• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.854-857
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• 2001

At present, colonoscopy is performed by means of quite long and flexible endoscopes and controlled manually. Although the flexibility of the distal tip allows the endoscope to follow the tortuous path of the colon, the insertion of the endoscope requires the endoscopist to exert forces on and to perform rotations of the proximal end; these actions cause discomfort to the patient. Though self-propelling colonoscopic systems has been suggested to overcome these problems, it is difficult to pass through highly curved regions of the intestine. In this paper, we introduce a steering mechanism for a self-propelling coloinlscope, the smart capsule, which has three actuator units. The mechanism is designed not only to move forward and backward but also to pass through the curved regions. We derived the governing equations of this mechanism. Active movements and motion control are developed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.4 s.235
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• pp.540-554
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• 2005

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.718-721
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• 2005

The purpose of the study is to evaluate the usage of microtremor in estimation of subsurface structure and ground response to ground motion. Ground motion amplification based on site condition of an area is an important parameter for dynamic design. Microtremor cover the characteristics in a low frequency range, while forced vibrations cover them in a high-frequency range. Microtremor consider ground characteristics and offer transfer function in area. To determine the dominant frequency, the passive microtremor measurement is performed and to determine the transfer function of test site, active microtremor measurement is performed. Microtremor measurement in the site is compared with theoretical transfer function calculated from the known structures.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1558-1562
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• 2008

Ionic polymer metal composite (IPMC), one of Electro- Active Polymer (EAP) actuators, has great attention due to the low-voltage driven, large deformation and its potential for artificial muscles. In this paper, we firstly review fish swimming modes using various propulsion mechanisms. Based on study on the swimming mechanisms, we develop an underwater robot actuator which mimics fanning motion of webfoot form. It consists of four actuators fabricated by using IPMC and PDMS which mimics Bio-inspired motion Experiments using a prototype show that the webfooted IPMC actuator generates large deformation and propulsion.

• The Journal of Korean Physical Therapy
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• v.14 no.4
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• pp.260-265
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• 2002

There are many methods for muscle strengthening. Muscle strengthening with eccentric contraction work is the best way by researcher's report. Also, eccentric contraction need proper resistance for muscle strengthening. Combination of isotonic in PNF is a muscle strengthening method with manual resistance. It makes concentric contraction $\rightarrow$ eccentric contraction $\rightarrow$ concentric contraction with continually and without muscle relaxation. Combination isotonic technique use with PNF pattern. Therefore, it will make development and increasing of active control motion, coordination, actual range of motion, strengthen and functional training in eccentric control of movement. Concentric contraction have the 3rd lever system and eccentric contraction have the 2nd lever system with combination of isotonic. Serial concentric contraction $\rightarrow$ eccentric contraction $\rightarrow$ concentric contraction make strong SEC and PEC. It will be increase elasticity of SEC, PEC and contractile components either.

• Proceedings of the Korean Society of Computer Information Conference
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• 2008.06a
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• pp.199-204
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• 2008

Visual surveillance is an active topic recently in Computer Vision. Event detection and recognition is one important and useful application of visual surveillance system. In this paper, we propose a new method to recognize the entering and exiting events based on the human's movement feature and the door's state. Without sensors, the proposed approach is based on novel and simple vision method as a combination of edge detection, motion history image and geometrical characteristic of the human shape. The proposed method includes several applications such as access control in visual surveillance and computer vision fields.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1998.10a
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• pp.335-342
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• 1998

A soil-structure interaction (SSI) experiment is being conducted in a seismically active region in Hualien, Taiwan. To obtain earthquake data for quantifying SSI effects and providing a basis to benchmark analysis methods, a 1/4-th scale cylindrical concrete containment model similar in shape to that of a nuclear power plant containment was constructed in the field where both the containment model and its surrounding soil, surface and sub-surface, are extensively instrumented to record earthquake data. In between September 1993 and May 1996, fifteen earthquakes with Richter magnitudes ranging from 4.2 to 6.2 were recorded. The recorded data were analyzed to provide information on the response characteristics of the Hualien soil-structure system, the SSI effects and the ground motion characteristics. The ground response data were analyzed for their variations with depth, with distance from the model structure, and at the same depths along downhole arrays. Variations of soil stiffness and soil-structure system frequencies were also evaluated against maximum ground motion. In addition, the site soil properties were derived based on correlation analysis of the recorded data and then correlated with those from the geotechnical investigation data.

• PNF and Movement
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• v.9 no.1
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• pp.55-63
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• 2011

Purpose : This study was to investigate the application of Rhythmic Initiation(RI) in the respect of information processing in motor learning. Methods : A computer-aided literature search was performed in PubMed and adapted to the other databases and the others were in published books. The following keywords were used: Rhythmic Initiation, attention, memory, motor accuracy, feedback, motor learning, motor control, PNF, cognition. Results : The characterization of RI is rhythmic motion of limb or body through the desired range, starting with passive motion and progressing to active resisted movement. This study suggested that the relationship between of RI and motor learning through the respect of information processing, memory, attention and motor accuracy. Conclusion : Only Rhythmic Initiation, specifically focused on the effects of information processing approach, suggesting that RI can be positively influeced on sensory-perception, attention, memory, motor accuracy. however, it is unclear whether positive effects in the laboratory and field can be generalized to improve. In addition, sustainability of motor learning with RI remains uncertain.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.3
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• pp.172-179
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• 2003

Linear matrix Inequality based $H_\infty$ robust controller is designed to control the motion of a 4-axis unbalanced rigid asymmetric rotor supported and controlled by two active magnetic bearings in this paper. To this end, the equations of motion of the system are derived via Hamilton's variational principle and transformed to a state-space form for the standard $H_\infty$ control problem. LMI-based controller, which does not require additional assumptions beyond the usual stabilizability and detectability assumptions, is designed based upon the pole place weighting function and loopshaping technique. The obtained results are compared with those reported in the available literature and the efficiency of the proposed LMI-based $H_\infty$ control is revealed.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.429-435
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• 2007

A number of different alternative actuation methods have been under active development for some specific applications where the traditional electromechanical actuators are difficult to apply. Recently, many of these substitutes are trying to employ new smart materials like electroactive polymers. However most of the polymeric materials are flexible and vulnerable so that they normally can not sustain external forces. Although the materials have shown a good potential to be used for alternative actuation mechanisms, no tangible industrial application is yet presented because of the reason. A conceptual design for a rectilinear motion actuator using dielectric elastomer is presented in this article. The introduced design concept might enable to produce fairly controllable rectilinear motions for various applications and the presented prototype actuator system is fully packaged in a small unit and controlled by a standard communication interface.