• 2015

Objective : To synthesize and identify the studies that delineated the relationship between quality of life and other factors in stroke patients in South Korea. Method : Electronic databases were searched, including KISS, NDSL, National Assembly Library and KmBase. The search terms included stroke, quality of life and correlation, relationship. Only papers published in Korean were included. Results : Twelve studies, from 256 references screened, were included. All studies were non-experimental and correlational analysis. A correlation coefficient between Quality of Life and ADL .293~.622, Depression -.804~-.533, Cognition .090~.610, Quality of Sleep .107, Quality of Satisfaction .367, Fatigue -.260, MAL(Quality of Movement .208, Amount of Use .364), Family Support .824, Pain -.306, Motivation for Rehabilitation .51~.86, Balance .740, Self-efficacy .388 were analyzed respectively. Conclusion : The quality of life of stroke patients was influenced by multiple factors. Occupational therapists need to consider the functions of upper extremity and activities of daily living as well as depression, cognition, sleep, family support, pain, and self efficacy to improve quality of life of stroke patients.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.4
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• pp.1289-1298
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• 2014

Pavement crack sealing method, which is one of the methods to maintain and repair the road, prevents the extending of cracks by repairing cracks in its early occurrence and has already been applied to many roadworks in advanced foreign country for a long time. But in the conventional crack sealing method, traffic accidents occur frequently during the repair because it's commonly performed on the heavy traffic road or highway. It also has some difficulties in securing the safety of workers from the risk of burns caused by heated sealant. In an effort to solve these problems, automated pavement crack sealing machines such as ARMM, OCCSM, TTLS have been developed in advanced foreign country since early 1990s. Also APCS in 2004 and ACSTM in 2013 were already developed domestically. However, since these automated crack sealers developed from a number of research institutions have different test-bed conditions and productivity measurement models, it's difficult to compare and evaluate them objectively. In this study, the image processing time of the respective machines and the movement time of each motion on the work process were estimated by using fully autonomous mapping and semi-automatic mapping in order to measure the productivity in the same environmental conditions. In addition, the productivity measurement test-bed reflected domestic road characteristics was designed to estimate and compare the productivity of the automated crack sealing machines.