• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.43-48
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• 2002

We show that humans execute the postural control ingeniously by regulating the impedance properties of the musculo-skeletal system as the motor command against the alteration of the environment. Adjusting muscle activity can control the impedance properties of the musculo-skeletal system. To quantify the changes in human arm viscoelasticity on the vertical plane during interaction with the environment, we asked our subject to hold an object. By utilizing surface electromyographic(EMG) studies, we determined a relationship between the perturbation and a time-varying muscle co-activation. Our study showed when the subject lifts the object by himself the muscle stiffness increases while the torque remains the same just before the lift-off. These results suggest that the central nervous system(CNS) simultaneously controls not only the equilibrium point(EP) and the torque, but also the muscle stiffness as themotor command in posture control during the contact task.

• 한국정밀공학회지
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• 제5권2호
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• pp.23-32
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• 1988

A control system for improving the moving accuracy of robotic manipulators with elastic joints is devloped. The dynamics of manipulator system is splitted into two sub-dynamics; of arm-link and actuator rotor- link, which are coupled statically through joint torque. Two contorl loops are implemented respectively around both sub-dynamic systems. Computed torque algorithm with acceleration feedback is used for the arm-link control loop, and for the actuator rotor-link control loop PID algorithm is adopted. The resulting control system is tested through a series of computer simulation for a PUMA type manipulator, The reaults show good performance of the developed control system for wide range of joint stiffness and moving speed.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.378-381
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• 2002

본 논문에서는 근전도(EMG) 신호를 이용하여 휴먼보조 장치나 원격 제어에 활용할 수 있는 가상 로봇 팔 제어 방식을 제안한다. 4개의 표면 전극에서 근전도 신호를 측정하여 SOM과 LVQ를 이용하여 동작을 분류하는 시스템이다. 인터페이스 프로그램은 PC 상에서 구성하였다. 제안한 방식의 실험결과 94%의 분류 성공률을 얻었다.

• 한국군사과학기술학회지
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• 제8권2호
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• pp.30-37
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• 2005

In this paper, we propose how to design a fire control system main control board for individual combat weapons using a small and low power processor. To design an electric board of small weapon systems, Size and power consumption are very important factors. We solved the problem using selection of an adaptive processor, introduction of MicroChipPackaging method, and separate design of a main board Also we applied these methods to make the fire control system for small arms.

• 한국CDE학회논문집
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• 제20권3호
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• pp.263-268
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• 2015

Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery, one of the common disc surgeries, requires a process of inserting a guide needle to the target disc for which the insertion path is manually planned by drawing lines on the patient's skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted method of calculating the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally, a method of the guide robot control based on the 3D needle path was developed by implementing the Hand-eye Calibration method to calculate the transformation matrix between the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1724-1729
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• 1991

This paper gives an overview of HIGIPS design concepts and prototype HIGIPS configuration, and discusses its application to recognition of the 3-D motion of a human arm. HIGIPS which employs the combination of pipeline architecture and multiprocessor architecture, is a high-speed, high-performance and low cost N * M multimicroprocessor parallel machine, where N is the number of pipeline stages and M is the number of processors in each stage. The algorithm to recognize the motion of a human arm with a single TV camera was developed on personal computer (NEC PC9801 series). As a constraint condition, some simple ring marks are used. Each joint of the arm is attached with a ring mark to obtain its centroid position when the arm moves. These centroid positions in the three-dimensional space are linked at each of the successive pictures of the moving arm to recover its overall motion. This algorithm takes about 2 seconds to process one image frame on the general-purpose personal computer. This paper mainly discuses how to partition this algorithm and execute on HIGIPS, and shows the speed up. From this application, it is clear that HIGIPS is an efficient machine for image processing and recognizing.

• 응용통계연구
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• 제21권6호
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• pp.947-957
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• 2008

비열등성 시험시에 치료군(treatment group)과 활성대조군(active control group)을 이용한 모형으로 Hauschke 등 (1999)이 제안한 모수적 검정법이 있다. 이 방법은 위약군(placebo group)과 직접적인 비교가 불가능하므로 Pigeot 등 (2003)이 세 군으로 확장한 검정법을 제안하였다. 그러나 이와 같은 두 검정법은 구체적인 분포가정이 필요하다. 이런 단점을 보완하기 위하여 본 논문에서는 비모수적 방법으로서 두 군 설계에 Wilcoxon 순위합 검정(Wilcoxon, 1945)을 이용한 방법을, 세 군 설계에 Scheirer 등 (1976)이 제안한 선형대비검정을 확장한 새로운 방법을 제안한다. 또한 모의실험을 통하여 모수적 방법과 비모수적 방법간의 검정력을 비교하였다.

• 기본간호학회지
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• 제21권3호
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• pp.302-310
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• 2014

Purpose: The purpose of this study was to compare the effectiveness of training using an intravenous (IV) arm model versus a computer simulator for IV injections. Method: Study was a quasi-experimental study conducted with 106 nursing students. Participants were divided into two groups: the IV Arm Group using a mannequin arm model (control group) and the Computer Simulator Group using the Virtual IV demonstration (experimental group). Theoretical lectures and video presentations on IV injections were given to both groups. Each group went through the training practice using the IV arm or computer simulator. After the completion of training, questionnaires were given to the students to evaluate their learning attitudes and experiences, self-confidence in IV injection, and satisfaction with the training materials. Results: Student satisfaction with the training materials including the reality, usefulness, and educational effects showed notable differences between the two groups with the Computer Simulator group reporting more positive effects that the IV Arm group. However, there was no statistical difference between the two groups in the categories of learning attitude, learning experience, or self-confidence. Conclusion: While there was a differences in strengths and weaknesses of the two methods, both methods should be considered for practice and further study needs to be done on educational effectiveness.

• 한국정보통신학회논문지
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• 제18권10호
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• pp.2382-2388
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• 2014

인도어 무선 통신 시스템에서 무선 네트워크의 신뢰성 보장을 위하여, 갑작스런 네트워크 결함 문제의 발생을 신속하게 해결해야 한다. 본 논문에서는, 사용자들에게 끊김없는 연결성 제공을 위하여 적응적 자원관리 (ARM: Adaptive Resource Management) 기법을 제안한다. 시스템 용량 및 사용자 공평성을 동시에 고려하여, ARM 기법에서는 적응적으로 힐링 서브채널 세트를 결정하고, non-convex 최적화 문제를 기반으로 서브채널과 파워를 반복적으로 할당한다. 시뮬레이션을 통하여 평균 셀 용량과 사용자 공평성 관점에서 제안하는 기법의 우수성을 증명한다.

• Physical Therapy Rehabilitation Science
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• 제8권2호
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• pp.93-98
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• 2019

Objective: The purpose of this study was to investigate the effect of robot arm reach training on upper extremity functional movement in chronic stroke survivors. Design: One group pretest-posttest design. Methods: Thirteen chronic stroke survivors participated in this study. Robot arm reach training was performed with a Whole Arm Manipulator (WAM) and a 120-inch projective display to provide visual and auditory feedback. During the robotic arm reach training, WAM provided gravity compensation and assist-as-needed (AAN) force according to the robot control mode. When a participant could not move the arm toward the target for more than 2 seconds, WAM provided AAN force to reach the desired targets. All patients participated in the training for 40 minutes per day, 3 times a week, for 4 weeks. Main outcome measures were the Fugl-Meyer Assessment (FMA), Action Research Arm Test (ARAT) and Box and Block Test (BBT) to assess upper extremity functional movement. Results: After 4 weeks, significant improvement was observed in upper extremity functional movement (FMA: 42.15 to 46.23, BBT: 12.23 to 14.00, p<0.05). In the subscore analysis of the FMA upper extremity motor function domains, significant improvement was observed in upper extremity and coordination/speed units (p<0.05). However, there were no significant differences in the ARAT. Conclusions: This study showed the positive effects of robot arm reach training on upper extremity functional movement in chronic stroke survivors. In particular, we confirmed that robot arm reach training could have a positive influence by leading to improvement of motor recovery of the proximal upper extremity.