• Journal of radiological science and technology
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• v.39 no.4
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• pp.493-499
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• 2016

In this study, C-Arm equipment is being used as we intend to verify the exposure dose on the operator by the scattering rays during the operation of the C-Arm equipment and to provide an effective method of reducing the exposure dose. Exposure dose is less than the Over Tube method utilizes the C-arm equipment Under Tube the scheme, The result showed that the exposure dose on the operator decreased with a thicker shield, and as the operator moved away from the center line. Moreover, as the research time prolongated, the exposure dose increased, and among the three affixed location of the dosimeter, the most exposure dose was measured at gonadal, then followed by chest and thyroid. However, in consideration of the relationship between the operator and the patient, the distance cannot be increased infinitely and the research time cannot be decreased infinitely in order to reduce the exposure dose. Therefore, by changing the thickness of the radiation shield, the exposure dose on the operator was able to be reduced. If you are using a C-Arm equipment discomfort during surgery because the grounds that the procedure is neglected and close to the dose of radiation shielding made can only increase. Because a separate control room cannot be used for the C-Arm equipment due to its characteristic, the exposure dose on the operator needs to be reduced by reinforcing the shield through an appropriate thickness of radiation shield devices, such as apron, etc. during a treatment.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.27-31
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• 1988

A study has been carried out on the implementation of IMCA (Linear Moving Voice Coil Actuator) to a flexible robot arm modelled as cantilever beam. Control performances are evaluated by computer simulation and theoretical analysis is validated by experiments. From this study, it is proved that the LMVCA can be applied easily to the control system and suppress vibration effectively.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.15 no.2
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• pp.8-14
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• 2009

Purpose: to apply lymph massage to the patients that contracted lymphedema after mastectomy to resolve blood congestion, stimulate circulation, and control swelling long-term. Methods: The subjects include 20 female patients that were diagnosed with breast cancer histologically and contracted lymphedema within one to two years after mastectomy. They received lymph massage from March to August, 2008. Using a measuring tape(capable of measuring mm), the arm circumference was measured in both the sick and normal arm. Only the data from the sick arm were compared before and after the treatment. The measuring points were five; the back of the hand(a certain distance[about 10cm] was set between the end of the middle finger to the center of the palm), the wrist(the smallest section), the lower arm(at a certain distance[about 10cm] from the internal bending part of the elbow), the elbow(the bending part), and the upper arm(at a certain distance[about 10cm] from the internal bending part of the elbow). Collected data were analyzed using the SPSS/WINDOWS Version 12.0 program. Results: There was a reduction of lymphedema observed in all the points including 10cm in the upper arm, the elbow, 10cm in the lower arm, the wrist and the back of the hand after lymph massage, and the reduction had statistically significant differences(p<.05). Conclusion: Those results indicate that lymph massage has effects on the reduction of lymphedema in the early patients that contracted it after mastectomy.

• KIPS Transactions on Software and Data Engineering
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• v.11 no.5
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• pp.221-228
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• 2022

With the application of artificial intelligence technology, robots can provide efficient services in real life. Unlike industrial manipulators that do simple repetitive work, this study presented design methods of 6 degree of freedom robot arm and intelligent object search and movement methods for use alone or in collaboration with no place restrictions in the service robot field and verified performance. Using a depth camera and deep learning in the ROS environment of the embedded board included in the robot arm, the robot arm detects objects and moves to the object area through inverse kinematics analysis. In addition, when contacting an object, it was possible to accurately hold and move the object through the analysis of the force sensor value. To verify the performance of the manufactured robot arm, experiments were conducted on accurate positioning of objects through deep learning and image processing, motor control, and object separation, and finally robot arm was tested to separate various cups commonly used in cafes to check whether they actually operate.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.187-192
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• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• Journal of Life Science
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• v.15 no.6 s.73
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• pp.979-986
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• 2005

Lead (Pb) exposure during development can produce neurological deficits. In this study, the effect of Pb exposure during neonatal development via lactation on anxiety of brain function was investigated. Long-Evans strain rats were raised through two generations. At the birth of the second generation, the dams were subdivided into two groups and supplied drinking water containing either $0.2\%$ Pb (Pb-treated group) or sodium (Na, Control group) acetate until weaning. Rats were sacrificed at 3 (weaning) and 11 weeks (maturity) for brain Pb and fatty acid analysis. Motor activity and elevated plus maze tests were initiated at 9 weeks. The brains in the Pb-treated group at weaning and maturity contained 1486$\pm$98 and $270{\pm}46$ ng Pb/g, respectively The control group showed the background level of Pb ($3.7{\pm}1.0_{ng}$ Pb/g) in both ages. The alterations in brain fatty acid composition induced by Pb exposure were more evident in 3 wks old than 11 wks old. For example, in 3 wks old, the percentages of $18:2_{n-6}$, $20:2_{n-6}$ and $18:2_{n-6}$ were decreased in the Pb-treated group with an increase in $20:4_{n-6}$ In motor activity test, there was a tendency of hyperactivity in the Pb-treated group compared with the control group but the difference was not significant. In elevated plus maze test, the Pb-treated group showed fewer numbers of visits to the open arms (P < 0.05), indicating that Pb exposure may lead to anxiogenic effect.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.131-141
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• 2020

The purpose of this study is to compare the effects on nursing students' knowledge, performance confidence, and skills from combined virtual IV simulator and mannequin arm IV cannulation training against training with a mannequin arm only. A non-equivalent control group pretest-posttest experimental study was carried out. Ninety-three sophomore nursing students who were just beginning their fundamental skills training were recruited. Participants were divided into two groups (46 for the combined group and 47 for the mannequin-only group). Data were collected from March 18-29. For the experimental group, both virtual IV simulator and mannequin-arm training were provided for 30 minutes (15 minutes each). For the control group, training for 30 minutes with a mannequin arm only was provided. After intervention, there was no statistically significant difference in the knowledge score between the two groups (F=2.52, p=.116). However, there was a significant improvement in performance confidence (t=2.14, p=.035) and nursing skills (t=5.34, p<.001) in the experimental group, compared with the control. Overall, this study provides empirical evidence that the combination of virtual IV simulator and mannequin arm training may further enhance nursing students' performance confidence and nursing skills.