• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.5
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• pp.415-420
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• 2017

Underactuated prosthetic hands are relatively light and economical. In this work, an economical grasping force control system is proposed for underactuated prosthetic hands with adaptive grasp capability. The prosthetic hand is driven by a main cable based on a set of electromyography sensors on the forearm of a user. Part of the main cable tension related to grasping force is fed back to the user by a skin-mounted vibrator. The proper relationship between the grasping force and the vibrator drive voltage was established and prototype tests were performed on a group of users. Relatively accurate grasping force control was achieved with minimal training of users.

• KIPS Transactions on Software and Data Engineering
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• v.11 no.9
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• pp.363-370
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• 2022

Grasping a target object among clutter objects without collision requires machine intelligence. Machine intelligence includes environment recognition, target & obstacle recognition, collision-free path planning, and object grasping intelligence of robot hands. In this work, we implement such system in simulation and hardware to grasp a target object without collision. We use a RGB-D image sensor to recognize the environment and objects. Various path-finding algorithms been implemented and tested to find collision-free paths. Finally for an anthropomorphic robot hand, object grasping intelligence is learned through deep reinforcement learning. In our simulation environment, grasping a target out of five clutter objects, showed an average success rate of 78.8%and a collision rate of 34% without path planning. Whereas our system combined with path planning showed an average success rate of 94% and an average collision rate of 20%. In our hardware environment grasping a target out of three clutter objects showed an average success rate of 30% and a collision rate of 97% without path planning whereas our system combined with path planning showed an average success rate of 90% and an average collision rate of 23%. Our results show that grasping a target object in clutter is feasible with vision intelligence, path planning, and deep RL.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.10
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• pp.2696-2707
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• 2009

Although, a number of DBMS vendors are scrambling to extend their products to handle XML, there is a need for a lightweight, DBMS and platform-independent XML repository as well. In this paper, we describe such an XML integrated repository system, that solves the following functions : generating relational schema from XML DTDs for storage of XML documents, importing data from XML documents into relational tables, creating XML documents according to a XMLQL(XML Query Language) from data extracted from a database and synchronizing the replicated XML documents. In the XML repository systems, the efficient change detection techniques for XML documents is required to maintain the consistency of replicated XML data because the same data in the repository can be replicated between so many different XML documents. In this paper, we propose a message digest based change detection technique to maintain the consistency of replicated data between client XML documents and a XML data in XML repository systems.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.245-248
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• 2005

This paper presents a novel user interface system which aims at easy controlling of mobile devices. The fundamental concept of the proposed interface is to launch an appropriate function of the device by sensing and recognizing the grip-pattern when the user tries to use the mobile device. To this end, we develop a prototype system which employs capacitive touch sensors covering the housing of the system and a recognition algorithm for offering the appropriate function which suitable for the sensed grip-pattern. The effectiveness and feasibility of the proposed method is evaluated through the test of recognition rate with the collected grip-pattern database.

• Korean Journal of Microbiology
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• v.34 no.4
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• pp.236-242
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• 1998

While bacteriophage P2-P4 system is very useful experimental tool for the study of viral capsid assembly, there is no useful plasmid vector for the DNA manipulation in bacteriophage P2-P4 system. In this study, a new vector plasmid, P4 ash8 (sid71) kmr, was constructed by swapping the non-essential region of P4 DNA for kanamycin resistance(kmr) gene cassette of plasmid pUC4-K. P4 ash8 sid71 was starting material for the construction, since it tends to be maintained as a plasmid in the absence of the helper phage. The total size of this chimera was designed to be packaged into P4 or P2 size heads with induction by P2 infection. The conversion of plasmid P4 ash8 (sid71) kmr to bacteriophage was proved by burst size determination experiment and CsCl buoyant equilibrium density gradient experiment. Integrase destructed P4 derivative, P4 ash8 sid71 kmr intS, was able to be constructed easily by in vitro DNA manipulation of P4 ash8 sid71 kmr. The plasmid stability experiment with P4 ash8 sid71 kmr if/tS showed that the integrase of P4 affects the stable maintenance of plasmid P4 state.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.11a
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• pp.109-112
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• 2004

지식정보화 사회에서는 정부기관 간 정보연계가 정보의 원활한 운영을 위해서는 필수적인 요소가 되었다. 하지만, 효율적이고 체계적인 정보연계를 위해서는 서비스 제공 측면뿐만이 아니라 DB관리, 연계대상, 확장성 등을 종합적으로 고려한 정보 레파지터리가 필요하고, 이를 위해서는 보다 효과적인 정보연계 모델이 필요하다. 특히 산재되어 있는 장애인 정보는 기관간의 독립적인 정보시스템에 의해 정보연계가 물리적인 기법과 서비스적 측면에 한정되어 있다. 이에 따라 본 논문에서는 연계의 용이성 및 효율성을 고려한 EAI 기반의 장애인정보 레파지터리 정보연계 모델을 제시한다. EAI 구조는 데이터 라우팅 등으로 이기종간의 정보연계를 용이하게 해주며, 장애인정보 레파지터리는 기존 서비스측면의 정보연계의 한계점을 극복할 수 있는 형태이다. 이로써 본 논문에서 제시한 연계모델을 이용하여 저비용고효율의 정보연계가 가능하게 되어 정부/공공기관 간 정보교류가 활발히 이루어질 수 있을 것이다.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.237-238
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• 2012

기존의 기업 응용 프로그램들은 스마트폰의 성능 이상의 처리를 요구하는 데스크탑 환경에서 동작하였고 또한 기업의 시스템들은 스마트폰과의 연동과는 적합하지 않았다. 스마트폰 시장의 폭발적인 성장과 함께 일부 기업 업무처리가 스마트폰으로 이동하는 추세에서 이러한 문제들을 해결하기 위한 모바일 플랫폼으로 온-디멘드 클라우드 리소스를 이용한 개방형 모바일 클라우드(Open Mobile Cloud 이하 OMC) 플랫폼이 제안되었다. 본 논문에서는 OMC 플랫폼에서의 어플리케이션 리파지토리의 역할과 구조를 제안한다. 해당 플랫폼에서 리파지토리로의 요구사항으로는 VApp과 HApp의 버전 관리 및 배포가 있다. 또한 확장성, 독립성, 신뢰성 및 고 가용성의 리파지토리를 만족할 수 있는 구조 연구를 통해 이를 시험적으로 구현한 OMC App Repository를 소개한다. 또한 결론에서는 OMC 플랫폼에서 리파지토리를 이용한 추후 연구에 대해서도 다루고 있다.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.3
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• pp.248-257
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• 2007

This paper presents the control system for driving myoelectric hand prosthesis according to myoelectric signal generated in the human muscle. A surface myoelectric sensor for measuring myoelectric signal is designed a skin interface and a processing circuit according to myoelectric signal output property. The control system consists of two controller for driving dual motor, torque sensor for measuring out torque of motor, slip sensor for detecting slip of torque. The experimental results proved the proposed control system.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.678-683
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• 2006

A novel and intuitive way of accessing applications of mobile devices is presented. The key idea is to use grip-pattern, which is naturally produced when a user tries to use the mobile device, as a clue to determine an application to be launched. To this end, a capacitive touch sensor system is carefully designed and installed underneath the housing of the mobile terminal to capture the image of the user's grip-pattern. The captured data is then recognized by a recognizer with dedicated preprocessing and postprocessing algorithms. The recognition test is performed to validate the feasibility of the proposed user interface system.