• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.263-266
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• 1994

Recently, complicated and dexterous tasks with two or more arms are needed in ninny robot manipulator applications which can not be accomplished with one manipulator. In general, when two arms manipulate an object, tile dynamics of the arms and the object should be considered simultaneously. In order to control the force of tile arms, we can use various control schemes based upon dynamic modeling. But, there are difficulties in solving inverse dynamics equations, and the environment where a manipulator performs various tasks is usually unknown, and we can not describe a model precisely, for instances, the effect of the joint flexibility, and the friction between the arm and the object. Therefore, in this paper, we suggest a new force control method employing fuzzy inference without solving dynamic equations. Fuzzy inference rules and parameters are designed and adjusted with the automatic fuzzy modeling method using the Hough transform and gradient descent method.

• Journal of Digital Convergence
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• v.12 no.4
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• pp.311-318
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• 2014

This paper is to introduce a lighting source controller using high brightness LED to create a clear and reliable condition for an accurate measurement and testing, which is a core technology in clinical image system and mechanical automation system. This controller is designed to supply a stable power in a constant-current system by installing a high brightness LED driver, and to improve the reproducibility of brightness by using 32-bit ARM processor core, dividing brightness quantity into 256 levels, making the remote control and the external interface possible, and preventing and digitizing the brightness inaccuracy caused by errors of resistance values. This controller enables the lighting range to be wide and possible in a low lighting level compared to analog, adds the RS-485 communication function, and makes it for the users to control the on-off function and the dimming level by receiving date from an external device.

• Journal of Digital Convergence
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• v.13 no.8
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• pp.245-251
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• 2015

If a digital signage system is operated in PC mounted in the Window OS then the implementing price is very high. For resolving this problem, we used the Smartphone mounted in ARM Cortex family of multi-core processor-based mobile platform. We developed a low-power low-cost digital signage system and a remote convergence content management program based on web server. This convergence system manages advertising content to a remote control device anywhere using remote control technology. This system is one integrated system with display and is a low-power consumed and is developed in very efficient hardware interface. And condition sensors(intensity of illumination, temperature, weather, GPS etc) is equipped in the developed system. Automatic contents builder and Context-aware SMIL module is also implemented in the convergence system. We achieved over 50% power savings comparing with conventional Window OS system and 16 points multi-touch in our system.

• Korean Journal of Computational Design and Engineering
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• v.21 no.4
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• pp.389-396
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• 2016

The necessity for environment-friendly material development has emerged in the recent automotive field due to stricter regulations on fuel economy and environmental concerns. Accordingly, the automotive industry is paying attention to carbon fiber reinforced plastic (CFRP) material with high strength and stiffness properties while the lightweight. In this study, we determine a shape of lower control arm (LCA) for maximizing the strength and stiffness by optimizing the thickness of each layer when the stacking angle is fixed due to the CFRP manufacturing problems. Composite materials are laminated in the order of $0^{\circ}$, $90^{\circ}$, $45^{\circ}$, and $-45^{\circ}$ with a symmetrical structure. For the approximate optimal design, we apply a sequential two-point diagonal quadratic approximate optimization (STDQAO) and use a process integrated design optimization (PIDO) code for this purpose. Based on the physical properties calculated within a predetermined range of laminate thickness, we perform the FEM analysis and verify whether it satisfies the load and stiffness conditions or not. These processes are repeated for successive improved objective function. Optimized CFRP LCA has the equivalent stiffness and strength with light weight structure when compared to conventional aluminum design.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.29-34
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• 2015

Brain-computer interface (BCI) is being studied for convenient life in various application fields. The purpose of this study is to investigate a changing electroencephalography (EEG) for precise motion of a robot or an artificial arm. Three subjects who participated in this experiment performed three-task: Grip, Move, Relax. Acquired EEG data was extracted feature data using two feature extraction algorithm (power spectrum analysis and multi-common spatial pattern). Support vector machine (SVM) were applied the extracted feature data for classification. The classification accuracy was the highest at Grip class of two subjects. The results of this research are expected to be useful for patients required prosthetic limb using EEG.

• Fire Science and Engineering
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• v.27 no.6
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• pp.83-88
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• 2013

Catastrophic disasters are sprouting out recently, i.e., the radiation leaks and the hydrofluoric acid gas leaks, etc. The restoration work for these kinds of disasters is very harmful and dangerous for human beings to handle themselves, thus allowing manless robots to fly the reconnaissance planes over to the disaster stricken areas and do the necessary work instead. For this endeavor and purpose, we created and tested an intelligent robot that can inspect those areas, using Mbed (ARM processor) technology temperature sensors and gas sensors aided by CAM (Computer-Aided Manufacturing) cameras. Also, HTTP Server, PC, androids and their combined efforts allow their remote controlled operation from far away with timing control. These intelligent robots can be on duty for 24 hours, minimizing the accidents and crimes and what not, and can respond more quickly when these misfortunes actually happen. We can anticipate the economic effects as well, derived from the reduced needs for hiring human resources.

• Journal of the Korea Computer Industry Society
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• v.4 no.4
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• pp.547-552
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• 2003

In this thesis, interference phenomena of bluetooth networks requiring Security were minimized; strengthened security of piconet by assigning an identical PIN code to bluetooth devices, which was establishing a specific piconet during authentication stage. To establish a bluetooth piconet system. an unique ID was assigned to each bluetooth device, communication algorithms having different data formats between devices was designed, and an embedded hardware module using ARM processor and uCOS-II RTOS was implemented. About 30% of CPU efficiency in the module was increased by modifying functions including block parameters to work as nonblocking; by the increased efficiency of total piconet, the module could be used as an access point. The module could transmit maximum 10 frames of image and also audio signal by switching the packet effectively according to channel condition. By above-mentioned process, video, audio, and data could be well transmitted by the bluetooth managing program and the possibility of a commercial remote control system using bluetooth technology was suggested.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.91-91
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• 2003

위성을 발사하기 전까지는 지상에서 EGSE(Electrical Ground Support Equipment)를 이용하여 충분한 시스템 단위의 위성체 기능 시험을 수행한다. KOMPSAT-2(Korea Multi-Purpose Satellite - 2)와 같은 소형 위성의 서브시스템 각각이 요구사항에서 제시하는 규격을 만족하는지 여부를 점검하는 단계에서 전력계 관련 서브시스템의 기능 시험도 EPS(Electrical Power Subsystem) Test Plan에 의해 순차적으로 수행한다. KOMPSAT-2 ETB(Engineering Test Bed)에서의 전력계 시험은 먼저 Test Fuse Modules Check를 수행하였다. 퓨즈 모듈은 PCU(Power Control Unit) 상에 설치되어 있는 장치로써 퓨즈 모듈의 입력과 출력 사이에 도통성 및 다른 출력과의 절연성을 검증한다. 다음으로 EGSE 중 PMTS(Power Monitor Test Set)와 PCU와의 직렬 인터페이스를 점검하는 PCU Interface Check를 수행하였다 시험절차서에 따라 PCU가 가지는 릴레이 스위치에 대하여 명령어를 보내어 릴레이의 동작 상태 및 출력 전압 등을 점검한다. 다음 단계에서는 DC Integration을 수행하여 ETB 하니스 중 전원 관련 라인을 점검하였다 PCU는 모든 위성체 하드웨어에 전력을 공급하는 장비로써 과전력으로부터 하드웨어를 보호하기 위하여 하니스를 연결하기 전에 우선적으로 시험한다. 다음으로는 ECU(EPS Control Unit)가 각각에 해당하는 하드웨어에 명령어를 보내어 전력계 전체적인 동작 상태 검증하는 EPS Hardware Command & Telemetry Checkout을 수행하였다. ECU는 전력계의 모든 하드웨어를 제어하고 그 상태를 모니터링하는 기능을 한다. PCU와의 인터페이스를 통하여 전력의 제어 및 분배에 관련되는 특성을 제어 및 모니터하며 DDC(Deploy Device Controller)는 ECU로부터 명령어를 받아서 arm 및 safe 상태에 대한 텔리 메트리 데이터를 제공한다 그리고, SAR(Solar Array Regulator)는 ECU로부터 Bypass Relay 및 ARM Relay에 관한 명령어를 받아 수행되며 그에 따른 텔리 메트리 데이터를 제공한다. 마지막으로 EPS 소프트웨어를 검증하는 EPS Software Verification을 수행하였다 전력계 소프트웨어의 설계의 검증 부분은 현재 설계 제작된 전력계 .소프트웨어의 동작 특성 이 위성 의 전체 운용개념과 연계하여 전력계 소프트웨어가 전력계 및 위성체의 요구조건을 만족시키는지를 확인하는데 있다. 전력계 운용 소프트웨어는 배터리의 충ㆍ방전을 효율적으로 관리해 3년의 임무 기간동안 위성체에 전력을 공급할 수 있도록 설계되어 있다

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.11
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• pp.4819-4823
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• 2016

Bckground: Adjuvant radiation therapy is commonly administered following breast-conserving surgery for breast cancer patients. Hypofractionated radiotherapy can significantly reduce the waiting time for radiotherapy, working load on machines, patient visits to radiotherapy departments and medical costs. Material/Methods: Fifty-two patients with operable breast cancer (pT1-3pN0M0) who underwent breast conservation surgery in Tehran Cancer Institute during January 2011 to January 2012, were randomly assigned to undergo radiotherapy in two arms (hypofractionated radiotherapy arm with 30 patients, dose 42.5 Gy in 16 fractions; and conventional radiotherapy arm with 22 patients, dose 50 Gy in 25 fractions). W compared these two groups in terms of overall survival, locoregional control, late skin complications and cosmetic results. Results: At a median follow-up of 52.4 months (range: 0-64 months), the follow-up rate was 82.6%. Overall, after 60 months, there was no detectable significant differences between groups regarding cosmetic results (p = 0.857), locoregional control or survival. Conclusions: The results confirm that hypofractionated radiotherapy with a subsequent boost is as effective as conventional radiotherapy, is well-tolerated and can be used as an alternative treatment method following breast conservation surgery.

• Child Health Nursing Research
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• v.14 no.2
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• pp.129-137
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• 2008

Purpose: To examine the effects on skin injury, pain, and anxiety when nurses and children simultaneous wash their hands before IV injections. Method: A nonequivalent control group, non-synchronized design study was used with 61 children. For a month and a half, children in the experimental group(30) following hand-washing guidelines, washed their hands with nurses before IV insertion. Anxiety and pain were observed and recorded during IV insertion using the Anxiety Reaction Scale and FACES pain scale. After 48-72 hours on IV therapy with an arm-board, skin condition was checked by a research assistant according to guidelines for assessing skin injury developed by the researcher. t-test, ${\chi}^2$-test, Pearson correlation, and Kendall's tau b were used to analyze data with the SPSS program. Results: Children who washed their hands with the nurse before IV insertion showed less pain (p =.021) and skin injury (p <.001) compared to the control group. Conclusion: This finding suggests that simultaneous hand washing by nurse and child before IV injection has a strong effect on skin injury caused by arm-boards used to maintain IV therapy as well as on pain during IV insertion. This program demonstrates an effective intervention to prevent skin injuries in children on IV therapy.