• Journal of Advanced Marine Engineering and Technology
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• 제32권5호
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• pp.724-729
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• 2008

Umbilical cord blood has been recently considered an attractive potential alternative as a source of stem cell transplantation to curing diseases such as leukemia, cancers, immune disorders. Normally the stored system of the umbilical cord blood specimen is equipped with a computer-controlled robotic arm that enables the samples to locate the identification places in liquid nitrogen tank at regulated temperature as about $-196^{\circ}C$. As the half of robotic arm is in the air and the rest part is submerged in liquid nitrogen, the temperature of robotic arm varies from ambient to liquid nitrogen temperature. In this study the temperature variation of upper part of arm above tank lid was thermally analysed by using the commercial code of Ansys. The result of analysis was that the upper part of robotic arm was seriously frozen due to heat transfer from liquid nitrogen as low as -$120^{\circ}C$. In order to solve the frost problem of robotic arm, small PTFE tube block as resistance material was introduced into the lower part of tank lid instead of the whole stainless steel(SUS) robotic arm. The results showed that the temperature of robotic arm above the lid was higher enough, and this method would be one of the very effective measure to solve the problem.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• 디지털콘텐츠학회 논문지
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• 제18권8호
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• pp.1509-1516
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• 2017

일인칭 관점의 훈련 시스템에서, 사용자는 실제적인 경험을 필요로 하는데, 이런 실제적인 경험을 제공하기 위하여 가상의 이미지 또는 실제의 이미지를 동시에 제공해야 한다. 이를 위해 본 논문에서는 자동적으로 사람의 팔을 분할하는 것과 이미지 합성 방법을 제안한다. 제안 방법은 팔 분할 부분과 이미지 합성 부분으로 구성된다. 팔 분할은 임의의 이미지들을 입력으로 받아서 팔을 분할하고 알파 매트(alpha matte)를 출력한다. 이는 종단 간 학습이 가능한데 이 부분에서 우리는 FCN(Fully Convolutional Network)을 활용했기 때문이다. 이미지 합성부분은 팔 분할의 결과와 길과 건물 같은 다른 이미지와의 이미지 조합을 만들어 낸다. 팔 분할 부분에서 네트워크를 훈련시키기 위하여, 훈련 데이터는 전체 비디오 중에서 팔의 이미지를 잘라내어 사용하였다.

• 한국기계가공학회지
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• 제14권2호
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• pp.105-111
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• 2015

Car manufacturers and part manufacturers each have their own criteria with regard to strength, stiffness and NVH performance levels. Part manufacturers typically investigate such performances according to the part unit. To do this, the part manufacturer receives information from the relevant car maker. However, the information provided by the car maker is limited, making it difficult to develop a part which meets all of the design requirements specified by the car unit overall. To overcome this difficulty, the utilization of a VPG system is recommended for the designer. In this study, the durability performance of an optimized control arm as suggested in a previous study was investigated using the ETA-VPG, LS-dyna and FE/safe software packages. ETA-VPG provides several types of suspension and steering parts. In this study, a complete car is created using the library included in ETA-VPG, with the exception of the control arm. We also conducted a virtual proving ground analysis to predict the life cycle of the control arm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.395-396
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• 2006

This paper presents the optimal design of Robot-Arm part use Design of Experiment(DOE). The DOE(Design of Experiment)was conducted to find out main effect factors for design of Robot-Arm part. In this design of Robot-Arm, 5 control factors include numbers of 4 level are selected and we make out L16 orthogonal array. Using this orthogonal array, find out optimal value and main effect factors of object function for design of Robot-Arm part by 16 times of test. We evidence this optimal value by using CATIA V5 Analysis.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2005년도 추계학술대회 논문집
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• pp.340-343
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• 2005

This paper focuses on an rheo-forming of arm part fabricated by electromagnetic stirring system (EMS). This forming process take place under high pressure of high pressure die casting and thin walled casting is possible. Also the productivity is better than low pressure die casting because of shorter cycle time. The advantages of rheo-forming are performed in the semi solid state with laminar flow and the gas content is low, which makes welding possible. Therefore this research applies for arm part with EMS and has investigated the mechanical propriety after T6 and T5 heat-treatment.

• 한국정보통신학회논문지
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• 제13권5호
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• pp.1022-1029
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• 2009

최근 화두가 되는 유비쿼터스(Ubiquitous)는 "언제, 어디서나 존재하는"을 의미하는 라틴어로 사용자가 네트워크나 컴퓨터를 의식하지 않고 장소에 상관없이 자유롭게 네트워크에 접속할 수 있는 정보통신 환경을 말한다. 본 논문에서 구현한 시스템은 크게 두 부분으로 나누어진다. 한 부분은 환경정보를 감지하여 무선으로 대상 플랫폼에 데이터를 전송이 가능한 센서부로 Gas Sensor와 저전력 Zigbee Module을 사용하여 구현하였으며 센서 노드의 역할 수행한다. 나머지 한 부분은 센서부로부터 얻은 데이터를 수신하여 LCD에 표시하는 플랫폼으로 Sink 노드의 기능을 수행한다. 본 논문에서 구현한 플랫폼은 ARM11기반의 프로세서에 공개소스 기반의 OS(Operating System)인 리눅스를 포팅하여 구현하였다. 또한, 리눅스상의 윈도우 매니저인 Qtopia를 포팅하여 사용 함으로써 사용자 중심의 응용프로그램을 작성하기에 유연하게 하였다.

• 로봇학회논문지
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• 제13권4호
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• pp.205-212
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• 2018

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

• 한국의류학회지
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• 제32권4호
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• pp.641-650
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• 2008

In this study, seven models with distinctly different body types were researched and explanatory variables were reviewed. Review was done by using body measurements and the measurements of the appropriate bodice patterns in 1D, 2D, and 3D measurement methods in order to review the pattern making system and the equations for calculating the dimensions of the sleeve caps, which are readily available. Data on human bodies, which can be the criteria for each body part required for the new system for making sleeve cap part, were selected considering conditions such as items with a significantly high contribution rate from the results of regression analysis and the easiness of measurement. As a result of research, an explanatory variable required for the system for making sleeve caps with high general use was extracted. All items with the exception of the waist circumference and upper arm circumference were about the measurement of the form of human bodies, which were newly set in this study. As a result of this study, the equations for calculating the dimensions of each part of the sleeve caps showed distinct differences in comparison to the conventional system of construction.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.295-296
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• 2006