• Proceedings of The KACE
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• 2017.08a
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• pp.189-192
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• 2017

던지기는 시간 효율이 높은 물체 수송 방법이나 그 정확성을 위해서는 다양한 물리적인 변인들을 고려해야 한다. 따라서 본 연구에서는 정확한 던지기에 영향을 주는 변인들을 설정하여 물체를 정확하게 던지는 해를 찾는 유전 알고리즘을 설계하고, 이를 4자유도 로봇팔에 적용시켰다. 하드웨어는 TETRIX와 EV3 플랫폼을 이용하여 설계하였고, 소프트웨어는 LabVIEW 2014를 이용하여 구현하였다. 또한 물체가 던져질 때마다 위치와 각 변인들의 값을 수집하고, 이를 통계적으로 분석하여 던지기의 정확성에 대한 각 관절의 기여도를 분석하였다. 본 연구의 결과는 물체를 정확히 던지는 기계를 설계하거나 사람의 던지는 동작을 이해하는 데 도움이 될 것으로 기대된다.

• Economic and Environmental Geology
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• v.36 no.4
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• pp.305-312
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• 2003

This study was performed to delineate the subsurface geology, geologic structure, and distribution pattern of the Palgongsan granitic body, and to reveal the relationship between the Kyeongsang basin and Yongnam massif by gravity survey. The study area is located between the latitude of 35$^{\circ}$45'-36$^{\circ}$21'N and longitude of 128$^{\circ}$15'-129$^{\circ}$00'E. Total of 966 gravity data measured by Seoul National University, KlGAM(Korea Institute of Geology, Mining ＆ Materials), Pusan National University and Yonsei University were used. The Bouguer gravity anomaly in the study area ranges from -12.88 to 26.01 mgal with a mean value of 11.27 mgal. A very low anomaly zone is located in the Yongnam massif in west of the study area. The anomaly value increases going from west to east. A low anomaly distribution in Palgongsan granite and Yongnam massif is interpreted as the effect of their lower density than that of Kyeongsang Super Group. Power spectrum analysis is applied to evaluate the average depth of basement the Kyeongsang Basin and Conrad discontinuity from gravity anomaly. The average depths of density discontinuities are calculated 10.45 km and 4.9 km, and these are interpreted as Conrad discontinuity and depth of basement of the Kyeongsang Basin, respectively. The depth of Palgongsan granite is derived by means of 2-dimensional modeling and it decreases gradually toward the east. The gravity anomaly east of the study area decreases abruptly due to Shingryeong fault and Nogosan ring fault. Two deepest and sharp roots of Palgongsan granite are recognized by 2-dimensional modeling of each profiles. The depths of those roots are 5.3 km on a profile AA' and 7 km on a profile BB' which is the maximum depth of Palgongsan granite. Small granitic bodies are also seen to be intruded around the Palgongsan granite. The root of Palgongsan granite is shown by 3-dimensional analysis based on the interpolation of 2-dimensional modeling along each profiles to exist in the southwest vicinity of Palgongsan granite. The total volume of Palgongsan granite is approximately 31.211 $Km^3$.

• Therapeutic Science for Rehabilitation
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• v.10 no.1
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• pp.129-140
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• 2021

Objective : This study evaluated the differences between the upper and lower arm activities of the affected and non-affected sides in stroke patients performing activities of daily living. It was intended to gather basic data for the measurement of daily activities. Methods : The participants in the study consisted of 20 patients, 10 had left hemiplegia and 10 had right hemiplegia. Between September and November 2017, they performed drinking and dressing as unimanual and bimanual tasks. The 3-axes accelerometers were placed 2cm below the lateral epicondyle on the upper arm and 2cm below the radial styloid on the lower arm. The data were collected at intervals of 1/32 Hz and analyzed. Results : In patients with right hemiplegia, the tendon activity was significantly higher in the lower arm when performing a bimanual activity (p<.05), for all the other activities, those of the lower arm were significantly higher than those of the upper arm (p<.01, p<.05). There was no significant difference between the unimanual and bimanual activities of the affected and tendon sides in patients with left hemiplegia (p>.05). In both hands, the activity of the lower arm was significantly higher than that of the activities of the upper and lower arms, except on the affected side (p<.05). In all patients, the activities of the upper and lower arms were significantly higher (p<.05), and the activity of the lower arm was significantly higher than that of the upper (p<.001, p<.05). Conclusion : The activity was higher on the non-affected side than the affected side during the dressing task, and the overall activity was higher in the lower arm than the upper arm.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.5
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• pp.21-30
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• 2000

As a means of getting over the linguistic barrier between different languages, a sign-language communication system using CG animation techniques has been studied. In order to generate a kind of sign-language animation in the system, the joint angles of the arms and the hands corresponding to the gesture have to be determined Up to date, however, the values of joint angles have been decided by trial-and-error methods based on the animator's experiences To overcome the drawback, m this paper, we design an integrated keyframe editor of the arms and the hands for 3D sign-language animation with which we can easily and quickly generate the keyframes of the sign-language animation required to build up In the Implemented keyframe editor, the values of joint angles are calculated by using mverse kinematics, and the same transformation matrix is applied to the joints of two arms and twenty fingers Experimental results show a possibility that the editor could be used efficiently for making up the sign-language communication dictionaries needed for inter-communication between different languages.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.595-601
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• 2011

This paper presents balancing control of inverted pendulum on the ROBOKER arm using visual information. The angle of the inverted pendulum placed on the robot arm is detected by a stereo camera and the detected angle is used as a feedback and tracking error for the controller. Thus, the overall closed loop forms a visual servoing control task. To improve control performance, neural network is introduced to compensate for uncertainties. The learning algorithm of radial basis function(RBF) network is performed by the digital signal controller which is designed to calculate floating format data and embedded on a field programmable gate array(FPGA) chip. Experimental studies are conducted to confirm the performance of the overall system implementation.

• Resources Recycling
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• v.18 no.1
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• pp.30-37
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• 2009

Distribution diagram of Pt(IV), Pd(II), and Rh(III) in HCl solution was obtained as a function of HCl concentration from 0.001 to 10 M by considering complex formation reaction together with mass balance. When HCl concentration was higher than 0.1 M, most of Pt and Pd in HCl solution exist as $PtCl_6^{2-}$ and $PtCl_4^{2-}$. The concentration of HCl had a feat effect on the speciation of Rh(III). As HCl concentration increases from 0.1 to 10 M, the pedominant species changes from $PhCl_5^{2-}$ to $PhCl_6^{3-}$. Interaction parameters of $PtCl_6^{2-}$ and $PdCl_4^{2-}$ with hydrogen ion were evaluated from the solvent extraction data of Pt and Pd reported in the literature.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Journal of the Korea Society of Computer and Information
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• v.10 no.3 s.35
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• pp.55-64
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• 2005

The avatar can be used as an auxiliary methodology of text and image communications in cyber space. An intelligent communication method can also be utilized to achieve real-time communication, where intelligently coded data (joint angles for arm gestures and action units for facial emotions) are transmitted instead of real or compressed pictures. In this paper. for supporting the action of arm and leg gestures, a method of generating the facial expressions that can represent sender's emotions is provided. The facial expression can be represented by Action Unit(AU), in this paper we suggest the methodology of finding appropriate AUs in avatar models that have various shape and structure. And, to maximize the efficiency of emotional expressions, a comic-style facial model having only eyebrows, eyes, nose, and mouth is employed. Then generation of facial emotion animation with the parameters is also investigated.

• Applied Biological Chemistry
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• v.31 no.1
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• pp.7-12
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• 1988

The degermed Japonica and J/Indica brown rites were successively milled to give 4.4%(fraction I), 4.7%(fraction II) and 5.9%(fraction III) yield of flour, with the remaining as residual kernel. The amino acid composition of the protein in the milled fractions was similar, except serine and histidine. With some amino acids, particularly phenylalanie, glycine and isoleucine, differences among varieties were much greater than among fractions of the same rice. The content of lysine was the highest in fractions I and II, whereas isoleucine showed the opposite trend to lysine. The first and second limiting amino acids of all fractions were lysine and threonine, respectively. No varietal differences in the distribution of fatty acids within the kernel were observed.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2403-2405
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• 2004

본 논문에서는 회전과 무게이동을 할 수 있는 모터를 가진 로봇의 위치 제어와 로봇의 궤적과 구조식에 관해 연구를 수행한다. 로봇의 끝단의 위치를 제어 할 수 있는 스윙 모터의 각과 리프트 모터의 각도를 구하는 과정과 연속움직임을 통한 로봇의 움직임을 관찰한다. 예제를 통해 제어 방법의 유용성과 실용성을 검증하고자 한다.