• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• 한국기계가공학회지
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• 제21권3호
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• pp.56-62
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• 2022

The tank engine clutch flange constitutes a tank on which the engine and transmission of the tank are mounted. The engine clutch flange is fabricated using a difficult-to-cut material that exhibits high strength and hardness. It is difficult to process and requires considerable processing expertise. In addition, the engine clutch flange for the tank requires high machining precision because it is a system in which the connection is detachable. Because it requires high processing precision, the measurement of products equally important as processing. However, productivity is low owing to the significant amount of time required to measure each product using a three-dimensional coordinate measuring machine. Hence, this study is conducted to improve the productivity of the female tank engine clutch flange. Dedicated hobs and jigs are designed and manufactured to convert the existing end-mill cutting processing into hobbing cutting processing. An engine clutch for the tanks is manufactured using the manufactured dedicated hob and jig, and the shortening time is verified by measuring the processing time. In addition, a jig for inspection is designed and manufactured to measure the precision of the product. To verify the inspected product, the product precision is measured using a contact-type three-dimensional coordinate measuring machine and a surface roughness measuring instrument. The study confirmed that the productivity of the engine clutch flange product for tanks can be improved by simplifying the process, reducing the processing time, and simplifying product inspection.

• 대한지구과학교육학회지
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• 제5권2호
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• pp.139-147
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• 2012

The purpose of this study was to explain how extraordinary the scientific technology or our ancestor was from the modern perspective by remodeling the most unique astronomical instrument, So-ganui (小簡儀), developed in the Sejong Period (世宗時代) after being examined with contemporary and the principles of the science and observational technology would be properly understood and measured directly. When measuring the altitude of the sun and azimuth using So-ganui, it was adjusted with the horizontal coordinate system and measured using Jipyeonghwan (地平環), Ipeunhwan (立運環) and Guyhyeong (窺衡). Based such measuring principles, the measurement accuracy proposed using So-ganui are as follows. The remodeled So-ganui produced approximately ${\pm}0.29$ degrees error on average at high altitude while in measuring the azimuth degrees, there was difference of ${\pm}0.35$ degrees. Since the theoretically, the measurement error for So-ganui was ${\pm}0.5$ degrees, the remodeled So-ganui could accurately measure at the high altitude compared to So-ganui from the Sejong period. In the study, So-ganui, which has disappeared, has been remodeled in modern perspective to be used as the educational material to accurately understand the principles of science and measurement technology from the Sejong period. The findings could contribute to raising the reputation in the astronomical observations from the documents from the Sejong period. Furthermore, this study has materialized the celestial and sky our ancestors have viewed with the observational principles of their times, on the computer screen via a webcam, bringing out interest in the traditional science for the students.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.505-519
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• 2005

In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.

• 한국지리정보학회지
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• 제19권1호
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• pp.53-63
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• 2016

본 논문은 측량 산업 현장에서 다양하고 고도화된 측량장비에 대한 법제도 개선의 필요성에 따라 측량장비 성능검사 규정, 기준, 방법 및 절차 등에 대하여 개선사항을 제시하고자 하였다. 연구수행은 우선 측량장비 성능검사와 관련하여 기존 법제도(공간정보의 구축 및 관리 등에 관한 법률, 국가표준기본법, ISO 17123, JIS B 7912)를 조사 분석하고 국제표준화기구 및 한국인정기구 표준조사를 통해 측량장비 성능검사 적용을 위한 개선사항을 제시하였다. 구체적으로 말하면 첫째, 측량장비 성능검사 주기와 관련하여 기기의 정밀정확도, 안정성, 사용목적 및 사용빈도 등을 감안하여 2년을 제시하였다. 둘째, 측량장비 성능기준 개선과 관련하여서는 광파거리측정기 및 토털스테이션에 대해 등급별 측정거리 폐지와 단일프리즘 기준의 정밀도 상향 또는 등급 간 조정을 제시하였다. 셋째, 측량장비 성능검사 방법 개선으로 토털스테이션의 경우 그 주된 기능이 3차원 좌표측정에 있으므로 좌표측정의 정밀도(반복성)을 평가방법으로 사용하는 것을 제안하였다.

• 대한의용생체공학회:의공학회지
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• 제37권3호
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• 한국수자원학회논문집
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• 제41권8호
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• pp.855-862
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• 2008

표면 영상 유속계(SIV, Surface Image Velocimetry)는 영상 처리 기술을 이용하여 수표면의 유속을 측정하는 장비이다. 유속 측정의 정밀도를 높이기 위해서는 화질이 좋고, 왜곡이 적은 영상을 획득하는 것이 매우 중요하다. 트럭에 장착된 기중기를 이용하는 차량탑재형 표면 영상 유속계는 왜곡이 적은 영상을 얻는 좋은 방법이 될 수 있다. 이 때, 기중기의 흔들림 때문에 획득된 영상이 흔들리는 문제가 발생하며, 영상의 흔들림을 보정하여 유속을 측정할 수 있는 영상 처리 알고리듬이 필요하게 된다. 본 연구에서는 영상 분석 기법과 좌표 변환 기법, 유속 산정 기법 등을 조합하여 흔들리는 영상에서 표면 유속을 측정하는 기법을 개발하였다. 즉, 비디오 카메라로 촬영된 연속 영상에서 고정점들의 움직임을 추적하여 카메라의 위치 변동을 파악한다. 영상 분석에서 구한 격자점의 속도에서 고정점의 속도를 빼서, 격자점의 유속장을 산정하였다. 개발된 기법의 검증을 위해서 실험 수로에서 동일한 흐름에 대해 흔들리지 않은 영상과 흔들리는 영상의 두 가지 영상을 만들고, 흔들림이 없는 영상의 처리 결과를 기준으로 삼아, 흔들림이 있는 영상의 처리 결과를 검토하였다. 그 결과, 흔들림이 지나치게 커서 참조점들의 추적이 불가능한 경우를 제외하고는 두 자료의 처리 결과는 거의 동일하였으며, 유속 측정의 오차는 약 6 % 내외로 나타났다.

• 한국지구과학회지
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• 제32권7호
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• pp.902-912
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• 2011

본 연구는 고등학교 천체관측 관련 개념 검사지를 개발하여 지식상태 분석법으로 천체관측 개념의 위계와 개별 학습자의 지식상태를 분석하였고, 이에 따른 교수-학습 효과를 알아 보았다. 학습자가 갖고 있는 천체관측 관련 개념의 심리적 위계는 '지구운동 ${\rightarrow}$천구좌표계 ${\rightarrow}$천체관측(망원경 원리 ${\rightarrow}$망원경 설치 ${\rightarrow}$망원경 관측)' 순이었으며, 교수 위계(70.8%)도 같은 순 이었다. 개념 검사에서 같은 점수를 획득하여 천체관측 능력이 비슷할 것으로 추정되는 학습자의 지식상태가 서로 다르게 나타났다. 지식상태의 구조화가 잘 이루어진 경우와 그렇지 못한 사례가 있었는데, 이는 서로다른 교수-학습 처방이 이루어져야 함을 시사한다. 즉, 지식상태 분석을 통하여 학습자의 개별화 학습 처방과 형성평가의 역할을 할 수 있다. 지구과학I의 천체관측 단원에서 교과서의 내용 제시 순서 보다 학습자의 심리적 위계에 따라 수업한 경우가 개념의 성취도 수준에서 유의미(p<0.05)하게 더 높았다. 이는 교사들이 천체관측 관련 개념을 지도할 때, 교육과정을 토대로 학습자의 지식상태를 파악하여 교과서의 학습 내용을 재순서화 함으로써 더 효과적인 학습이 이루어질 수 있음을 보여준다.

• 한국농공학회지
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• 제8권1호
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• pp.1011-1034
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• 1966

This thesis is the final report which has long been studied by the author to obtain the design basis for various hydrological constructions with the specific system suitable to the natural environmental conditions in Korea. This report is divided into two parts: one is to estimate runoff volume from watersheds and the other to estimate the peak discharge for a single storm. According to the result of observed runoff record from watersheds, it is known that Kajiyama formula is useful instrument in estimating runoff volume from watersheds in this country. But it has been found that this formula shows us 20-30% less than the actual flow. Therefore, when wihed to bring a better result, the watershed characteristics coefficient in this formula, that is, f-value, should be corrected to 0.5-0.8. As for the method to estimate peak discharge from drainage basin, the author proposes to classify it in two ways; one is small size watershed and the other large size watershed. The maximum -flood discharge rate $Q_p$ and time to peak Pt obtained from the observed record on the small size watershed are compared by various methods and formulas which are based upon the modern hydrological knowledge. But it was fou.d that it. was not a satisfied result. Therefore, the author proposes. tocomputate $Q_p$, to present 4.0-5.0% for the total runoff volume ${\Sigma}Q$.${\Sigma}Q$ is computed under the assumption of 30mm 103s in watershed per day and to change the theoritical total flow volume to one hour dura tion total flow rate when design daily storm is given. Time to peak Pt is derived from three parameters which are u,w,k. These are computed by relationship between total runoff volume (ha-m unit)and $Q_p$. (C.M.S. unit). Finally, the author checked out these results obtained from 51 hydrographs and got a satisfied result. Therefore the author suggested the model of design dimensionless unit-hydrograph. And the author believes that this model will be much available at none runoff record river site. In the large size watersheds in Korea when the maximum discharge occurs, the effective rainfall is two consequtive stormy days. So the loss in watershed was assutned as 6Omm/2days,and the author proposed 3-hour-daration hydrograph flow distribution percentage. This distribution percentage will be sure to form the hydrograph coordinate.