• 한국정밀공학회지
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• 제30권3호
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• pp.292-299
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• 2013

The measurement in the manufacturing process of curved ship hull plates still depends on wooden templates as a standard instrument. The metrology-enabled automation in the shipbuilding process has been challenged instead of line measurement with wooden templates. The developed measurement system consists of a CCD camera, multiple structured laser sources and 3-DOF motion device. The system carries out measurement of curved profiles for large scale plates by an optical triangulation method. The results of experiment conducted in a manufacturing shop demonstrate the accurate and robust performance.

• 한국산학기술학회논문지
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• 제14권1호
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• pp.33-38
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• 2013

여러 종류의 증기발생기 검사정비 로봇의 엔드이펙터 모션 구동에 전부 사용할 수 있도록 ARM Cotex M3-107 MCU 기반의 제어기와 엔드이펙터 모션 프로그램 생성 응용소프트웨어로 구성된 범용 엔드이펙터 모션구동 제어시스템을 개발하였다. 범용 제어시스템을 적용하여 엔드이펙터의 직선이송 및 회전이송의 위치 결정의 오차는 무시할만한 수준이며, 재현성은 0.04% 오차를 보여줌으로써 실제로 사용 가능한 범용 엔드이펙터 모션구동 제어시스템을 개발하였다.

• 한국전자파학회논문지
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• 제13권10호
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• pp.1089-1097
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• 2002

본 논문에서는 선박에 탑재하여 해상에서 이동 중 위성통신을 수행하는 능동 위상배열 안테나 시스템의 설계, 제작 및 시험을 소개한다. 안테나와 시스템은 광역 하이브리드 추져, 송수신 겸용 안테나 소자, 비대칭 배열, 송수신간의 간섭 억압, 및 주파수 스캔 효과를 보상하는 위상제어 기술 등의 새로운 구조와 기술을 적용한다. 안테나는 32$\times$4 이차원 배열을 가진 송수신 겸용 안테나이다. 안테나는 두개의 빔을 가진다. 안테나 사용 주파수는 수신 7.25 - 7.75 GHz 송신 7.9 - 8.4 GHz이다. 안테나 지향 이득은 수신 35.4 dBi와 송신 35.7 dBi이며, 최대 54 %의 효율을 가진다. 전자 빔 스캔 범위는 앙각 $\pm$35$^{\circ}$와 방위각 $\pm$4$^{\circ}$이다. 안테나는 방위각 360$^{\circ}$ 무한회선과 앙각 $\pm$$10^{\circ}$의 기계적 제어가 가능한 하이브리드 추적 운동을 할 수 있다. 안테나 3 dB 빔폭은 2.2$^{\circ}$이며, 부엽 레벨 -14 dB와 교차편파 억압 송신 21 dB의 특성을 가진다. 안테나는 근역전계 측정 시설을 이용하여 측정하였다. 시스템 성능은 선박 모의 운동 시뮬레이터 위에서 위성 중계기 시뮬레이터를 사용하여 시험하였다. 운동 상태에서 위성 추적 성능은 추적 오차가 3 dB 이내이다. 안테나 시스템은 변조된 위성방송 신호를 주파수 변환하여 안테나 시스템의 변조 신호 송수신 시험에 사용하였다.

• 대한의용생체공학회:의공학회지
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• 제36권5호
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• pp.228-234
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• 2015

The balance ability significantly decreased in the elderly because of deterioration of the neural musculature regulatory mechanisms. Several studies have investigated methods of improving balance ability using real-time systems, but it is limited by the expensive test equipment and specialized resources. Recently, Kinect system based on depth data has been applied to address these limitations. Little information about accuracy/inaccuracy of Kinect system is, however, available, particular in motion analysis for evaluation of effectiveness in rehabilitation training. Therefore, the aim of the current study was to evaluate accuracy/inaccuracy of Kinect system in specific rotational movement for balance rehabilitation training. Six healthy male adults with no musculoskeletal disorder were selected to participate in the experiment. Movements of the participants were induced by controlling the base plane of the balance training equipment in directions of AP (anterior-posterior), ML (medial-lateral), right and left diagonal direction. The dynamic motions of the subjects were measured using two Kinect depth sensor systems and a three-dimensional motion capture system with eight infrared cameras for comparative evaluation. The results of the error rate for hip and knee joint alteration of Kinect system comparison with infrared camera based motion capture system occurred smaller values in the ML direction (Hip joint: 10.9~57.3%, Knee joint: 26.0~74.8%). Therefore, the accuracy of Kinect system for measuring balance rehabilitation traning could improve by using adapted algorithm which is based on hip joint movement in medial-lateral direction.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2004년도 Asia Display / IMID 04
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• pp.440-441
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• 2004

A volumetric three-dimensional (3D) display system was presented, which utilizes a rotating two-dimensional (2D) display panel of light emitting diodes (LEDs) to generate more than 10 million volume pixels (voxels) within a cylindrical volume of 165 mm in height and 292 mm in diameter. Due to persistence of vision, momentarily addressed voxel information is perceived and fused into a 3D image. Important cues for depth perception, such as binocular parallax, accommodation, convergence and motion parallax are satisfied automatically and naturally, thus it is suitable for individual or group viewing, without the need for any special visual aids.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.565-568
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• 1995

This paper presents the position control of a closed-loop cylinder system using ER(electro-rheological)valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluids, a 3 d.o.f. close-loop sylinder system having the heave, roll and pitch motions is proposed. The governing equations of motion are derived using Lagrange's equation, and a control model is established by considering system uncertain parameters such as load conditions. A sliding mode controller which has inherent robustness to system uncertainties is adopted to achieve robust tracking control performance. Tracking control results for sinusoidal trajectory were presented in order to demonstrate the effectiveness of the proposed control system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.631-634
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• 2001

In this study, the graphic simulation system of multi joint manipulator is developed to analyze and optimize the remote handling processes for the spent fuel assembly. This system consists of a 3-D graphical modeling system, a device assembling system, and a motion simulation system. To analyze and optimize the processes involved in multi-joint manipulator operation such as NFBC transportation process and bottom nozzle removal process, the virtual work place is implemented using a computer graphic technology. This virtual workcell is exactly same as that of the real environment. This graphic simulation system of the multi-joint manipulator can be effectively used for designing the main processes and maintenance processes of the spent fuel management.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권4호
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• pp.1216-1233
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• 2023

Conventional occupational therapy (OT) is conducted under the observation of an occupational therapist, and there are limitations in measuring and analyzing details such as degree of hand tremor and movement tendency, so this important information may be lost. It is therefore difficult to identify quantitative performance indicators, and the presence of observers during performance sometimes makes the subjects feel that they have to achieve good results. In this study, by using the Unity3D and artificial intelligence (AI) speaker, we propose a system that allows the subjects to steadily use it by themselves and helps the occupational therapist objectively evaluate through quantitative data. This system is based on the OT of the sensory integration approach. And the purpose of this system is to improve children's activities of daily living by providing various feedback to induce sensory integration, which allows them to develop the ability to effectively use their bodies. A dynamic OT cognitive assessment tool for children used in clinical practice was implemented in Unity3D to create an OT environment of virtual space. The Leap Motion Controller allows users to track and record hand motion data in real time. Occupational therapists can control the user's performance environment remotely by connecting Unity3D and AI speaker. The experiment with the conventional OT tool and the system we proposed was conducted. As a result, it was found that when the system was performed without an observer, users can perform spontaneously and several times feeling ease and active mind.

• 한국콘텐츠학회논문지
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• 제11권12호
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• pp.619-628
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• 2011

일반적으로 비전기반 3차원 인체 포즈 인식 기술은 HCI(Human-Computer Interaction)에서 인간의 제스처를 전달하기 위한 방법으로 사용된다. 특수한 환경에서 단순한 2차원 움직임 포즈만 인식할 수 있는 2차원 포즈모델 기반 인식 방법에 비해 3차원 관절을 묘사한 포즈모델은 관절각에 대한 정보와 신체 부위의 모양정보를 선행지식으로 사용할 수 있어서 좀 더 일반적인 환경에서 복잡한 3차원 포즈도 인식할 수 있다는 장점이 있다. 이 논문은 인체의 3차원 관절 정보를 이용한 포즈 인식 기술을 인터페이스로 활용한 상호작용 게임 콘텐츠 개발에 관해 기술한다. 제안된 시스템에서 사용되는 포즈는 인체 관절 중 14개 관절의 3차원 위치정보를 이용해서 구성한 포즈 템플릿과 현재 사용자의 포즈를 비교해 인식된다. 이 방법을 이용하여 제작된 시스템은 사용자가 부가적인 장치의 사용 없이 사용자의 몸동작만으로 자연스럽게 게임 콘텐츠를 조작할 수 있도록 해준다. 제안된 3차원 인식 기술을 게임 콘텐츠에 적용하여 성능을 평가한다. 향후 다양한 환경에서 더욱 강건하게 포즈를 인식할 수 있는 연구를 수행할 계획이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.