• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2021년도 추계학술발표대회
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• pp.413-416
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• 2021

본 논문에서는 서비스용 다관절 로봇팔의 주요기능인 다양한 컵의 검출과 조작, 이동등을 지능적으로 구현하기 위해 로봇 오픈소스 운영체제인 ROS(Robot Operation System)을 기반으로 관련 프로 그램을 개발하고 기능을 구현하였다. 연구의 주요 목표인 다양한 종류의 컵, 병과 같은 물체를 실수없이 집어서 옮기기 위한 처리과정으로 관심물체인식, 3D좌표생성, 결과데이터의 역 기구학 해석등을 수행하였으며, 이를 통해 각 기구부의 축들이 물체에 정확히 도달하고 동작의 오류를 최소화하기 위해 ROS기반의 6축 서비스 로봇팔을 활용한 경로 생성과정과 물체의 검출 성능 과정 및 실험등을 제시하였다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2023년도 추계학술발표대회
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• pp.1185-1186
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• 2023

RC 무선조종기를 통해 드론을 원격으로 제어하는 경우, 제어 데이터의 기밀성과 무결성은 드론 제어권 탈취 방지를 위한 핵심 고려 사항이다. 본 논문은 드론 RC 무선조종기 제어 데이터 보호를 위해 경량 암호화 알고리즘 중 하나인 Lightweight Encryption Algorithm (LEA)를 적용하는 방법을 제시한다. LEA 는 32 비트 마이크로 컨트롤러인 ARM Cortex-M4 와 같은 플랫폼에 최적화된 구조로, 저전력으로 데이터 보호를 유지하면서 효율적인 암호화 알고리즘을 적용할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.132-137
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• 2004

On-Board Diagnostic(OBD) systems are in most cars and light trucks on the load today. During the 1970's and early 1980's manufacturers started using electronic means to control engine functions and diagnose engine problems. The CARB's diagnostic requirements to meet EPA emission standards have been designated as OBD with a goal of monitoring all of the emissions-related components, as well as the chassis, body, accessory devices and the diagnostic control network of the vehicle for proper operation. In this paper, we present a remote measurement system for the wireless monitoring of diagnosis signal and sensors output signals of ECU adopted KWP2000, united the OBD communication protocol, on OBD-compliant vehicle using the wirless communication technique of Bluetooth. In order to measure the ECU signals, the interface circuit is designed to communicate ECU and designed terminal wirelessly according to the ISO, SAE regulation of communication protocol standard. A microprocessor S3C3410X is used for communicating ECU signals. The embedded system's software is programmed to measure the ECU signals using the ARM compiler and ANCI C based on MicroC/OS kernel to communicate between bluetooth modules using bluetooth stack. The diagnostic system is developed using Visual C++ MFC and protocol stack of bluetooth for Windows environment. The self-diagnosis and sensor output signals of ECU is able to monitor using PC with bluetooth board connected in serial port of PC. The algorithms for measuring the ECU sensor output and self-diagnostic signals are verified to monitor ECU state. At the same time, the information to fix the vehicle's problem can be shown on the developed monitoring software. The possibility for remote measurement of self-diagnosis and sensor signals of ECU adopted KWP2000 in embedded system verified through the developed systems and algorithms.

• 한국해양환경ㆍ에너지학회지
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• 제14권1호
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• pp.11-18
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• 2011

암초형 월류 파력발전 시스템은 암초형 구조물에 입사 되는 파랑 에너지를 낙차로 전환하고 이를 전기 에너지로 변환 시키는 파력 발전 방식이다. 기존 연구에서 월파제의 사면 경사, 천단고, 가이드 베인 형상에 따른 월류 성능이 연구 되었다. 본 연구에서는 이러한 기존 연구를 통해 설계된 1/7 축소 모형을 제작하고 수차 터빈 및 발전 시스템, 전력제어시스템, 운전제어 및 모니터링 시스템을 연계하여 통합 축소 모형 시스템을 구축하였다. 이러한 시스템에서 서로 다른 파고와 주기를 갖는 파에 따른 월류량과 발전량을 계측하여 기존 연구와 비교 검증하였다. 이를 통해 설계시 계획한 월류량과 발전량을 확인하였고 다수 터빈에 의한 효율적인 제어 시스템 구동 방안을 제안하였다.

• International Journal of Aeronautical and Space Sciences
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• 제13권1호
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• pp.117-125
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• 2012

This paper presented the design of SRPS, ground function test, and the deployment test on a high speed taxi of KC-100 airplane. KAI has developed a spin recovery system in collaboration with Airborne Systems for KC-100 general aviation airplane. Spin mode analysis, rotary balance and forced oscillation tests were performed to obtain the rotational, dynamic derivatives in the preliminary design phase. Prior to the detailed design process of SRPS, approximations for initial estimation of design parameters- fineness ratio, parachute porosity, parachute canopy filling time, and deployment method- were considered. They were done based on the analytical disciplines such as aerodynamics, structures, and stability & control. SRPS consists of parachute, tractor rocket assembly for deployment, attach release mechanism (ARM) and cockpit control system. Before the installation of SRPS in KC-100 airplane, all the control functions of this system were demonstrated by using SBTB(System Breakout Test Box) in the laboratory. SBTB was used to confirm if it can detect faults, and simulate the firing of pyrotechnic devices that control the deployment and jettison of SRPS. Once confirmed normal operation of SRPS, deployment and jettison of parachute on the high speed taxiing were performed.

• International Journal of Advanced Culture Technology
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• 제7권1호
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• pp.231-236
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• 2019

Background/Objectives: This paper proposes a dual mode feedback-controlled cycling system for children with spastic cerebral palsy to rehabilitate upper extremities. Repetitive upper limb exercise in this therapy aims to both reduce and analyze the abnormal torque patterns of arm movements in three- dimensional space. Methods/Statistical analysis: We designed an exercycle robot which consists of a BLDC motor, a torque sensor, a bevel gear and bearings. Mechanical structures are customized for children of age between 7~13 years old and induces reaching and pulling task in a symmetric circulation. The shafts and external frames were designed and printed using 3D printer. While the child performs active/passive exercise, angular position, angular velocity, and relative torque of the pedal shaft are measured and displayed in real time. Findings: Experiment was designed to observe the features of a cerebral palsy child's exercise. Two children with bilateral spastic cerebral palsy participated in the experiment and conducted an active exercise at normal speed for 3 sets, 15 seconds for each. As the pedal reached 90 degrees and 270 degrees, the subject showed minimum torque, in which the child showed difficulty in the pulling task of the cycle. The passive exercise assisted the child to maintain a relatively constant torque while visually observing the movement patterns. Using two types of exercise enabled the child to overcome the abnormal torque measured in the active data by performing the passive exercise. Thus, this system has advantage not only in allowing the child to perform the difficult task, which may contribute in improving the muscle strength and endurance and reducing the spasticity but also provide customizable system according to the child's motion characteristic. Improvements/Applications: Further study is needed to observe how passive exercise influences the movement characteristics of an active motion and how customized experiment settings can optimize the effect of pediatric rehabilitation for spastic cerebral palsy.

• Clinics in Shoulder and Elbow
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• 제3권2호
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• pp.87-94
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• 2000

Purpose : The purpose of this study was to evaluate the activity of the biceps brachii muscle in the vulnerable abduction and external rotation position of the shoulder in patients with anterior instability. Materials and Methods: This experimental study include a prospective analysis of the electromyographic(EMG) data on a group of patients with traumatic unilateral anterior instability of the shoulder. The EMG data of unstable shoulders was compared with those of opposite shoulders as control. The optimal sample size for the case-control study was calculated using an nQuery Advisor program(nQuery Adviser 3.0, Statisticl solutions Ltd., Ireland). The EMG analyses were conducted in 76 shoulders in 38 patients who had a traumatic anterior instability in one shoulder. The EMG records were obtained at different position of shoulder, which included 0° , 45° , 90° and 120° of shoulder abduction. In each angle of shoulder abduction, the arms were placed in an external rotation as tolerated by the anterior apprehension. The paired-sample T test was used to compare the difference of the root mean square(RMS) voltages between the stable and unstable shoulders in each degree of arm position. Results : The RMS voltage of the biceps muscle was significantly greater in the unstable shoulder than opposite stable shoulder in all position of the arm(p<0.001). The RMS voltage of the biceps was maximal at 90° and 120° of external rotation in the unstable shoulder(p<0.05). The RMS voltage of the supraspinatus muscle revealed no differences in any of the test conditions(p=0.904, 0.506, 0.119 and 0.781 in 0° , 45° , 90° and 120° , respectively) Conclusion: In the vulnerable abduction and external rotation position, the biceps muscle plays an active compensatory role in the unstable shoulder while not in the stable shoulder.

• 한국산학기술학회논문지
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• 제14권2호
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• pp.828-834
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• 2013

본 논문에서는 태양광 집광 효율 향상을 위한 많은 연구 방법 중 하나로서 태양광을 효율적으로 집광할 수 있는 TMC(Tracker Motion Controller) 시스템 구성하여 발전효율의 향상성을 갖춘 집광형 태양광 발전시스템(CPV)과 실리콘을 이용한 PV 시스템으로 실험하였다. 태양추적 발전시스템에 사용되는 마이크로프로세서는 실시간으로 태양광의 고도와 위도 각을 계산한다. 또 한 센서로부터 값을 받아들이고, 태양의 현재 위치 값을 계산하여 모터를 제어하며 중앙제어 시스템과의 통신을 하기 때문에 적용 가능성에 대한 부담이 커지고 있다. 따라서 집광형 태양광 발전시스템에 적합한 프로그램 방식과 센서방식을 혼합한 하이브리드 방식의 알고리즘 통하여 ARM코어를 내장한 TMC에 구현하였으며, 구현된 TMC를 통하여 기존 PV시스템, CPV 시스템 대비하여 국내에서의 발전효율을 비교 분석하였다. 실험결과 기존의 센서방식을 이용한 집광형 태양광 발전 시스템에 GPS통신 값을 통해 프로그램 방식의 천문학 계산에 의하여 지평좌표계에서의 태양의 방위각과 고도각을 계산하는 하이브리드 태양위치추적 방식을 실험한 결과를 보면 맑고 일사량이 높은 날에는 큰 차이를 보이진 않았다. 그러나 흐리고 맑은 날 등 일사량이 없어 센서가 태양의 위치를 추적하지 못하고 멈춘 상태에서 일정 시간이 지난 후 태양이 센서의 사각지대에서 나타나면 센서의 오류가 생길 수 있는 기후변화에서는 오히려 센서방식보다 더 우수함을 확인할 수 있었다. 태양전지의 발전효율이 높아지고 생산발전 단가가 줄이는 부분에 대한 지속적인 연구, 더불어 기후의 변화에 따른 최적의 발전 능력을 가진 TMC를 적용한 고효율 집광형 시스템에 대한 연구가 지속적으로 필요할 것으로 기대된다.

• 한국정보통신학회논문지
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• 제14권7호
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• pp.1653-1660
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• 2010

본 연구에서는 미약 자기장 자극이 근피로 회복 및 근통증 완화를 확인하기 위하여 적외선 체열 영상진단검사법을 이용하여 체표면 온도변화를 측정하였다. 피험자(n=96)에 대하여 등척성 운동으로 근피로를 유발시킨 후 무자극 그룹(n=32)과 저주파 자극 그룹(n=32) 그리고 자기장 자극 그룹(n=32)의 3일 동안 체표면 온도변화와 저주파, 자기장 자극 그룹의 자극 전/직후의 체표면 온도변화를 측정하였다. 그 결과, 운동 직후 $0.86{\pm}0.43^{\circ}C$(n=96)의 좌/우측 온도차이가 발생하였으며, 저주파 자극 직후에는 $0.78{\pm}0.12^{\circ}C$, 자기장 자극 직후에는 $0.1{\pm}0.39^{\circ}C$의 좌/우측 온도차를 확인하였다. 또한 3일 이후 무자극 시 $0.3{\pm}0.14^{\circ}C$, 저주파 자극 시 $0.05{\pm}0.21^{\circ}C$, 자기장 자극 시 $0.03{\pm}0.21^{\circ}C$의 좌/우측 온도차이를 확인하였다. 이에 자기장 자극의 좌/우측 체표면 온도차이가 가장 낮은 것을 확인하였으며 근피로 회복 및 근통증 완화에 효과가 있음을 확인하였다.

• Korean Journal of Acupuncture
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• 제22권4호
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• pp.67-81
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• 2005

Objectives : Cervus Elaphus(CE) has been used to medication for ischemic stroke in the Oriental Medicine. So this study was planned to investigate the effects of CE herbal acupuncture therapy(CE-HAT) on the focal ischemia-induced by intraluminal filament insertion in the rats. Materials and methods : The focal ischemia was induced by middle cerebral artery occlusion for 2hours. The groups divided into 6 groups, normal(intachess group), control(no theray group after ischemia-induced), CE-HAT1(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9 after ischemia-induced), CE-HAT2(Cervus Elaphus-herbal acupuncture therapy group at LU8, KI7 after ischemia-induced), CE-HAT3(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9, LU8, KI7 after ischemia-induced), CE-HAT4(Cervus Elaphus-herbal acupuncture therapy group at LR1, HT9, HT3, KI10 after ischemia-induced). CE-HAT was carried out during 3 weeks after focal ischemia-induced. Eight-arm radial maze was used for the behavioral task and neuropretective effect of CE-HAT was observed by Cresyl violet, AchE, ChAT-stain. Results : The error rate in the eight-arm radial maze task was significantly decreased in CE-HAT1, CE-HAT2, CE-HAT4 on 3days, CE-HAT4 on 4days, CE-HAT2, CE-HAT4 on 5days, CE-HAT3, CE-HAT4 on 6days. The rate of correct choice was significantly increased in CE-HAT4. The density of neurons in the hippocampal CA1 was significantly increased in CE-HAT1, CE-HAT2, CE-HAT3, CE-HAT4, compared to control group. The density of ChAT in the hippocampal CA1 was significantly increase in CE-HAT4. The density of ChAT in the hippocampal CA1 was significantly increased CE-HAT1. Conrlusions : These results suggest that the Cervus Elaphus-herbal acupuncture therapy could be used as a medication for controlling the stroke induced by deficiency.