• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.5-166
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• 2001

In the teleoperation system, force, position and velocity signals are communicated between master and slave arm. The addition of force feedback for the teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable. Also it is well known that the system can become unstable when a time delay exists in the communication channel. The proposed control strategy is to use predictive control method(MBPC). The predictive controller is used to control teleoperation´s position and force control. Also it is used to overcome time delay.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.157-166
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• 2015

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.1
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.519-524
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• 1998

This paper presents a robust control scheme of free-joint manipulators to overcome actuator failures and uncertain-ties in Cartesian space where tasks are planned. The control scheme has the adaptation law for the upper bound on the norm of uncertainties through the Lyapunov function approach. To solve the dynamic singularity problem in the controller, the singular and nonsingular regions are investigated based on a computer simulation. Then a singularity-free Cartesian trajectory planning is achieved in order to guarantee the availability of the control scheme. To illustrate the validity of the proposed control scheme, simulation results for a three-link planar robot arm with a free joint are shown.

• Proceedings of the Korea Society for Simulation Conference
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• 2005.05a
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• pp.149-153
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• 2005

In the cardiovascular system, the waveform of the pulsatory blood pressure appears variously due to the cardiac impulse and compliance of blood vessels and arm tissue. We have constructed a blood pressure simulator to investigate effects of mechanical properties of artery walls and tissue on blood pressure measurements. The blood pressure simulator is designed to reproduce wave forms of blood pressure in human arteries. To minimize tracking error, we use a linear control valve, and adapt a hybrid control scheme which consists of a feedback controller and a feedforward controller. Any form of the pressure wave can be reproduced, changing function of the wave form in the computer connected to the simulator for control. From experiments, it has been shown that the simulator reproduces wave forms very well, and that the hybrid scheme adapted is superior to the feedback controller.

• Journal of Power System Engineering
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• v.18 no.4
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• pp.91-96
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• 2014

The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

• The Journal of Korean Medicine
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• v.20 no.4
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• pp.39-49
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• 2000

This study was conducted to prove that there exists a relation between the spleen and learning and memory as Oriental medicine believesTo promote the function of the Spleen, Guibitang was administered to rats in this study. Rats were 250～300g Sprague-Dawley, and were divided into three groups. One was the normal group without any pretreatment. Another was the control group which was administered normal saline and the abdominal injection of L-NAME before learning and memory test. And the 3rd was the sample group, to which was administered Guibitang extract and (no 'the') abdominal injection of L-NAME before the learning and memory test. Each group was made up of 12 rats. Morris water maze and radial arm maze tasks were performed in the learning test and Morris water maze task in the memory test. For 2 days to evaluate the ability of learning in the Morris water maze, 16 trials were carried out and first latency(lapse time to find the escape platform for the first time) was measured. The next day, to evaluate the ability of memory, the escape platform was eliminated from the maze, and total path, target entry number, first latency and memory score were measured. 48hrs before the radial arm maze task was performed, bait was deprived from each group. After learning test, bait was permitted to each group. So 85% of the body weight was maintained for 6 days of the test. Each of the eight arms was baited; correct choice numer and error were counted; each trial was finished when the rat had entered each of the eight arms, or more than 10 minutes had elapsed. The results were as follows: In the learning test, the first latency of the sample group in the Morris water maze showed evident improvement of learning compared to control group at the 11th, 12th, 13th trial of 16 trials, and correct choice number in radial arm maze showed noticeable improvement compared to the control group at 3rd, 4th and 5th; In the memory test, the memory score of the sample group showed evident improvement compared to the control group. From the above results, the administration of Guibitang, which tonifies the function of the Spleen, could enhance the ability of learning and memory. So it was suggested that the Spleen has a relation with learning and memory.

• Journal of Acupuncture Research
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• v.22 no.1
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• pp.177-190
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• 2005

Objective : This study intends to identify the effects of the Doin Gigong Exercise on the shoulder-arm pain in Women. Methods : The study was performed with nonequivalent control group pretest-posttest design. A total of 45 subjects were divided into 25 persons in experimental groups and 20 persons in contrastive group by convenience sampling. The data were collected by using questionnaires and measured values from June, 2004, to August, 2004. Results : The results of the study are as follows: 1. The homogeneity testing revealed that most study variables were equally distributed between experimental and control groups. 2. The first hypothesis: The experimental group who performed the Doin Gigong Exercise and who decreased on the subjective symptom scale was supported(t=10.245, p=.000). 3. The scond hypothesis : The experimental group who received Doin Gigong Exercise and who decreased on the subjective pain(VAS) was supported(t=6.816, p=.000). 4. The third hypothesis: The experimental group who received Doin Gigong Exercise and who decreased on the muscular stiffness measured techniques(UNIQUE) was supported (t=7.114, p.000). Conclusions : Based on the results described above, it is considered that the Doin Gigon Exercise is clearly effective in all an values of the 5 measured. Therefore, the Doin Gigong Exercise can be thought of as effective nursing intervention for the reduction of shoulder-arm pain in women.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.5
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• pp.53-59
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• 2024

This study presents the design and implementation of a camera-based 6DoF (6 Degrees of Freedom) tracking and pose estimation system. In particular, we propose a method for accurately estimating the positions and orientations of all fingers of a user utilizing a 6DoF robotic arm. The system is developed using the Python programming language, leveraging the Mediapipe and OpenCV libraries. Mediapipe is employed to extract keypoints of the fingers in real-time, allowing for precise recognition of the joint positions of each finger. OpenCV processes the image data collected from the camera to analyze the finger positions, thereby enabling pose estimation. This approach is designed to maintain high accuracy despite varying lighting conditions and changes in hand position. The proposed system's performance has been validated through experiments, evaluating the accuracy of hand gesture recognition and the control capabilities of the robotic arm. The experimental results demonstrate that the system can estimate finger positions in real-time, facilitating precise movements of the 6DoF robotic arm. This research is expected to make significant contributions to the fields of robotic control and human-robot interaction, opening up various possibilities for future applications. The findings of this study will aid in advancing robotic technology and promoting natural interactions between humans and robots.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.8
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• pp.15-23
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• 1992

Neural network control has many innovative potentials for fast, accurate and intelligent adaptive control. In this paper, two kinds of neurocontrol architectures for the dynamic control of robot manipulators are developed. One is based on a System Identification and Control scheme and the other is based on the Feedback-Error leaming scheme. Both of the proposed architectures use an inverse dynamic neurocontroller in parallel with a linear neurocontroller. The difference is that the first architecture uses the system identifier to get the signals used for training neurocontrollers, while the second architecture uses a properly defined energy function. Compared with the previous types of neurocontrollers which are using an inverse dynamic neurocontroller and a fixed PD gain controller, the proposed architectures not only eliminate the painful process of the fixed gain tuning but also exhibit superior peformances because the linear neurocontroller can adapt its gains according to the applied task. This superior performance is tested and verified through computer simulation of the dynamic control of the PUMA 560 arm.