• Journal of Biomedical Engineering Research
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• v.18 no.4
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• pp.447-456
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• 1997

When the disabled is operating a rehabilitation assisting system with a joystick by himself, unlike in the case of a normal person, tremor with joystick control or instant miscontrol can often occur. If these misoperations should be directly relayed to the system, shaking or malfunction of the mobile rehabilitation assisting system might be the result. The safety of the disabled is of prime concern. To solve this problem, that is, to prevent the miscontrol of the disabled operator and avoid crashes into his or her surroundings, we propose the force-reflection locomotion algorithm with the joystick. This method uses ultrasonic sensors to measure the distance between the object and mobile robot. Based on the reception of sensory data, the necessary torque is applied via the joystick to the attatched motor. To confirm the effectiveness of the proposed method, the subjects on the reflected force by the dynamic characteristics of the joystick and the reflected force by the distance information are tested Even though there are some differences in human dexterity, we confirmed the fact that the information from the obstacles was relayed to the operator via the joystick and resulted in an improved operational performance and safety level with regard to those obstacles.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• The Korean Nurse
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• v.31 no.5
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• pp.65-71
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• 1992

In nursing, a practice discipline, it has been argued whether the mastery of clinical competence depends on types of learning styles, learning experience, and the use of specialized skills. All these problems are not limited to nursing education. Later educators identified the importance of reflective learning which is a vital element in any form of learning and that teachers and students need to consider how they can incorporate some forms of reflection in the courses. The purpose of this study is to review educational articles for understanding better what reflection in learning is, to identify the theme which is of important relevance to professional practice, from the book, Educating the reflective practitioner, and to discuss the theme within nursing education. Reflection in learning was defined by Dewey(1933) as the process which is involved the perception of relationships and connections between the parts of an experience. This experience is passed on when two people becoming involved with each other in a conversation. schon(1987) emphasized that learning conversation, which is a part of the interaction of student and teacher, is an important factor of the process of reflection-om-actopm. In clinical nursing education, good relationships between teacher and student, faculty's role, interpersonal skills are critical in learning conversation. Then Practing nurses who accept the need to choose nursing actionss on the basis of reflection, who accepet the necessity for understanding and being able to communicate the reasons for action are a powerfful force for the development of nursing into an increasingly more effective profession for the benefit of patients.

• Polymer(Korea)
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• v.34 no.3
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• pp.242-246
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• 2010

FTIR spectroscopy has been employed in order to quantitatively investigate the relationship between planar arrangements and selective reflectance of cholesteric liquid crystals. It was found that the selective reflection was enhanced as the amount of planar arrangements in cholesteric liquid crystals increased. Although the planar arrangements of cholesteric liquid crystals can be induced only by the shear force effect, it was more effective to use the alignment layer to obtain the perfect planar arrangements.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.10
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• Journal of Biomedical Engineering Research
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• v.21 no.6
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• pp.575-581
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• 2000

본 논문에서는 척추침생검 시뮬레이터에서 사용의 햅틱 디바이스인 PHANToM(sup)TM을 이용하여 사실적인 힘을 구현하는 방법을 보여준다. PHANToM(sup)TM은 툴의 끝부분에서 좌표축 방향으로만 힘을 낼 수 있는 단점이 있으며, 시스템의 구동장치의한계로 인하여 딱딱한 물체에 닿을 때 불안정한 특성을 보인다. 또한 좁은 영역 안에서 복잡한 조직들로 인한 급격한 강도 변화도 시스템의 불안정을 초래한다. 모사되는 힘은 두가지 성분으로 나뉜다. 하나는 바늘이 삽입될 때 바늘의 길이 방향으로 느껴지는 힘으로 생체 조직의 모델을 통해 값이 구해진다. 다른 하나는 바늘이 피부를 뚫고 지나간 이후에 바늘이 초기 삽입 방양을 유지 시켜주는 회전방향 힘으로 피봇을 이용하여 구현하였다. 불안정성 문제와 바늘이 튀어나오는 문제는 램핑 필터와 시간변수를 이용하여 제거하였다. 침생검 과정은 생체조직의 탄성 변형뿐 아니라 파괴가 일어나는 변형이므로 사실적인 힘을 구현하기 위해서 실험 데이터를 이용하여 삽입 깊이에 따라 탄성 계수와 마찰 상수가 변하는 모델을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.404-407
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• 1995

Teleoperating system has been developed for several decades, and many control schemes for it have been suggested. But the implementation for real application needs very simple but effective controller. In this paper, an advanced control scheme for this purpose is suggested, which is the combination of a modified internal model controller and variable filter for force reflection. And we verify the effectiveness of the proposed scheme through the experiment. We use PUMA-560 as the slave robot, which is operated by velocity servo loop with geared motor. Both the responses of free motion and contact motion are shown.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.221-222
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• 2012

• Ocean Systems Engineering
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• v.11 no.1
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• pp.1-16
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• 2021

Experimental and numerical investigations were conducted to study the performance of a surface-fixed horizontal porous wave barrier in regular waves. The characteristics of the reflection and transmission coefficients, energy dissipation, and vertical wave force were examined versus different porosities of the barrier. Numerical simulations based on 3D Reynolds Averaged Navier-Stokes equations with standard low-Re k-ε turbulent closure and volume of fluid approach were accomplished and compared with the experimental results conducted in a 2D wave tank. Experimental measurements and numerical simulations were shown to be in satisfactory agreement. The qualitative wave behavior propagating over a horizontal porous barrier such as wave run-up, wave breaking, air entrapment, jet flow, and vortex generation was reproduced by CFD computation. Through the discrete harmonic decomposition of the vertical wave force on a wave barrier, the nonlinear characteristics were revealed quantitatively. It was concluded that the surface-fixed horizontal barrier is more effective in dissipating wave energy in the short wave period region and more energy conversion was observed from the first harmonic to higher harmonics with the increase of porosity. The present numerical approach will provide a predictive tool for an accurate and efficient design of the surface-fixed horizontal porous wave barrier.

• Proceedings of the Korean Geotechical Society Conference
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• 2004.03b
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• pp.807-814
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• 2004

Land seismic reflection survey has been increasingly demanded in various civil engineering works because of its own ability to delineate layers, water table, to detect cavities or fracture zones, to estimate seismic velocities of each layer. However, our shallow subsurface structures are very complex. The relatively thin layer(mostly soil) to the wavelength directly followed by a basic rock with high impedance used to generate complicated surface waves, kind of channel waves with high amplitude that is dominate in entire seismograms and hence the useful reflection events will be almost hopelessly immersed in the undesired surface waves. Thus, it would seem that the use of traditional seismic survey could not be likely to provide in itself a satisfactory information about our exploration targets. This paper hence introduces an efficient measuring strategy illustrating a properly controlled arrangement of the vertical single force sources commonly used, yielding a very sharply elongated form of P-energy with a minimum of S radiation energy, what we call, P-beam source. Abundant experiments of physical modeling showed that in that way the surface waves could be enormously reduced and the reflection events would be additive and thus reinforced. Examples of field data are also illustrated. The contribution of P-beam source will be great in civil engineering area as well as in general geological exploration area.