• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.76-82
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• 2000

본 논문에서는 환경에 구속 받는 유연 매니퓨레이터의 힘/위치에 대하여 논하고자 한다. 일반적으로, 유연 매니퓨레이터의 모델링 방법은 분포 정수 모델과 집중 정수 모델로 분류할 수 있다. 전자인 분포 정수 모델을 이용해서는 평면 1 링크, 2 링크를 대상으로 한 위치/힘 제어는 가능하나, 운동 방정식의 복잡성으로 인하여 실시간에서 다 링크 다 관절 유연 매니퓨레이터의 힘/위치를 제어하기는 어렵게 여겨져 왔다. 본 논문에서는 집중 정수 모델링 방법인 집중 스프링 질량 모델(Lumped Spring Mass Model)을 이용하여 환경에 구속받는 유연 매니퓨레이터의 운동 방정식을 산출했다 이 모델을 실험기인 유연 매니퓨레이터 ADAM(Aerospace Dual Arm Manipulators)에 적용하여 실시간 위치/힘 제어 실험을 행하였으며, MATLAB를 이용하여 해석했다. 또한, ADAMS$^{TM}$ FEM를 이용하여 분포 정수 모델을 도출하여, 해석하였으며, 이 결과와 집중 정수 모델을 이용한 MATLAB 해석의 결과, 그리고 실험 결과를 비교 분석하여 본 논문에서 제안한 구속받는 유연 매니퓨레이터의 집중 정수 모델 타당성을 입증시켰다.

• Journal of Biomedical Engineering Research
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• v.13 no.1
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• pp.1-8
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• 1992

In the field of prosthesis arm control, the pattern classification of the EMG signal is a required basis process and also the estimation of force from collected EMG data is another necessary duty. But unfortunately, what we've got is not real force but an EMG signal which contains the information of force. This is the reason why we estimate the force from the EMG data. In this paper, when we handle the EMG signal to estimate the force, spatial prewhitening process is applied from which the spatial correlation between the channels are removed. And after the orthogonal transformation which is used in the force estimation process, the transformed signal Is inputed into the probabilistic model for pattern classification. To verify the different results of the multiple channels, SNR(signal to noise ratio) function is introduced.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.1
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• pp.121-127
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• 2003

The stiffness of a bushing in a suspension is extremely important for the overall performance of the suspension system. A new measurement system including the flexible jig was developed to measure the multi-directional stiffness of bushings. To overcome the disadvantage of building each individual jig for each type and size of a bushing, we designed the flexible jig which can accommodate numerous bushings of similar shapes and sizes. Upon using the novel design of the flexible jig in the industry, we could successfully measure the torsional and conical stiffness of many bushings and apply the data for the prediction and evaluation of the performance of a suspension system, which would assist designing the optimal suspension system.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.295-299
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• 2007

Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.

• Korean Journal of Plant Resources
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• v.1 no.1
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• pp.80-87
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• 1988

Hybries which was made up by chromosome of L. longiflorum and L. x elegans, using root-tip individual which was obtained through ovary slice culture, and root-tip of these parents, with hoirugen staining, gimsa staining and Q-H staining inaccordance with the location and the existence of secondary construction which waslocating near short arm centromere of No, 1,2,6,9. In metaphase of meiosis ofhybrid which was made up by univalent from 2 individuals to 10 individuals wasobserved, and nuclear plate which was having abnormal type's synthesis amounted to91% of all cells whieh were observed. This result showed the fact that someobstacle arose annormal progress of the divission after that time. 63% of the cellshad micronucleus from 1 individlial to 4 individuals in tetrad phase of meiosisdivision. The peroxidase and $\alpha$ -estelase zymogram phenotypes of parents andhybrids were determined using agarlose IEF gel. Crosses were performed betweenparents bearing dissimilar allelomorphs in orther to discern the genetic control ofthe resolved enzymes. Genetic variation of hybrids were detected at all but 2 plant progenies.

• Journal of Industrial Technology
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• v.24 no.B
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• pp.199-206
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• 2004

Recently social demands of fuel economy and environmental regulations require the development of lightweight components and new manufacturing technologies. The aluminum tube hydroforming is a manufacturing process which can provide lightweight components as automotive parts. In this paper, the hydroformability of aluminium tube in different condition of bending process is presented. An investigation has been conducted on how to control the deformed shape and its effect on thinning distribution after hydroforming by using finite element simulation. Finite element simulation of tube hydroforming for automotive trailing arm is carried out to explore the effect of 2-dimensional and 3-dimensional bending.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.381-384
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• 2001

The combined stirring method to uniform distribution of particle is consisted of two strring force both electro-magnetic stirring generated from induction heating and mechanical stirring with graphite stirrer. PMMC billets were fabricated with the volume fractions ranged from 0% to 20% and particle sizes ranged from 14$\mu\textrm{m}$ to 25$\mu\textrm{m}$. It is important to control the size of primary ${\alpha}$-AI solid particles because it could become the cause of the particle pushing or capture phenomena from the fact that secondary dendrite arm spacing size depends on the cooling rate during the solidification in hypoeutectic AI-Si alloy.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.2-25
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• 2001

This paper describes a mobile robot intended for being employed in a multi-agent system. We have already proposed a multi-agent system which realizes patient-aid by helping a lying patient take a distant object on the table. In this paper, a mobile robot agent is developed and is included in the system. An effective man-machine communication strategy is proposed by use of a vision agent settled on the ceiling. If a human (assumed to be a patient) wishes to take an object distant on the floor, he points to the object. The vision agent detects the direction of his arm by image processing and guesses which object he intends to take. The vision agent asks him if it is what he wants and, if yes, the mobile robot runs to take and bring it to him. The system is overviewed with the explanation of a mobile robot. Some experimental results are shown with discussion.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.752-757
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• 1991

Recently, human body modeling with muscle deformation has become an attractive research area in computer animation. There are many modeling tools available for solids such as mechanical part. However, there are many limitations of these conventional methods in modeling flexible objects with delicate motions and shapes such as human bodies. In this paper we present a new modeling technique for human body with muscle deformation. Each muscle is represented as a generalized cylinder and its shape deformation is computed using simple algorithm. The human body is a union of muscles, bones, organs, etc. The modeling data are obtained from the information on the human anatomy. To demonstrate the feasibility of our method, we model several arm muscles and simulate the skin deformation. As a result we have obtained a realistic shape deformation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.142-146
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• 1991

In order to develope transfer alignment algorithm which achieves accurate initial alignment of slave strapdown inertial navigation system(SDINS) of a missle using master SDINS of mobile launchers third-order suboptimal filter is constructed to estimate the transformation matrix between two SDINS coordinates. In Kalman Filter formulation, the measurement equation uses that of accelerometer when stationary, and is replaced by that of gyroscope when elevating the missle. This switching method is applied to increase the degree of observability and to remove the error generated by lever arm effect. Simulation results show that the azimuth transfer error is about 0.3 mrad, and confirm that this scheme has a potential for real application.