• 한국표면공학회지
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• 제39권2호
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• pp.64-69
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• 2006

Nanoscale task such as nanolithography and nanoindenting is a challenging work that is beyond the capabilities of human sensing and precision. Since surface forces and intermolecular forces dominate over gravitational and other more intuitive forces of the macro world at the nanoscale, a user is not familiar with these novel nanoforce effects. In order to overcome this scaling barrier, haptic interfaces that consist of visual and force feedback at the macro world have been used with an Atomic Force Microscope (AFM) as a manipulator at the nanoscale. In this paper, a nanoscale virtual coupling (NSVC) concept is introduced and the relationship between performance and impedance scaling factors of velocity (or position) and force are explicitly represented. Experiments have been performed for nanoindenting and nanolithography with different materials in the nanoscale virtual surface. The interaction forces (non contact and contact nanoforces) between the AFM tip and the nano sample are transmitted to the operator through the haptic interface.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 추계학술대회 논문집
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• pp.1063-1070
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• 2005

Number of subway train units that Seoul Metropolitan Subway Corporation as at September 2005 is 1.944 on 4 routes from 60 units at the time of commencement of operation, having grown exponentially. Along with increase in the number of passengers the role of subway as safer and expedient means of transportation is now being required. Furthermore, the Corporation has been researching on means of improving the safety and reliability of subway entry/exit doors which has become an essential task and directly effect the safety of the passengers. In this Study, has developed sensory control system for the entry/exit door of the subway train using non-contact proximity sensor as a part of review of and measures against various issues of entry/exit door of the subway trains currently under operation. In addition, this sensor system was verified through test production and tests. If this technology becomes commercialized and practically utilized in the future, it would be able to make definite contribution to the safer transportation of passengers.

• 농촌지도와개발
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• 제3권1호
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• pp.83-93
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• 1996

This study examines the agricultural extension agents` satisfaction with their job and its related variables - personal characteristics, achievement motivation, and needs level. Based on die Job Descriptive Index, Brayfield-Rothe Index, and Porter Instrument, the survey was carried out on 127 agents. Results show 1) a significant difference in personal characteristics is found in position, farmer contact frequency, and service region applied for, but not in age, gender, scholastic ability, career, task, and another department contact frequency, 2) the achievement motivational level is related to job satisfaction, and 3) the needs level is not related to job satisfaction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• 로봇학회논문지
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• 제17권4호
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• pp.455-462
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• 2022

Since electric connectors such as power connectors have a small assembly tolerance and have a complex shape, the assembly process is performed manually by workers. Especially, it is difficult to overcome the assembly error, and the assembly takes a long time due to the error correction process, which makes it difficult to automate the assembly task. To deal with this problem, a reinforcement learning-based assembly strategy using contact states was proposed to quickly perform the assembly process in an unstructured environment. This method learns to generate a search trajectory to quickly find a hole based on the contact state obtained from the force/torque data. It can also learn the stiffness needed to avoid excessive contact forces during assembly. To verify this proposed method, power connector assembly process was performed 200 times, and it was shown to have an assembly success rate of 100% in a translation error within ±4 mm and a rotation error within ±3.5°. Furthermore, it was verified that the assembly time was about 2.3 sec, including the search time of about 1 sec, which is faster than the previous methods.

• 한국정밀공학회지
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• 제11권1호
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• pp.80-88
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• 1994

In the automation of rigid parts mating process with the intelligent robots, Peg-In-Hole is the most available task since inserting is some analytic and needs suitable range of forces that can be controlled by induatrial manipulators. In this Peg-In-Hole process, it is very important to identify the contact state between tow parts, peg and hole, to build the strategies for robot motion that leads to avoid the jamming condition occurs during insertion process. In this paper, we adpopted 3 parameters for identification, lFzl, lFxy/Fzl, and lMxy/Fxyl, derived from axes value of Whitney's jamming diagram. Also, we defined the fuzzy membership functions for these parameters and developed the identification algorithm based on fuzzy inference method of max-product. As an experimental result, we obtained about 96% of identification ratio that could be raised up to industrial requirements by further research.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2709-2712
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• 2003

In this paper, dynamic constraints are considered for the analysis of manipulability of robotics systems comprised of two cooperating arms. Given bounds on the torques of joint actuators for each robot, the purpose of this study is to derive the bounds of task acceleration of object carried by the system. Under the assumption of complete constraint contact, a set of examplar polytope describing acceleration bounds of two cooperating robots are included.

• 대한인간공학회지
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• 제8권2호
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• pp.35-41
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• 1989

In this paper a new method is proposed to create 3-dimensional coordinate values from two 2- dimensional images (side and front image of objects) using image processing system and two video cameras. This method is task requiring measurements of camera lense distortion, calibrations and conversin 2-dimensional images into 3-dimensional images. This system provides 3-dimensional me- asurement error of +5mm for about 2m length objects.

• 한국운동역학회지
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• 제22권4호
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• pp.379-386
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• 2012

The aim of this study was to investigate and identify the differences in lower extremity energy dissipation strategies between drop-landing and countermovement-jump maneuvers. Fourteen recreational athletes(Age : $23.3{\pm}2.1years$, Height : $172.3{\pm}4.0cm$, Weight : $69.2{\pm}4.7kg$) were recruited and instructed to perform drop-landing from 45 cm height and countermovement-jump from 45 cm to 20 cm height. The landing phase was taken as the time between initial contact and peak knee flexion. A motion-capture system consisting of eight infra-red cameras was employed to collect kinematics data at a sampling rate of 200 Hz and a force-plate was used to collect GRF data at a sampling rate of 2000 Hz. Paired t-test was performed to determine the difference in kinematics and kinetics variables between each task. During the countermovement-jump task, all of lower extremity joint ROM and the hip joint eccentric moment were decreased and the ankle joint plantarflexion moment was increased than drop-landing task. In the eccentric work during countermovement-jump task, the ankle joint displayed greater while knee and hip joint showed lesser than drop-landing. Therefore, the knee joint acted as the key energy dissipater during drop-landing while the ankle joint contributed the most energy dissipation during countermovement-jump. Our findings collectively indicated that different energy dissipation strategies were adopted for drop-landing and countermovement-jump.

• 한국융합학회논문지
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• 제12권1호
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• pp.1-9
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• 2021

최근 우리나라는 IT기술 발전 등의 환경 변화에 따라 새로운 유형의 보안 범죄가 꾸준히 발생하고 있으며, 이러한 위협에 대한 대응은 개인이나 기업뿐만 아니라 안전한 사회의 구축을 위해 국가 차원에서 수행되어야 할 핵심과제가 되었다. 한편 코로나19 팬데믹 이후 비대면 시대가 도래하면서 기존 IT발전에 따른 보안 위협과 비대면 시대의 특징이 결합된 신종 융합보안 위협이 우리 사회를 위협하고 있다. 이에 이러한 새로운 차원의 위협을 예방하고 교정하기 위한 연구가 지속 요구되고 있으며, 이를 위해 본 연구에서는 1장에서 신 융합보안 위협이 발생한 원인과 관련 선행연구를 살펴보고 2장에서는 비대면 시대에 주요 융합보안 위협 5가지로 사이버보안·가짜뉴스·원격투표·원격근무 및 영상보안 위협을 선정하여 유형별 특징에 대해 설명하였으며. 3장에서는 이에 대한 대응 방안의 논의와 정책적 함의를 고찰하였고, 4장에서는 결론과 함께 향후 연구방향을 제시하였다.