• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 추계학술대회논문집
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• pp.393-397
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• 1997

본 연구에서는 손동작(Hand Motion)과 수작업(Manual Task) 분석에 VR환경에서 사용되는 각도 측정 장갑(3-D Glove)을 이용하는 방법을 제안하였다. 본 연구에서 개발된 손동작(Hand Motion)과 수작업(Manual Task)의 분석 시스템은 18-sensor $Cyberglove^{TM}$정 시스템으로부터 측정된 angle data를 기초로 손동작이나 수작업에 대한 totalmuscle moment값과 total muscle excursion값을 구하고, digit와 joint의 moment값을 X,Y.Z방향별고 구하는 기능을 가지고 있다. 시스템의 구성은 : (1) $Cyberglove^{TM}$ System과 분석 시스템의 digital data 처리를 기반으로 하는 손동작의 측정 시스템 ; (2) $Cyberglove^{TM}$ System에서 얻어진 자료를 바탕으로 3차원 공간에서 손동작을 표현할 수 있는 Kinematic Hand Model ; (3) Hand Model과 $Cyberglove^{TM}$ Systme을 기반으로 3차원에서 손동작의 역학적 분석을 할 수 있는 3-D Hand Biomechanical Model ; 등으로 되어있다. 본 시스템은 Telerobotics, Medicine, Virtual Reality 등 다양한 분야에 응용이 가능하며, 수작업에 관련되는 Product Design, Manual Control Device, Computer I/O Device의 설계에도 도움이 될 것으로 기대된다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 춘계학술대회
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• pp.349-354
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• 2011

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• 한국정밀공학회지
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• 제15권11호
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• ETRI Journal
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• 제45권3호
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• pp.479-491
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• 2023

The automation of agricultural machines is an irreversible trend considering the demand for improved productivity and lack of labor in handling agricultural tasks. Unstructured working environments and weather often inhibit a seemingly simple task from being fully autonomously performed. In this context, we propose a remote driving system (RDS) to aid agricultural machines designed to operate autonomously. Particularly, we modify a commercial speed sprayer for orchard environments into a robotic speed sprayer to evaluate the proposed RDS's usability and test three sensor configurations in terms of human performance. Furthermore, we propose a confidence error ellipsebased task performance measure to evaluate human performance. In addition, we present field experimental results describing how the sensor configurations affect human performance. We find that a combination of a semiautonomous line tracking device and a wide-angle camera is the most effective for spraying. Finally, we discuss how to improve the proposed RDS in terms of usability and obtain a more accurate measure of human performance.

• 한국자동차공학회논문집
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• 제21권5호
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• pp.121-129
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• 2013

To find a healthy driving posture, in this study, survey and empirical analysis given onto measurement of car-seat angle has been performed. Among 153 male respondents, those drivers who has minimum 5 year experience and 2 hours daily driving has been selected by a multiple screening process. They were further confirmed to have no discomfort history in any body region caused by the driving task. Final 44 people verified that their actual driving posture is not significantly different (p = 0.692) from healthy one they think. And their data, accordingly, the healthy driving postures are clustered based on the same seat-cushion angle, seat-back angle and trunk-thigh angle. Consequently, three seat-angles of the 44 subjects showed a significant difference only with their height information which is the most effecting factor on driving posture among the physical characteristics. That is a first result categorized healthy driving posture classified physical, if it were departmentalized into additional study, could be able to reflected a factor of "healthy" on car seat design.

• Radiation Oncology Journal
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• 제33권1호
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• pp.42-49
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• 2015

Purpose: In order to keep the acceptable level of the radiation oncology linear accelerators, it is necessary to apply a reliable quality assurance (QA) program. Materials and Methods: The QA protocols, published by authoritative organizations, such as the American Association of Physicists in Medicine (AAPM), determine the quality control (QC) tests which should be performed on the medical linear accelerators and the threshold levels for each test. The purpose of this study is to increase the accuracy and precision of the selected QC tests in order to increase the quality of treatment and also increase the speed of the tests to convince the crowded centers to start a reliable QA program. A new method has been developed for two of the QC tests; optical distance indicator (ODI) QC test as a daily test and gantry angle QC test as a monthly test. This method uses an image processing approach utilizing the snapshots taken by the CCD camera to measure the source to surface distance (SSD) and gantry angle. Results: The new method of ODI QC test has an accuracy of 99.95% with a standard deviation of 0.061 cm and the new method for gantry angle QC has a precision of $0.43^{\circ}$. The automated proposed method which is used for both ODI and gantry angle QC tests, contains highly accurate and precise results which are objective and the human-caused errors have no effect on the results. Conclusion: The results show that they are in the acceptable range for both of the QC tests, according to AAPM task group 142.

• The Journal of Korean Physical Therapy
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• 제30권2호
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• pp.47-53
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• 2018

Purpose: To find the effect of visual feedback of head angle with using a mobile posture-aware system on craniocervical angle and neck and shoulder muscles fatigue for preventing or decreasing the forward head posture. Methods: Twenty-four healthy young adults in Chungbuk to participate in this study. The subjects started to watch a movie clip for 10 minutes with visual feedback in $0^{\circ}$, $30^{\circ}$, and $60^{\circ}$ of head angles. During the task, surface electromyography (EMG) was used to collect data from the upper trapezius (UT), sternocleidomasetoid muscle (SCM), cervical erecter spinae (CES) during watching the smartphone. Craniocervical angles were measured using a sagittal-view photograph of the subject in a sitting posture. A one-way repeated analysis of variance with a significant level of 0.05 used for statistical analysis. Results: Craniocervical angle with $0^{\circ}$ visual feedback was significantly greater than $30^{\circ}$ and $60^{\circ}$. Craniocervical angle with $30^{\circ}$ visual feedback was significantly greater than $60^{\circ}$. In addition, MDF of UT muscles in $0^{\circ}$ and $30^{\circ}$ of visual feedback was significantly greater than $60^{\circ}$. Conclusion: We concluded that $0^{\circ}$ visual feedback of head angle with using a mobile posture-aware system would be beneficial to prevent or decrease forward head posture during watching a smartphone. We also could recommend using of $30^{\circ}$ visual feedback in case of caring UT muscle fatigue primarily.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1729-1734
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• 2005

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronic design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated. The result shows that the intelligent gantry crane system designed based on the mechatronic design approach has better performance compared with the automatic gantry crane system controlled by classical PID controllers. Moreover simulation result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

• 산업경영시스템학회지
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• 제25권4호
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• pp.46-53
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• 2002

Push-pull strength has been found to be associated with various work factors such as height, distance, repetition, duration, posture and individual factors. Therefore, this study was performed to investigate the effect of various work factors on push-pull strength and muscle recruitment pattern. Work factors were consisted of grip height(elbow, shoulder), grip distance(100%, 50%, and 25% of maximum grip distance) and shoulder angle(neutral($90^{\cire}$), and abduction($45^{\cire}$, $0^{\cire}$)) during sitting work. The results showed that the normalized strength and EMG value were higher at the elbow height than the shoulder height, and increased with grip distance and shoulder adduction. The results of ANOVA showed that there was significant difference on muscle recruitment patterns among the task conditions. Therefore, it is necessary to consider work factors as well as strength to prevent workers from work-related injuries.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1990년도 춘계공동학술대회논문집; 한국과학기술원; 28 Apr. 1990
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• pp.151-162
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• 1990

Occupational disease among typists such as Carpal Tunnel Syndrome(CTS) and tendonitis has increased along with rapid expansion of office automation. During typing, the posture can be defined as forearm pronation, ulnar abduction, wrist extension and finger flexion. The CTS results from awkward posture between forearm-wrist-hand and the keyboard arrangement. Therefore, ergonomic principles should be emphasized in keyboard design. The objective of the study is to improve keyboard design by analyzing anatomical posture of forearm and hand during typing. An experimental study was performed to investigate relationships between a keyboard and typing performance. Results showed that typing performance is dependent to angles and slopes of a keyboard. Statistical analysis indicated that the suggested ergonomic keyboard improved typing speed significantly(17%).