• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.203-204
• /
• 2008

한의학 진단의 중요 요소인 맥진을 자동화한 맥진기에서뿐만 아니라 비관혈적 심혈관 기능 평가를 위해서 요골동맥 맥파 측정이 널리 활용되고 있다. 요골동맥 맥파는 피험자의 생리적, 병리적 원인을 통제하더라도 가압력이 변함에 따라 형태가 달라지며, 어느 시점 맥파를 피험자의 상태를 대표하는 맥파로 해야 할지에 대한 명확한 기준이 없어 맥압이 최대가 되는 시점의 맥파를 사용하고 있다. 그러나, 맥파가 측정되는 가압력 범위뿐만 아니라 맥압이 최대가 되는 시점이 피험자마다 다르기 때문에 정확한 대표 맥파를 획득하기 위해서는 보다 가압력 단계를 늘려야 하며, 결과적으로 측정시간이 보다 길어지게 될 것이다. 본 논문에서는 최소한의 가압단계로도 보다 정확히 대표 맥파를 획득할 수 있는 방법을 개발할 수 있도록, 정밀 제어가 가능한 가압 로봇 축, 가압에 의해 눌리는 피부이동 거리 측정을 위한 레이저 센서, 가압에 따른 피부 반발력과 맥파를 측정할 수 있는 압력 센서로 구성된 테스트 지그를 개발하였다. 이를 통해 모터 이동 스텝 수에 따른 피부 이동 거리 특성, 피부 이동 거리에 따른 맥파 변화 특성 등을 관찰할 수 있었으며, 향후 효과적인 대표 맥파 획득 방법을 개발할 수 있을 것으로 기대한다.

• The Journal of Korean Academy of Prosthodontics
• /
• v.61 no.4
• /
• pp.257-267
• /
• 2023

Purpose. The purpose of the study was to fabricate a prototype robotic simulator for dental education, to test whether it could simulate mandibular movements, and to assess the possibility of the stimulator responding to stimuli during dental practice. Materials and methods. A virtual simulator model was developed based on segmentation of the hard tissues using cone-beam computed tomography (CBCT) data. The simulator frame was 3D printed using polylactic acid (PLA) material, and dentiforms and silicone face skin were also inserted. Servo actuators were used to control the movements of the simulator, and the simulator's response to dental stimuli was created by pressure and water level sensors. A water level test was performed to determine the specific threshold of the water level sensor. The mandibular movements and mandibular range of motion of the simulator were tested through computer simulation and the actual model. Results. The prototype robotic simulator consisted of an operational unit, an upper body with an electric device, a head with a temporomandibular joint (TMJ) and dentiforms. The TMJ of the simulator was capable of driving two degrees of freedom, implementing rotational and translational movements. In the water level test, the specific threshold of the water level sensor was 10.35 ml. The mandibular range of motion of the simulator was 50 mm in both computer simulation and the actual model. Conclusion. Although further advancements are still required to improve its efficiency and stability, the upper-body prototype simulator has the potential to be useful in dental practice education.

• Journal of the Korea Society for Simulation
• /
• v.19 no.4
• /
• pp.77-87
• /
• 2010

Currently, our society has been changed from the industrial society to the information society. As the war progresses to Information Warfare, Network-Centric Warfare, Long-Range Precision Engagement and Robot Warfare, the military should advance to High-tech Scientific force. For this creation of the war potential, it is regarded as the warfighting experiment is a critical method. Surely it is rational that LVC(Live Virtual Constructive simulation) is desirable to make the warfighting experiment. But because it is limited by the cost, the time, the place and the resource, the constructive simulation(M&S : Modeling&Simulation) is a good tool to solve those problems. There are some studies about the evaluation process for developing the model, but it is unsatisfying in the process of the constructive simulations' operation. This study focuses on the way of constructive simulation operation, which is supplied with the evaluation process(VV&A : Verification Validation & Accreditation). We introduce the example of the rear area operation simulation for "appropriateness evaluation to the organization of logistic corps" by the AWAM(Army Weapon Analysis Model). This study presents the effective methods of the constructive simulations, which is based on the reliable evaluation process, so it will contribute to the warfighting experiments.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
• /
• v.5 no.4
• /
• pp.309-322
• /
• 2007

This study deals with the irradiation effects on some selected components which are being used in an Advanced Spent Fuel Conditioning Process (ACP). Irradiation test components have a higher priority from the aspect of their reliability because their degradation or failure is able to critically affect the performance of an ACP equipment. Components that we chose for the irradiation tests were the AC servo motor, potentiometer, thermocouples, accelerometer and CCD camera. ACP facility has a number of AC servo motors to move the joints of a manipulator and to operate process equipment. Potentiometers are used for a measurement of several joint angles in a manipulator. Thermocouples are used for a temperature measurement in an electrolytic reduction reactor, a vol-oxidation reactor and a molten salt transfer line. An accelerometer is installed in a slitting machine to forecast an incipient failure during a slitting process. A small CCD camera is used for an in-situ vision monitoring between ACP campaigns. We made use of a gamma-irradiation facility with cobalt-60 source for an irradiation test on the above components because gamma rays from among various radioactive rays are the most significant for electric, electronic and robotic components. Irradiation tests were carried out for enough long time for total doses to be over expected threshold values. Other components except the CCD camera showed a very high radiation hardening characteristic. Characteristic changes at different total doses were investigated and threshold values to warrant at least their performance without a deterioration were evaluated as a result of the irradiation tests.

• The Journal of Korean Association of Computer Education
• /
• v.17 no.2
• /
• pp.65-76
• /
• 2014

This paper aims at implementing experimental devices with which middle school students can explore scientific ideas using GoGo Board and NetLogo that connect real and simulated worlds. Related research literature was reviewed to design a simulation-based learning model using computer simulation and robot-related activities. In order to construct devices for exploratory experiments, GoGo Board was adopted for developing the interface of Micro-Based Laboratory(MBL) devices with several sensors while NetLogo was used for connecting MBL devices (real world) and simulated experiments (virtual world). The simulation contents were developed in the area of heat equilibrium for changing temperature and the conduct-current relationship appeared in the textbook of middle school science class. With the developed device and contents students can visualize the change of temperature cold and hot waters in terms of heat equilibrium. They also can measure the change of conductor representing the relationship between conductor and current. The formative evaluation of the contents carried out with several middle school students indicated the future direction for upgrading simulation contents and interface. The results might be beneficial for science educators who want to apply simulation contents with the use of computers.

• Journal of KIISE:Software and Applications
• /
• v.34 no.8
• /
• pp.721-730
• /
• 2007

UML (Unified Modeling Language) is widely used to analyze and design target software. Developers also implement the target software based on the UML artifacts. However, it is difficult to validate whether the artifacts are generated to correspond to the modeling guidelines because the guidelines for UML modeling are described in natural language. This paper discusses rule based model checker focused on whether models are designed according to modeling methodology. We propose rules and their own checker, named GARDIAN, for UML model validation. The checkers are designed for COMET method for the real-time embedded system. We illustrate our checkers using Intelligent Robot system to validate our approach.

• Proceedings of the KSME Conference
• /
• 2007.05b
• /
• pp.1864-1869
• /
• 2007

In this study, we compare thermal performance between four different types of cold plates for humanoid robot cooling. Two commercially available cold plates made of copper have different dimensions and internal flow paths: One has $20{\times}20$ $mm^2$ base area with micro-channels and the other has $62.5{\times}62.5$ $mm^2$ base area with 85 round pin-fins. And two different types of cold plates of $20{\times}20$ $mm^2$ base area with 7 mm high are made of PC (polycarbonate), which aims to reduce the weight of cooling system. All cold plates are mounted on a $20{\times}20$ $mm^2$ copper block with two cartridge heaters of 30 $W/cm^2$. The overall heat transfer coefficient and thermal resistances for the liquid-cooled cold plates are obtained. The copper cold plate with micro-channels showed the best performance. Polycarbonate cold plates display fairly good thermal performance with more reduced system weight.

• Proceedings of The KACE
• /
• 2017.08a
• /
• pp.113-116
• /
• 2017

현대 사회는 4차 산업혁명을 통해 빠르게 발달하고 있다. 이러한 사회에서는 새로운 지식과 기술이 끊임없이 만들어지고 기존의 지식과 기술이 도태되고 지식과 기술의 생명주기가 점차적으로 빨라지고 있다. 이에 따라 새롭게 제시되는 지식과 기술을 적합한 문제에 적용하여 문제를 해결하는 능력의 중요성이 커지고 있다. 특히 차세대 기술로 평가받는 인공지능, 로봇, 자율 자동차, 사물 인터넷 등의 기술과 연관된 문제를 해결하는 방법은 컴퓨터를 활용한 문제 해결방법과 밀접하게 연관돼있기 때문에 컴퓨터를 활용하여 주어진 문제를 표현하고 해결하는 능력은 매우 중요하다. 본 연구에서는 운영체제에서 기본적으로 제공되는 파일 관리 프로그램에 대한 문제점을 제기하고 문제 해결을 위해 컴퓨팅 사고력을 활용해서 문제에 대한 조사 단계, 분석 단계, 그리고 자동화 단계를 거쳐 문제를 해결한다.

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.534-535
• /
• 2008

최근 유비쿼터스 기술이 급속도로 발전함에 따라 많은 application들이 다양한 환경에서 통신서비스를 요구하고 있다. 이를 지원하기 위하여 많은 무선 센서 네트워킹 기술들이 제안되었지만 제한된 대역쪽과 높은 에러율로 인하여 이동성을 지원하기에는 부족하였다. 특히, 경로를 획득하기 위한 Route Request (RREQ)의 잦은 브로드캐스트 과정은 오히려 혼잡 및 에너지 소모를 야기시키며 네트워크 성능을 저하시키는 문제점이 있다. 본 논문에서는 언제, 어디서나 다양한 토폴로지 환경에서 자가 구성이 가능하며, 이동성을 지원하는 Tree기반의 Self-Routing 기법을 제안한다. 기존의 센서 네트워크내 멀티홉 라우팅 프로토콜과는 달리, 라우터 혹은 싱크노드의 비컨 프레임내 Association 정보만을 이용하여 새로운 라우팅 테이블을 형성함으로써 컨트롤 패킷의 오버 헤드를 크게 줄일 수 있다. 성능 평가를 위하여 실제 모바일 로봇을 이용한 실험과 시뮬레이션을 동시에 하였으며, 기존의 기법보다 향상된 성능을 가짐을 보인다.

• Journal of the Ergonomics Society of Korea
• /
• v.25 no.4
• /
• pp.71-80
• /
• 2006

A construction robot has been developed for higher productivity and better safety in various construction fields. Especially, curtain wall is suitable for outer wall material of tall commercial building and apartment complexes. This heavy material is, however, hard to install with a manpower and outdated equipment. For this reason, the prototype of ASCI (Automation System for Curtain wall Installation) was developed. This system has a robot controller(i.e. hand-held remote control unit) for the transfer information signal between human operator and robot system. Although study has been conducted on manual controller of ASCI, hardly any information is known about the operator's opinion. In this study, a questionnaire was completed by operator to get their opinion about aspects which need to design a more comfortable and productive manual controller of construction machinery, robot included. Through the result of study, it is expected that this technical data is contributed to the robot controller design for comfort and productivity of various industrial machinery.