• 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.

• 한국정밀공학회지
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• 제15권12호
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• pp.28-36
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• 1998

This investigation is the result of a structural analysis by the finite element method and static loading test for the optimal structural design of an electric railway vehicle made of stainless 301L materials. We analyzed the stress and displacement of the existing electric car-body structure for predicting the position of concentrated stress, the flow of stress, rigidity to be occurred in the car-body structure when it is subjected to the vertical load. It was exposed that the side sills and window corners around the bolsters are the weak parts of the electric car-body structure because the bolsters of the electric car-body structure were subjected to the vertical load and dynamic load to be occurred during running. The flow of stress and the cause of stress concentration in the weak zone were studied in order to prevent the concentration of stress and buckling. The rearrangement of the structure and the selection of the beam elements were also carried out for optimum design of the structure.

• 한국해양공학회지
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• 제20권2호
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• pp.36-40
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• 2006

As large waves enter a harbor, during their propagation, the motions a floating body are large and if may even be damaged by waves. This phenomenon may be caused by harbor resonance, resulting from large motion at low wave frequency, which is close to the natural frequency of a vessel. In order to calculate the motion of a floating body in a harbor, it is necessary to use the wave forces containing the body-harbor interference. The simulation program to predict the motions of a floating body by waves in a harbor is developed, and this program is based on the method of velocity potential contiuation method proposed by Ijima and Yoshida The calculated results are shown by the variation of wave frequency, wave angle, and the position of a floating body.

• 한국해양공학회지
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• 제21권4호
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.708-713
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• 2004

This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.

• 산업경영시스템학회지
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• 제33권4호
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• pp.38-44
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• 2010

We investigated the effects of trunk twist on postural stability during manually handling flat ties. Ten male subjects participated in this study. While handling 5kgf and 10kgf bundles of flat ties respectively, their centers of pressure (COPs) were measured under two levels of body position (twisted and fixed), two levels of direction (left and right), and three levels of object position ($30^{\circ}$, $45^{\circ}$, and $60^{\circ}$). Subjects' postural stability was quantified by calculating the sway length. Results showed that the effect of different object position was significant on postural sway length in subject's medio-lateral axis. Post-hoc multiple comparions revealed that, under the 5kgf load condition, the sway length was increased significantly as the object position increased to $45^{\circ}$. Under the 10kgf load condition, however, the sway length was increased significantly at the object position of $60^{\circ}$. Actual or potential applications of this research include guidelines for the design of working posture evaluation techniques.

• Journal of Welding and Joining
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• 제19권1호
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• pp.112-117
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• 2001

The factor affecting on the fatigue strength of spot welded specimen have been studied. To analyze and predict crack initiation position and propagation directions on the spot welded area are very important for strength design of the automobile body structure. In fact, there are a various of loads in running automobile but, it is impossible to replay like an actual conditions in the laboratory. So, in this study tensile-shear type and in-plane bending type specimens were used in fatigue test and includes an analysis of fatigue crack initiation position and propagation directions about earth specimens. The results obtained in the present study are summarized as follows: 1. In tensile-shear type fatigue test, the region of fatigue crack initiation position was affected by out-of-plane bending deformation due to bending angle. 2 In in-plane bending type fatigue test, the behavior of fatigue crack initiation position and propagation derections due to angle between upper plate and lower plate was dominated by magnitude of in-plane bending moment.

• 대한디지털의료영상학회논문지
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• 제15권1호
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• pp.55-59
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• 2013

Patients who had claustrophobia tend to feel fear when they were scanned by an MRI, CT, PET-CT, or using a gamma camera scan. In this paper, claustrophobic patients were tested to find effective ways by changing patient's positions. For this paper, PET-CT scan in patients who had claustrophobia were used in the prone position. Prone position helped to maintain stable position and to get a h0igh quality of inspection without failure. Thus, as claustrophobic patients were requested taking prone position, they could feel comfortable. In a confined space, prone position for the claustrophobic patients who had a fear of the PET-CT examination would be expected to reduce the failure rate of inspection.

• 대한인간공학회지
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• 제30권5호
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• pp.629-636
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• 2011

Objective: The aim of this study is developing an elderly automatic showering system by optimizing nozzle position and angle of water injection on ergonomics approach. Background: The elderly living in nursing home or hospital were increased by an aging population. Helping the elderly on showering is so hard. In addition, the existing showering/bathing systems are not effective because shower pattern of the elderly and washed range of nozzle were not considered. Method: Firstly, basic specification were determined by anthropometric approach. Secondly, position of nozzle and angle of water injection were determined through observation of elderly behavior on showering. And, finally, they were optimized by washing test and showering simulation. Results: On showering importance of body parts were able to analysis through observation of elderly behavior. The position of nozzle and angle of water injection was able to optimize by showering simulation. The automatic showering system was developed by considering their results. Conclusion: The most important technology of developing a showering system is the determining position of nozzle and angle of water injection, number of nozzle. It was developed by applying its results through user centered-research. Application: The user centered-research of developing products was able to apply directly to develop automatic bath, showering products etc. Further more it was available to apply senior friendly products.

• Korean Journal of Acupuncture
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• 제39권2호
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• pp.23-33
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• 2022

Objectives : The purpose of this study is to establish a Korean medical perspective on the human body through understanding of the meridians according to the distribution of the three yin and three yang (삼음삼양) and the opening, closing and pivot (관합추) as defined in ≪Huangdi's Internal Classic≫. Methods : A total of 8 medical databases including KISS, Earticle, DBpia, RISS, OASIS, KMbase, and ScienceON were used to search studies published through July 2021, and literature was included without limitations on the publication period. The search terms were "(meridian OR acupoint OR meridian sinew) AND position" OR "Gwan-Hap-Chu" OR "Gae-Hap-Chu" OR "three yin and three yang". Two researchers independently made choices among the searched literature based on the preplanned selection/exclusion criteria. The search terms were"(meridian OR acupoint OR meridian sinew) AND position" OR "Gwan-Hap-Chu" OR "Gae-Hap-Chu" OR "three yin and three yang". Results : Of the 36 obtained from the survey, 19 (53%) followed the definitions of "internal diameter" for "three yin and three yang" and "the opening, closing and pivot," but 6 (about 16%) took a neutral position and 10 (22%) avoided mentioning. Therefore, it was judged that research was needed to end the debate on the distribution of 'three yin and three yang' and 'the opening, closing and pivot'. In order to apply the definition of ≪Huangdi's Internal Classic≫ on 'distribution of the three-yin and three-yang' and 'the opening, closing and pivot' to the upper limb and lower limb as well as the torso of the human body, this author proposed a human body model with both upper limb and lower limb attached, inspired by the posture of the fetus in the developmental stage. Conclusions : In this study, using a new human body model, it was revealed that the distribution of the three yin and three yang and the opening, closing and pivot' as defined in the ≪Huangdi's Internal Classic≫ can be applied not only to the torso of the human body, but also to the upper limb and lower limb. Based on the understanding of meridians, the selection of meridians in the clinical acupuncture should be made accurately, and continuous interest and research on this are expected.