• 제어로봇시스템학회논문지
• /
• 제18권12호
• /
• pp.1106-1114
• /
• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 한국광학회지
• /
• 제9권2호
• /
• pp.59-62
• /
• 1998

일차원적 비균일 진폭변조가 광학계 MTF에 미치는 영향을 조사하였다. 시험평가 렌즈는 국산 유효경 10 mm, 초점거리 87.8 mm인 이중렌즈를 택하였다. 시험렌즈의 수차특성은 축상과 시계각 1.deg.와 2.deg.인 비축에 대해 각각 ray-fan과 파면수차를 계산하여 그림으로 도시하였다. 진폭변조는 시험렌즈 앞에 근접하여 진폭변조판을 위치함으로 이루어진다. 진폭변조판은 계단식으로 투과도가 다른 것과 선형적으로 투과도가 변하는 것을 사용하였다. 진폭변조하지 않았을 때 60 cycles/milimeter(c/mm)의 공간주파수에서 최대 MTF값을 가지는 상평면을 최적 상평면으로 결정하였다. 진폭변조의 경우와 변조하지 않은 경우에 대하여 MTF를 측정해서 그 값을 서로 비교하였다. 축상에서는 변조할 경우 MTF값이 변조하지 않은 경우에 비해 약간 저조하나 축외에서 변조할 경우에는 MTF 값이 시계각이 클수록 많이 증진되었다.

• 천문학회지
• /
• 제55권1호
• /
• pp.11-22
• /
• 2022

We introduce the Transformable Reflective Telescope (TRT) kit that applies an aluminum profile as a base plate for precise, stable, and lightweight optical system. It has been utilized for optical surface measurements, developing alignment and baffle systems, observing celestial objects, and various educational purposes through Research & Education projects. We upgraded the TRT kit using the aluminum profile and truss and isogrid structures for a high-end optical test device that can be used for prototyping of precision telescopes or satellite optical systems. Thanks to the substantial aluminum profile and lightweight design, mechanical deformation by self-weight is reduced to maximum 67.5 ㎛, which is an acceptable misalignment error compared to its tolerance limits. From the analysis results of non-linear vibration simulations, we have verified that the kit survives in harsh vibration environments. The primary mirror and secondary mirror modules are precisely aligned within 50 ㎛ positioning error using the high accuracy surface finished aluminum profile and optomechanical parts. The cross laser module helps to align the secondary mirror to fine-tune the optical system. The TRT kit with the precision aluminum mirror guarantees high quality optical performance of 5.53 ㎛ Full Width at Half Maximum (FWHM) at the field center.

• Earthquakes and Structures
• /
• 제19권1호
• /
• pp.45-57
• /
• 2020

This paper presents the experimental application of a new method for seismic vulnerability assessment of buildings recently introduced in literature, the SMAV (Seismic Model Ambient Vibration) methodology with reference to their operational limit state. The importance of this kind of evaluation arises from the civil protection necessity that some buildings, considered strategic for seismic emergency management, should retain their functionality also after a destructive earthquake. They do not suffer such damage as to compromise the operation within a framework of assessment of the overall capacity of the urban system. To this end, for the characterization of their operational vulnerability, a Structural Operational Index (IOPS) has been considered. In particular, the dynamic environmental vibrations of the two considered strategic buildings, the fire station and the town hall building of a small town in the South of Italy, have been monitored by positioning accelerometers in well-defined points. These measurements were processed through modern Operational Modal Analysis techniques (OMA) in order to identify natural frequencies and modal shapes. Once these parameters have been determined, the structural operational efficiency index of the buildings has been determined evaluating the seismic vulnerability of the strategic structures analyzed. his study aimed to develop a model to accurately predict the acceleration of structural systems during an earthquake.

• 제어로봇시스템학회논문지
• /
• 제20권8호
• /
• pp.875-881
• /
• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• 한국전자파학회논문지
• /
• 제19권2호
• /
• pp.138-144
• /
• 2008

본 논문에서는 GPS/DMB 수신기용 단일 급전 이중 대역 원형 편파 사각 패치 안테나를 제안한다. 제안된 안테나는 사각 패치면의 4 코너에 접힌 형태의 슬롯을 가지며, 패치면 중앙에 대각선 슬롯을 가지는 구조이다. 측정된 안테나의 -10 dB 임피던스 대역폭은 낮은 주파수 대역(GPS)에서 1.516 GHz$\sim$1.600 GHz로 84 MHz의 대역폭을 가지며, 높은 주파수 대역(DMB)에서 2.596 GHz$\sim$2.705 GHz로 109 MHz의 대역폭을 보였다. 또한, 측정된 최대 선형이득은 GPS 대역에 해당되는 1.575 GHz에서 6.23 dBi와 DMB 대역에 해당되는 2.642 GHz에서 6.97 dBi로 나타났다.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
• /
• pp.124-131
• /
• 2000

In this study, the NEURAL NETWORK (hereinafter referred to as NN) was applied to control of the nonlinear factors for turning movement of the crawler vehicle and experiment was carried out using a small model of crawler vehicle in order to inspect an application of NN. Furthermore, CHAOS NEURAL NETWORK (hereinafter referred to as CNN) was also applied to this control so as to compare with conventional NN. CNN is especially effective for plane in many variables with local minimum which conventional NN is apt to fall into, and it is relatively useful to nonlinear factors. Experiment of turning on the slope of crawler vehicle was performed in order to estimate an adaptability of nonlinear problems by NN and CNN. The inclination angles of the road surface which the vehicles travel on, were respectively 4deg, 8deg, 12deg. These field conditions were selected by the object for changing nonlinear magnitude in turning phenomenon of vehicle. Learning of NN and CNN was carried out by referring to positioning data obtained from measurement at every 15deg in turning. After learning, the sampling data at every 15deg were interpolated based on the constructed learning system of NN and CNN. Learning and simulation programs of NN and CNN were made by C language ("Association of research for algorithm of calculating machine (1992)"). As a result, conventional NN and CNN were available for interpolation of sampling data. Moreover, when nonlinear intensity is not so large under the field condition of small slope, interpolation performance of CNN was a little not so better than NN. However, when nonlinear intensity is large under the field condition of large slope, interpolation performance of CNN was relatively better than NN.

• 대한치과의사협회지
• /
• 제22권7호통권182호
• /
• pp.607-620
• /
• 1984

Mandibular Kinesiograph (MKG-5R)으로부터 얻어지는 자료의 유효성에 관한 연구를 위하여 비철, 비자석성의 기구를 이용해서 3cm×4cm×5cm의 4차원적 입체공간내에서 수행하였다. Kinesiograph로 부터의 직접 얻어지는 자료(관찰치)와 실제 움직인 거리(실제치)간의 관계를 먼저 보기위해 Scatter plot과 Correlation이 연구됐다. 그러나 최종의 목표는 어떤 형태의 공식을 만들어 이것으로 Kinesiograph관찰치를 이용, 실제치를 알도록 하는 것이었으므로 관찰치의 통계학적 회귀분석이 수행되었다. 통계분석의 결과는 Kinesiograph 관찰치와 실제치 간의 강한 상관관계를 보였다. 그러나 높은 상관계수가 반드시 얻어진 선형모형의 완벽한 예측성을 의미하는 것은 아니다. 이 연구로부터 얻어진 선형모형이 실제치를 모두 완벽하게 예측할수는 없었다. 그 이유로서는 종속변수(실제치)의 불연속성과 관찰치(비종속변수) 상호간의 독랩성 때문이다. 결론적으로 Kinesiograph가 어떤 형태로든 적절한 방법에 의해 수정이 있지 않으면 그 계통자체내에 내재하는 비선형적 특성 때문에 그 이용이 하악운동의 제한된 범위내에만 적용될 수 있다.

• Spatial Information Research
• /
• 제19권6호
• /
• pp.111-121
• /
• 2011

본 논문은 GIS를 기반으로 도시 무선 통신환경에서 지형 공간 요소를 활용하고, 전파 손실에 영향을 미치는 대표 간섭 요인을 고려한 무선 센서노드 배치 알고리즘을 제안하였다. 먼저, 경기도 고양시 일산의 주요 도로에서 전파 손실 실험을 수행하고, 얻어진 실험 결과는 지리정보 시스템으로 부터 추출 가능한 주변 환경 정보와의 상관관계를 정의하였다. 다음으로, 이의 활용을 통해 무선 센서노드의 무선 커버리지 결정 및 배치 시스템 구현에 필요한 세부 동작에 대해 기술하였다. 그 결과, 전파에 영향을 많이 미치는 건물이나 도로의 선형 구조의 반영을 통해, 5dB 이하의 오류 수준으로 경로손실을 평가할 수 있었다. 그리고 이를 기반으로 센서노드 배치를 보정할 수 있는 방법을 제시하였다.

• Smart Structures and Systems
• /
• 제30권5호
• /
• pp.521-535
• /
• 2022

Efficient management of deteriorating civil infrastructure is one of the most important research topics in many developed countries. In particular, the remote displacement measurement of bridges using linear variable differential transformers, global positioning systems, laser Doppler vibrometers, and computer vision technologies has been attempted extensively. This paper proposes a remote displacement measurement system using closed-circuit televisions (CCTVs) and a computer-vision-based method for in-situ bridge bearings having relatively large displacement due to temperature change in long term. The hardware of the system is composed of a reference target for displacement measurement, a CCTV to capture target images, a gateway to transmit images via a mobile network, and a central server to store and process transmitted images. The usage of CCTV capable of night vision capture and wireless data communication enable long-term 24-hour monitoring on wide range of bridge area. The computer vision algorithm to estimate displacement from the images involves image preprocessing for enhancing the circular features of the target, circular Hough transformation for detecting circles on the target in the whole field-of-view (FOV), and homography transformation for converting the movement of the target in the images into an actual expansion displacement. The simple target design and robust circle detection algorithm help to measure displacement using target images where the targets are far apart from each other. The proposed system is installed at the Tancheon Overpass located in Seoul, and field experiments are performed to evaluate the accuracy of circle detection and displacement measurements. The circle detection accuracy is evaluated using 28,542 images captured from 71 CCTVs installed at the testbed, and only 48 images (0.168%) fail to detect the circles on the target because of subpar imaging conditions. The accuracy of displacement measurement is evaluated using images captured for 17 days from three CCTVs; the average and root-mean-square errors are 0.10 and 0.131 mm, respectively, compared with a similar displacement measurement. The long-term operation of the system, as evaluated using 8-month data, shows high accuracy and stability of the proposed system.