• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.222-228
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• 2003

Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.431-431
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• 2023

In recent decades, the socio-hydrology community has developed several socio-hydrological frameworks to understand the complexity of the coupled human-water system. Although there have been efforts to relate sociology and hydrology, there still have been some insights that remain debatable. As for this study, the Value-belief-norm theory was used to represent the human behavior in order to connect the human-water system. The theoretical framework of values, beliefs and norms was developed to understand the human culture towards the environment. In addition to the theory, norms are legislation of human behavior in the society while the values are the guiding principle to motivate beliefs and norms. The overview of this study implied on developing a socio-hydrological model consisting of the four systems defined as hydrology, socio-economy, technology and institutional. The interconnectors between the four systems are the key variables and parameters representing a module namely the causal loop diagram. Moreover, water quality, size of population, infrastructure capacity and norms are the key variables to connect the four systems. The developed model will be applied to Han River to represent the coevolutionary of the dynamics of human-water systems.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.302-307
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• 2006

The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

• Journal of The Korean Society For Urban Railway
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• v.6 no.4
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• pp.287-298
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• 2018

This research is intended to understand and make practical suggestions on various aspects of the railroad traffic controllers focusing on railroad control of the railroad safety management system's technical standards. The method of analysis is using the causal loop diagram, which is the soft method of System Dynamics. Content of analysis is about the system. 11.7 of the work of the railroad control system. In addition, we compared and analyzed railroad controllers by four railroad operators, suggesting the importance of railroad control and future practical improvement plans.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.575-579
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• 2005

In this paper, the development of an IMM(Injection Molding Machine) controller is discussed. Presently, the Mold Close and Open Control Method of a toggle-type IMM is open-loop control. Through the development, a PC based control system was built instead of an existing controller and a closed-loop control replaced the previous control method by using PC based PLC. To control the nonlinear system of toggle type clamping unit, a fuzzy PI control algorithm was selected and it was programmed by an IL(Instruction List) and a LD(Ladder Diagram) on a PC based PLC. The application of fuzzy algorithm as the control method was also considered to change a control object like a mold replacement or an additional apparatus. For the development of an IMM controller, PC based PLC of PCI card type, distributed I/O modules with CANopen and Industrial PC and HMI (Human Machine Interface) software were used.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.4
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• pp.16-23
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• 2009

Driving simulators are useful tools not only to test the components of future cars but also to evaluate the telematics service and HMI (Human-Machine Interface). However driving simulators cannot be implemented to test and evaluate the telematics service system because the GPS (Global Positioning System) which contains basic functional support for the telematics module do not work in the VR (virtual reality) environment. This paper presents a method to implement telematics service to a driving simulator by developing the GPS simulator which is able to emulate GPS satellite signals consist of NMEA-0183 protocol and RS232C communication standards. It is expected that the driving simulator with the GPS simulator can be used to study HMI and human-factor evaluations of the commercial telematics system to realize the HiLES (Human-in-the-Loop Evaluation System).

• Proceedings of the Korean Biophysical Society Conference
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• 2003.06a
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• pp.69-69
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• 2003

Human CD99 is a ubiquitous 32-kDa transmembrane protein encoded by the mic2 gene. The major cellular functions of CD99 protein are related to homotypic cell adhension, apoptosis, vesicular protein transport, and differentiation of thymocytes or T cells. Recently it has been reported that expression of a splice variant of CD99 transmembrane protein (Type I and Type II) increases invasive ability of human breast cancer cells. To understand structural basis for cellular functions of CD99 (Type I), we have initiated studies on hCD99$^{TMcytoI}$ and hCD99$^{cytoI}$ using circular dichroism (CD) and multi-dimensional NMR spectroscopy. CD spectrum of hCD99$^{TMcytoI}$ in the presence of 200mM DPC and CHAPS displayed an existence $\alpha$-helical conformation. The solution structure of hCD99$^{cytoI}$ determined by NMR is composed of one N-terminal $\alpha$-helix, $\alpha$A, two C-terminal short $\alpha$-helix segments, $\alpha$B and $\alpha$C. While $\alpha$A and $\alpha$B are connected by the long flexible loop, $\alpha$B and $\alpha$C connected by type III$\beta$-turn. Although it has been rarely figured out the correlation between structure and functional mechanism of hCD99$^{TMcytoI}$ and hCD99$^{cytoI}$, there is possibility of dimerization or oligomerization. In addition, the feasible mechanism of hCD99$^{cytoI}$ is that it could have intramolecular interaction between the N- and C- terminal domain through large flexible AB loop.

• Investigative Magnetic Resonance Imaging
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• v.16 no.2
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• pp.103-114
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• 2012

Purpose : In an attempt to further improve the radiofrequency (RF) magnetic ($B_1$) field strength in temporomandibular joint (TMJ) imaging, a 4-channel spiral-loop coil array with RF circuitry was designed and compared with a 4-channel single-loop coil array in terms of $B_1$ field, RF transmit (${B_1}^+$), signal-to-noise ratio (SNR), and applicability to TMJ imaging in 7T MRI. Materials and Methods: The single- and 4-channel spiral-loop coil arrays were constructed based on the electromagnetic (EM) simulation for the investigation of $B_1$ field. To evaluate the computer simulation results, the $B_1$ field and ${B_1}^+$ maps were measured in 7T. Results: In the EM simulation result and MRI study at 7T, the 4-channel spiral-loop coil array found a superior $B_1$ performance and a higher ${B_1}^+$ profile inside the human head as well as a slightly better SNR than the 4-channel single-loop coil array. Conclusion: Although $B_1$ fields are produced under the influence of the dielectric properties of the subject rather than the coil configuration alone at 7T, each RF coil exhibited not only special but also specific characteristics that could make it suited for specific application such as TMJ imaging.