• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• 정보관리학회지
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• 제38권3호
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• pp.1-22
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• 2021

본 논문은 주제분야 전문지식이 적합성 판단에 미치는 영향을 온라인 실험을 통해 살펴보고 주제분야 전문지식이 적합성개념의 기반이 될 수 있는 지를 검증해 보려고 하였다. 문헌정보학 전문가 6명, 문헌정보학 석사과정 학생 9명, 비전문가 12명이 실험에 참여해 문헌정보학 분야에 대한 14개 논문초록과 문헌정보학 영역 이외 14개 논문초록의 적합성을 판정을 실시하였다. 적합성 판단의 일관성은 공동 확률 일치성(Joint-Probability Agreement, PA)과 IBM SPSS의 클래스간 상관관계 계수(Interclass Correlation Coefficient, ICC)를 통해 산출되었다. PA를 사용한 경우, 비전문가는 과제나 그룹 구분에 상관없이 높은 일관성이 보였다. ICC 계산에 따르면, 문헌정보학 전문가들과 비교하였을 때, 문헌정보학 석사과정학생들은 비전문가들보다 높은 수준의 일관성을 가지고 있다는 것으로 나타났다. 2개 그룹(석사 및 박사를 통합으로 하는 전문가그룹과 비전문가)으로 구분하였을 때는 문헌정보학분야 과제에서 예상대로 전문가들이 더 높은 수준의 일관성을 보이는 경향을 볼 수 있었다.

• 대한의용생체공학회:의공학회지
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• 제29권1호
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• 조명전기설비학회논문지
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• 제20권10호
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• pp.151-157
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• 2006

생활수준이 향상 될수록 로봇이 인간의 노동을 대신하는 요소는 더욱 많아지고 있다. 하지만 대부분의 로봇이 지면에 고정된 장치산업에 국한되어 있기 때문에, 폭넓은 응용가치가 기대되는 휴먼 로봇에 대한 필요성이 강조되고 있다. 휴먼로봇은 사람을 대신하기 위한 목적으로 많은 연구가 진행되고 있지만, 관련 하드웨어의 부족으로 매우 단순하고 제한적으로 적용되고 있다. 이러한 한계를 극복하기 위해 본 연구에서는 기구학적인 메커니즘과 제어장치를 개발하여, 어깨와 팔을 3자유도 형태로 마스트 암을 구성하고, 관절변수의 특성과 엔드-이펙터 궤적실험을 통하여 사람과 유사한 동작을 재현하였다.

• 한국안전학회지
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• 제33권5호
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• pp.127-133
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• 2018

The Saemangeum master plan includes dredging and waterproofing materials, construction projects that can change the hydraulic characteristics of the Saemangeum and Mangyeong and Dongjin River basins. In this study, the river safety of 2030 when the Saemangeum master plan was completed for 100 year frequency, 500 year frequency and 100 year frequency applied RCP 8.5 scenario was examined using Delft3D. As a result of the analysis, it was confirmed that there was no overflowing point at the 100 year frequency, but the difference between the flood level and the river bank elevation was relatively small at the curved and river joint part. At the 100-year frequency with the 500-year frequency and the RCP 8.5 scenario, the possibility of overflowing at several locations was confirmed. The possibility of river bed loss due to fast velocity appears in the upstream part of Mankyung River and it is necessary to monitor the safety of hydraulic structures continuously. In addition, it is expected that the expansion of the area showing the characteristics of the lake due to dredging will affect the sediment mechanism and water quality, so detailed and diverse studies will be needed.

• 한국가구학회지
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• 제26권4호
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• pp.409-420
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• 2015

This study intends to explore a teaching philosophy of a Master, a joiner, a cabinet maker, Byeung-Soo Kim who has devoted his entire life on creating and making traditional Korean wood furniture since the elementary school. His teaching method is to make his learners skillful by learning how to make traditional Korean furniture with the traditional technique or joint handmade. They are able to create the furniture in passing through some levels such as a beginning, a middle, a high, and a special class for three years. Each level suggests that the students should study its own joints from laminating, dado, butt, dovetail, mitered, mortise-and-tenon, rabbet, tongue-and-groove and so on. The teaching method is very unique as the technique different and difficult to fine it from other education processes throughout the country.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.

• 한국전문물리치료학회지
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• 제30권2호
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• pp.110-119
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• 2023

Background: Osteoarthritis is a common condition with an increasing prevalence and is a common cause of disability. Osteoarthritic pain decreases the quality of life, and simple gait training is used to alleviate it. Knee osteoarthritis limits joint motion in the sagittal and lateral directions. Although many recent studies have activated orthotic research to increase knee joint stabilization, no study has used patellar tendon straps to treat knee osteoarthritis. Objects: This study aimed to determine the effects of patellar tendon straps on kinematic, mechanical, and electromyographic activation in patients with knee osteoarthritis. Methods: Patients with knee osteoarthritis were selected. After creating the Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC), leg length difference, Q-angle, and thumb side flexion angle of the foot were measured. Kinematic, kinetic, and muscle activation data during walking before and after wearing the orthosis were viewed. Results: After wearing the patellar tendon straps, hip adduction from the terminal stance phase, knee flexion from the terminal swing phase, and ankle plantar flexion angle increased during the pre-swing and initial swing phases. The cadence of spatiotemporal parameters and velocity increased, and step time, stride time, and foot force duration decreased. Conclusion: Based on the results of this study, the increase in plantar flexion after strap wearing is inferred by an increase due to neurological mechanisms, and adduction at the hip joint is inferred by an increase in adduction due to increased velocity. The increase in cadence and velocity and the decrease in gait speed and foot pressure duration may be due to joint stabilization. It can be inferred that joint stabilization is increased by wearing knee straps. Thus, wearing a patellar tendon strap during gait in patients with knee osteoarthritis influences kinematic changes in the sagittal plane of the joint.

• 대한기계학회논문집A
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• 제25권6호
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• pp.938-948
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• 2001

In this paper, we present an exoskeletal haptic device named SKK Hand Master. This device is directly driven linkages actuated with small ultrasonic motors. By adopting ultrasonic motors that have advantageous features useful for cybernetic actuators, a compact haptic device containing whole driving packages can be established without additional power transmissions such as tendons. Methods for measuring joint postures and joint torques are developed and a new control strategy called PWM/PS is proposed to overcome intrinsic disadvantages such as hysteresis. Issues regarding design and construction of the device are addressed and several results of experiments for the evaluations of performance are included.