• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1219-1227
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• 2013

A new type of wearable robot is developed for a disabled person with disabled limbs, that is, a person who cannot intentionally move his/her legs and arms. This robot can enable the disabled person to grip an object using eye movements. A gaze tracking algorithm is employed to detect pupil movements by which the person observes the object to be gripped. By using this gaze tracking 2D information, the object is identified and the distance to the object is measured using a Kinect device installed on the robot shoulder. By using several coordinate transformations and a matching scheme, the final 3D information about the object from the base frame can be clearly identified, and the final position data is transmitted to the DSP-controlled robot controller, which enables the target object to be gripped successfully.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1129-1132
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• 1995

Recently, the concept of automation is widely in shipping and unloading materials using the overhead crane for the enhanced productivity. In this regards, we designed an overhead crane that can be operated by operated by computer control system and installed this system at KAERI. In this paper, we introduce algorithms to find the 3D position, diameter, width, and rotated angle of objects such as drum, coil, and container. And the performance of the presented algorithms is tested using drum and container. The result will be useful for positoning grapple device such as spreader to objects in order to automatically grasp them.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1995-1996
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• 2006

검출기 안내관은 노내 핵계측 계통의 중성자 분포 측정을 위한 이동형 검출기의 이동경로를 제공할 뿐만 아니라 원자로 냉각수 계통의 압력경계를 유지하는 안전성 등급의 중요한 설비이다. 그러나, 인출과 삽입을 위한 검출기 안내관 취급은 의외로 낙후되어 작업자의 인력에만 의존하고 있는 실정이며, 원자로 격납용기 내부에 위치한 고방사선 지역에서 작업이 수행되고 있는 실정이다. 따라서 노내 핵계측 계통의 검출기 안내관의 안정적인 관리를 위해 검출기 안내판을 일정한 힘으로 인출하고 삽입할 수 있는 자동화시스템의 개발이 이루어지고 있다. 전력연구원에서 개발한 안내관 취급기구는 롤러에 의해 안내관을 파지하고, DC 모터 구동에 의해 안내관을 인출하고 삽입하는데, 본 논문에서는 안내관 취급 기구의 제어 시스템 구성과, 롤러와 안내관 사이에 발생하는 슬립을 고려한 제어기 구조를 제안하고, 실험을 통해 구현한 제어 시스템의 효용성을 보인다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.1
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• pp.15-24
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• 1996

This paper presents a new method for visual servoing to control the pose(position and orientation) of the robotic manipulators for grasping the 3-D moving object whose initial pose and moving informations are unknown by using the stereo camera. The stereo camera is mounted on the end-effector of robotic manipulator. In order to track the current pose of robotic manipulator to the desired pose, we use the image Jacobian, which is described by the differential transform, relating the change in image feature point to the change in the object's pose with respect to the camera. In this paper the simple PD controller is adopted for the robotic manipulator to track the desired pose. Finally, the effectiveness of the proposed method is confirmed by some computer simulations.

• Journal of Dental Rehabilitation and Applied Science
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• v.27 no.2
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• pp.209-222
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• 2011

Missing anterior teeth can be replaced using any of a number of methods. Patients may choose to replace missing teeth with a prosthesis that is either removable, fixed, or retained with implants. For patients faced with financial, anatomical, and/or esthetic limitations, the edentulous region can be restored successfully and esthetically with a properly designed and fabricated rotational path RPD. The rotational path RPD is a partial removable dental prosthesis that incorporates a curved, arcuate, or variable path of placement allowing one or more of the rigid components of the framework to gain access to and engage an undercut area. The rigid retainer must gain access to the infrabulge portion of the tooth by rotating into place. Either a minor connector or proximal plate provides retention through its intimate contact with a proximal tooth surface. A specially designed dovetails or asymmetric rest seats provides support and embracing effects. Correctly designed and fabricated rotational path RPD can provide improved esthetics, cleanliness, and retention. But rotational path RPDs are technique sensitive since the rotational path RPD has little margin of laboratory error that rigid retainers cannot be adjusted like conventional clasps can, RPD framework must be remade once the retention is lost. The sufficient understanding of the concept for the rotational path RPD is required for clinically successful treatment. This clinical report describes in detail the theoretical, laboratory considerations and the treatment of a patient with an anterior maxillary edentulous area treated by an AP path rotational RPD that had a difficulty in long term maintenance and describes another clinical case in which more reasonable treatment procedures were approached after analyzing the former case.

• Science of Emotion and Sensibility
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• v.23 no.1
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• pp.17-28
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• 2020

Lowering observers' view-height may increase the amount of occlusion across objects in a visual scene and prevent the accurate identification of the objects in the scene. Based on this possibility, memory stimuli in relation to their expected views from different heights were displayed in this study. Thereafter, visual short-term memory (VSTM) performance for the stimuli was measured. In Experiment 1, the memory stimuli were presented on a grid-background drawn according to linear perspectives, which varied across observers' three different view-heights (high, middle, and low). This allowed the participants to remember both the color and position of each memory stimulus. The results revealed that testing participants' VSTM performance for the stimuli under a different memory load of two set-sizes (3 vs. 6) demonstrated an evident drop of performance in the lowest view-height condition. In Experiment 2, the performance for six stimuli with or without the grid-background was tested. A similar pattern of performance drop in the lowest condition as in Experiment 1 was found. These results indicated that different view-heights of an observer can change the amount of occlusion across objects in the visual field, and the sensory interference driven by the occlusion may further influence VSTM performance for those objects.

• Korean Journal of Heritage: History & Science
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• v.45 no.4
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• pp.54-73
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• 2012

In this article, we examined the patterns of activities of the Sarmathians though in a humble measure, with a focus on the regions where the Sarmathian sheaths spreaded. One of the main weapons the mounted nomads like the Scythias, the Sarmathians, and the Alans used at war was a spear. Though complementary, a sword was the most convenient and appropriate weapon when fighting at a near distance, fallen from the horse to the ground. The Sarmathian swords continued the tradition of the Akinakes which the Scythias or the Persians used, but those of the Sarmathians showed some advances in terms of the easiness with which a sword was drawn out from a sheath, and the way the sheaths were worn to parts of a human body. It turns out that the Sarmathian sheaths, which were designed for the people to draw swords easily, having the sheaths attached to thighs through 4 bumps, spread extensively from Pazyryk, Altai, to South Siberia, Bactria, Parthia and Rome. The most noteworthy out of all the Sarmathian sheaths were the ones that were excavated from the 4th tomb in Tillatepe, Afghanistan which belonged to the region of Bactria. The owner of the fourth tomb of Tilla-tepe whose region was under the control of Kushan Dynasty at that time, was buried wearing Sarmathian swords, and regarded as a big shot in the region of Bactria which was also under the governance of Kushan Dynasty. The fact that the owner of the tomb wore two swords suggests that there had been active exchange between Bactria and Sarmathia. It seemed that the reason why the Sarmathians could play an important role in the exchange between the East and the West might have something to do with their role of supplying Chinese goods to Silk Road. That's why we are interested in how the copper mirrors of Han Dynasty, decoration beads like melon-type beads, crystal beads and goldring articulated beads, and the artifacts of South China which produced silks were excavated in the northern steppe route where the Sarmathians actively worked. Our study have established that the eye beads discovered in Sarmathian tomb estimated to have been built around the 1st century B.C. were reprocessed in China, and then imported to Sarmathia again. We should note the Huns as a medium between the Sarmathians and the South China which were far apart from each other. Thus gold-ring articulated beads which were spread out mainly across the South China has been discovered in the Huns' remains. On the other hand, between 2nd century B.C. and 2nd century A.D. which were main periods of the Sarmathians, it was considered that the traffic route connecting the steppe route and the South China might be West-South silk road which started from Yunnan, passed through Myanmar, Pakistan, and Afghanistan, and then went into the east of India. The West-south Silk road is presumed to have been used by nomadic tribes who wanted to get the goods from South China before the Oasis route was activated by the Han Dynasty's policy of managing the countries bordering on Western China.