• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.474-474
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• 2000

This paper shows that a system with two-link arm can obtain hand reaching movement to a target object projected on a visual sensor by reinforcement learning using a layered neural network. The reinforcement signal, which is an only signal from the environment, is given to the system only when the hand reaches the target object. The neural network computes two joint torques from visual sensory signals, joint angles, and joint angular velocities considering the urn dynamics. It is known that the trajectory of the voluntary movement o( human hand reaching is almost straight, and the hand velocity changes like bell-shape. Although there are some exceptions, the properties of the trajectories obtained by the reinforcement learning are somewhat similar to the experimental result of the human hand reaching movement.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2004년도 추계학술대회논문집
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• pp.142-147
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• 2004

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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.144-147
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• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system the conventional controller, and the improved closed-loop system, instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, the path tracking control of robot arm is performed. Experimental results and analytic results are well-matched.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 춘계학술대회 논문요약집
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• pp.251-251
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• 2004

이 연구에서는 주단조 공정을 자동차 부품인 low control arm 제조에 적용하였다. Al6061에 주단조 공정을 적용함므로써 재료비 감소와 기존의 스틸제품보다 경량화 효과를 얻을 수 있다는 것을 증명하기 위함이다. 첫째로 단조 재료인 A16061의 최적 주조조건을 찾기 위하여, 주조 실험은 알루미늄의 주입온도, 금형온도, 주입시간을 조절함으로써 수행되어졌다. 최적주조조건은 주입온도 $700^{\circ}C$, 금형온도 30$0^{\circ}C$, 주입시간 10초로 정하여졌다. 각각의 미세조직을 관찰하고 응력-변형률곡선을 구하기 위하여 열가단조실험은 빌렛온도, 변형률속도와 감소율을 기초로 하여 수행되어졌다.(중략)

• 한국자동차공학회논문집
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• 제7권5호
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• pp.186-193
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• 1999

In this paper, a full vehicle model is developed to analyze toe and camber changes due to rack height variation and compliance. The AutoDyn7 program developed in G7 project is used for the computer simulation. Steady state cornering test was done to find the understeer gradient. Imposing a pulse steer input, Frequency Response Function(FRF) of yaw rate and lateral accelerations were evaluated. To verify the stability, the rhombus using four parameters is employed. Steer characteristics were evaluated by changing the rack height and the bushing lateral stiffiness. which installed between the low control arm and the chassis.

• The Korean Journal of Pain
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• 제27권3호
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• pp.297-300
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• 2014

This report describes the long term safety and efficacy of intrathecal therapy using Sufentanil for the management of chronic intractable neuropathic pain in 12 chronic pain patients. Standardized psychological screening was used to determine treatment suitability. Evaluation data included the Visual Analog Scale (VAS), Wong-Baker Faces Scale, Brief Pain Inventory (BPI), Disability of Arm, Shoulder, and Hand (DASH), McGill Quality of Life Questionnaire, and complications (granulomas, toxicity, withdrawal, or deaths). SPSS version 18 was used for data analysis. Pre- and post- treatment BPI measures and pain scale scores showed a statistically significant difference. There were no complications directly related to drug toxicity, nor drug withdrawals, granulomas, or deaths. Intrathecal therapy with Sufentanil therapy offers a good treatment alternative for those cases that have failed both surgery and standard pain treatment. Strict patient selection based on psychological screening, control of co-morbidities, a proper pain management may contribute to successful outcome.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.245-246
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• 2006

In this paper, we proposed using MFCC coefficients(Mel-Scaled Cepstral Coefficients) and a simple but efficient classifying method. Many other features: IAV, zero crossing, LPCC, $\ldot$ and their derivatives are also tested and compared with MFCC coefficients in order to find the best combination. GMM and HMM (Discrete and Continuous Hidden Markov Model), are studied as well in the hope that the use of continuous distribution and the temporal evolution of this set of features will improve the quality of emotion recognition.

• 대한임베디드공학회논문지
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• 제9권3호
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• 대한안전경영과학회지
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• 제8권4호
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• pp.13-23
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• 2006

Grip strength provides a quick and objective index of the functional integrity of the upper extremities. It is widely used as an assessment measure in physical and rehabilitation medicine. In this study, maximum voluntary grip strength of 20 college students wearing 5 different gloves were measured using Jamar hand dynamometer. The results show that maximum voluntary grip strength was generally reduced when wearing gloves as compared to bare-handed. More specifically, the grip strength was highest when wearing PVC coated glove or bare-handed and getting lowered as wrist band, rubber, leather, and cotton glove in these order. Depending on the measuring posture of grip strength, shoulder height with arm extended forward was higher than the elbow was flexed 90 degree. Moreover, subjects' demographic factors and hand dimensions were not closely related to the grip strength. It is thus recommended that the proper glove should be provided to reduce the negative consequences including dropping a tool, poorer control of a tool. lower quality work, and increased muscle fatigue and in turn to increase the user safety and satisfaction.