• Journal of Biosystems Engineering
• /
• v.40 no.1
• /
• pp.28-34
• /
• 2015

Purpose: This study aimed to install an RTK-GPS (Real Time Kinematic-Global Positioning System) and IMU (Inertial Measurement Unit) on a tractor used in a farm to measure positions, pasture topography, posture angles, and vibration accelerations, translate the information into maps using the GIS, analyze the characteristics of grass harvesting work, and establish new technologies and construction standards for pasture infrastructure improvement based on the analyzed data. Method: Tractor's roll, pitch, and yaw angles and vibration accelerations along the three axes during grass harvesting were measured and a GIS map prepared from the data. A VRS/RTK-GPS (MS750, Trimble, USA) tractor position measuring system and an IMU (JCS-7401A, JAE, JAPAN) tractor vibration acceleration measuring systems were mounted on top of a tractor and below the operator's seat to obtain acceleration in the direction of progression, transverse acceleration, and vertical acceleration at 10Hz. In addition, information on regions with bad workability was obtained from an operator performing grass harvesting and compared with information on changes in tractor posture angles and vibration acceleration. Results: Roll and pitch angles based on the y-axis, the direction of forward movements of tractor coordinate systems, changed by at least $9-13^{\circ}$ and $8-11^{\circ}$ respectively, leading to changes in working postures in the central and northern parts of the pasture that were designated as regions with bad workability during grass harvesting. These changes were larger than those in other regions. The synthesized vectors of the vibration accelerations along the y-axis, the x-axis (transverse direction), and the z-axis (vertical direction) were higher in the central and northwestern parts of the pasture at 3.0-4.5 m/s2 compared with other regions. Conclusions: The GIS map developed using information on posture angles and vibration accelerations by position in the pasture is considered sufficiently utilizable as data for selection of construction locations for pasture infrastructure improvement.

• Journal of the Ergonomics Society of Korea
• /
• v.7 no.1
• /
• pp.31-37
• /
• 1988

This paper designs, in the teleoperation task, the world coordinate system by the functional analysis of each of the robot joint so that the human operator performs easily the task. Also, it constructs the heuristic rules of the equal motion line coordinates for the position and the posture control of the robot within the knowledge base so that the robot hand reaches-possibly in any position of the robot's work space. As shown in the result of the experiments. the coordinate reading is easy because the work station is displayed to the high resolution by using the superimposer of the motion analysing computer system. Also. the task burden of the human operator reduces and the error recovery time reduces because the coordinates of the object is obtained just by touch using the digitizer.

• Journal of Veterinary Clinics
• /
• v.29 no.1
• /
• pp.112-117
• /
• 2012

This report evaluated the convenience and accessibility of a penile translocation surgery in the lateral recumbency of a calf using a tilt-up mobile compared with that of dorsal recumbency on the ground of a barn. One nine-month-old F-1 (Korean native sire x Holstein dam) calf was sedated with xylazine (0.03 mg/kg, IV) and restrained in the right lateral recumbency position on a tilt-up restraint mobile (90 cm high), whereas the other nine-month-old Korean native calf was administered xylazine (0.3 mg/kg, IV) and restrained in dorsal recumbency position on the ground of a barn, with assistance by one person. For the two calves, lidocaine was administered subcutaneously from the preputial orifice to the S-shaped penis. The preputial orifice was incised, and the preputial sheath and penis were separated bluntly, then laterally translocated to the site toward the left flank at a $40^{\circ}$ angle. Anti-inflammatory drug (ketoprofen) and antibiotics (penicillin) were administered following the surgery. The duration of surgery was 30 min shorter in the calf that received the surgery in lateral recumbency using the tilt-up mobile with operator's standing posture (60 min) than the one that underwent surgery in dorsal recumbency on the ground with operator's bending posture (90 min). One week after the surgery, the operation area, including the translocated preputial orifice, was healed without complications in both cases. The results detailed in this report demonstrate that penile translocation surgery in the lateral recumbency position using a tilt-up mobile might be used conveniently in calves due to the convenience of restraint, reduced surgery time, and reduced physical inconvenience for the surgeon.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.22 no.1
• /
• pp.115-125
• /
• 2023

This paper relates to the development of CCTV camera posture calibration algorithm that can simultaneously collect traffic information such as traffic volume and speed in the state of view of the CCTV camera set for traffic monitoring. The developed autonomous posture calibration algorithm uses vehicle recognition and tracking techniques to identify the road, and automatically determines the angle of view for the operator's traffic surveillance and traffic information collection. To verify the performance of the proposed algorithm, a CCTV installed on site was used, and the results of the angle of view automatically calculated by the autonomous posture calibration algorithm for the angle of view set for traffic surveillance and traffic information collection were compared.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.41 no.4
• /
• pp.42-49
• /
• 2018

Pilot Aptitude Research Equipment (PARE) is a simulator developed to measure or research pilot aptitude and train for student pilots. Design of an ergonomic PARE operation console is required to operate the equipment effectively. This study carried out five steps : (S1) operator questionnaire survey, (S2) anthropometric design formula development, (S3) usability evaluation, (S4) improvement design, and (S5) validation considering both Physical User Interface (PUI) and Graphic User Interface (GUI) of PARE operation console. The operator questionnaire surveyed needs for each PUI and GUI part of the console from two PARE actual operators. In terms of PUI, the anthropometric design formula was developed by using design variables, body dimensions, target population characteristics, and reference posture related to the PARE console. In terms of GUI, the usability evaluation was conducted by three usability testing experts with a 7-point scale (1 : very low, 4 : neutral, 7 : very high) on GUI of the PARE operation console by seven usability criteria. The improved PARE operation console was designed to reflect the optimal values of design variables calculated from design formula, the results from usability testing, and the operator's needs. The improvement effect was observed by 20 people who had experience with the PARE operation console. As a result of the validation, monitor visibility and cockpit visibility for the improved PUI design and visibility and efficiency for the improved GUI design were significantly increased by more than 90% respectively. The improved design of the PARE operation console in this study can contribute to enhance operation performance of the PARE.

• Journal of the Korea Convergence Society
• /
• v.9 no.11
• /
• pp.209-216
• /
• 2018

This study aimed to investigate the association of the muscle activity around the neck of the operator(dental hygienists') according to the change in the patient's neck angle during a direct visual inspection on the maxillary right-side molar palatal surface. The operators were $4^{th}$ year dental hygiene students, who are future dentalhy gienists, having accurate understanding on and awareness of the location of the operation site, hand fixation, and how to use the tools. Data on the change in the muscle activity around the neck were collected by using surface electromyography and neck goniometer. SPSS statistics 20 was used for statistical analyses including Shapiro-wilk test and one-way ANOVA. As a result, the activities of the operator upper trapezius, cervical erector spinae, and levator scapulae muscles significantly decreased when the patient's head was angled compared to when it was not. For the angle of the operator head, the head bend significantly decreased when the patient's head was angled than when it was not. Based on the study results, it is expected that angling the patient's head when treating his or her teeth will decrease the excessive muscle activity around the neck of the operator, and will reduce muscle fatigue. Therefore, angling the head of the patient while treating his or her teeth is recommended. This suggests that muscle pain caused by repetitive actions in the wrong posture can be reduced.

• Journal of Biosystems Engineering
• /
• v.34 no.2
• /
• pp.120-126
• /
• 2009

The purpose of this study was to develop a visibility evaluation system for cabin type combine. Human's field of view was classified into five levels (perceptive, effective, stable gaze, induced, and auxiliary) depending on rotation of human's head and eye. Divider, reaper lever, gearshift, dashboard, and conveying part were considered as major viewpoints of combine. Visibilities of combine was evaluated quantitatively using the viewpoints and the human's field of view levels. The visibility evaluation system for cabin type combine was consisted of a laser pointer, stepping motors to control the direction of view, gyro sensors to measure horizontal and vertical angle, and I/O interface to acquire the signals. Tests were conducted with different postures ('sitting straight', 'sitting with $15^{\circ}$ tilt', 'standing straight', and 'standing with $15^{\circ}$ tilt'). The LSD (least significant difference) multiple comparison tests showed that the visibilities of viewpoints were different significantly as the operator's postures were changed. The results showed that the posture at standing with $15^{\circ}$ tilt provided the best visibility for operators. The divider of the combine was invisible due to blocking with the cabin frame at many postures. The reaper lever showed good visibilities at the postures of sitting or standing with $15^{\circ}$ tilt. The gearshift, the dashboard, and the conveying part had reasonable visibilities at the posture of sitting with $15^{\circ}$ tilt. However, most viewpoints of the combine were out of the stable gaze field of view level. Modifications of the combine design will be required to enhance the visibility during harvesting operation for farmers' safety and convenience.

• Journal of the Ergonomics Society of Korea
• /
• v.8 no.2
• /
• pp.19-26
• /
• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.382-387
• /
• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.11b
• /
• pp.152-155
• /
• 2002

An industrial robot noise has various noise sources such as gears, motors, bearings, and controller fans. Among these, gears are the most dominant source for noise. The gear noise, caused by tooth profile, elastic deformation, machining error and wear, is directly correlated with the transmission error of mating gear. Due to the fact that has several axis and many gears, it is difficult to understand the characteristics of the vibration and noise of robots. In this study, some advanced analysis techniques based on digital signal processing such as power spectrum, time spectral map, RPM map, and etc., were applied for locating the dominant frequency components of the robot noises and identifying their sources. In addition, sound quality analysis was performed in order to evaluate the operator's annoyance. The noise and vibration measurements were carried out at several points during the operation of each axis considering the effect of load and posture of the robot. Eased on the results, proper countermeasures to reduce excessive noise level have been suggested considering the characteristics of sources.