• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제10권5호
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• pp.179-186
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• 2021

로봇이 사람과 같이 다양하고 복잡한 사물 조작을 하기 위해서는 휴먼형 로봇 손의 사물 파지 작업이 필수적이다. 자유도 (Degree of Freedom, DoF)가 높은 휴먼형(anthropomorphic) 로봇 손을 학습시키기 위하여 사람 데모(human demonstration)가 결합한 강화학습 최적화 방법이 제안되었다. 본 연구에서는 강화학습 최적화 방법에 사람 데모가 결합한 Demonstration Augmented Natural Policy Gradient (DA-NPG)와 NPG의 성능 비교를 통하여 행동 복제의 효율성을 확인하고, DA-NPG, DA-Trust Region Policy Optimization (DA-TRPO), DA-Proximal Policy Optimization (DA-PPO)의 최적화 방법의 성능 평가를 위하여 6 종의 물체에 대한 휴먼형 로봇 손의 사물 조작 작업을 수행한다. 학습 후 DA-NPG와 NPG를 비교한 결과, NPG의 물체 파지 성공률은 평균 60%, DA-NPG는 평균 99.33%로, 휴먼형 로봇 손의 사물 조작 강화학습에 행동 복제가 효율적임을 증명하였다. 또한, DA-NPG는 DA-TRPO와 유사한 성능을 보이면서 모든 물체에 대한 사물 파지에 성공하였고 가장 안정적이었다. 반면, DA-TRPO와 DA-PPO는 사물 조작에 실패한 물체가 존재하여 불안정한 성능을 보였다. 본 연구에서 제안하는 방법은 향후 실제 휴먼형 로봇에 적용하여 휴먼형 로봇 손의 사물 조작 지능 개발에 유용할 것으로 전망된다.

• Journal of Computing Science and Engineering
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• 제7권2호
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• ETRI Journal
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• 제27권2호
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• pp.227-230
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• 2005

A specific anthropomorphic mannequin (SAM) model was used to investigate the relation between local specific absorption rate (SAR) and head size. The model was scaled to 80 to 100% sized models at intervals of 5%. We assumed that the shell of the SAM model has the same properties as the head-equivalent tissue. Five handsets with a monopole antenna operating at 835 MHz were placed in the approximate cheek position against the scaled SAM models. The handsets had different antenna lengths, antenna positions, body sizes, and external materials. SAR distributions in the scaled SAM models were computed using the finite-difference time-domain method. We found that a larger head causes a distinct increase in the spatial peak 1-voxel SAR, while head size did not significantly change the peak 1-g averaged-SAR and 10-g averaged-SAR values for the same power level delivered to the antenna.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.208-219
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• 1999

Springs have been employed in a wide range of mechanical systems. This work deals with the concept of an adaptable spring mechanism which can arbitrarily modulate its spring characteristics. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adapting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. This phenomenon has been explained by several human arm models. Based on the analysis results, we propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verifiy the applicability of these mechanisms through simulation.

• 대한인간공학회지
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• 제7권2호
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• pp.23-30
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• 1988

The methods suggested up to now for 3-dimensional anthroponetry require much efforts and costs in measuring and analysing. To solve these problems, we adopt the methods such as Moire Interferometry, Image processing and Computer Vision Technique which are efficient in processing anthropomorphic data. Moire contourgraph was constructed by using Ar-ion laser as a light source (2 Watt power and 5145 A wavelength) and laser beam expander(20X). Image data can be 3-dimensionally reconstructed as the surface patch and geographical relation between faces expressed by mash-point and edges as units. This research is focused on the followings; 1) Development of an economical and reliable measuring method. 2) Design of reproduction methods of 3-dimensional human body data. Therefore, our research makes it possible to study further advanced quantitative analysis of human body.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2000년도 하계종합학술대회논문집
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• pp.113-116
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• 2000

This paper analyzes the singularity of an anthropomorphic robot associated with joint and operational stiffness generation from muscle stiffness. The singularity analysis is made simply based on the signs of the actual and the desired coupling joint stiffness. First, the relationships of the muscle stiffness and the actual joint stiffness, and the operational stiffness and the desired joint stiffness are examined. Second, according to the sign restriction on the actual coupling joint stiffness, the operational space is divided into the semi-singular(SS), the regular(R), and the semi-regular(SR) regions. Third, from the sign comparison of tile actual and the desired coupling joint stiffness, the sufficient condition for the semi-singularity in operational stiffness generation is derived. The limitation on the allowable operational stiffness when a task point belongs to SS, R, and SR regions is also discussed. Simulation results are given.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 춘계학술발표회
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• pp.958-959
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• 2005

• 대한방사선기술학회지:방사선기술과학
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• 제41권2호
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• pp.141-148
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• 2018

This study examined the properties of photons and the dose distribution in a human body via a simulation where the total body irradiation(TBI) is performed on a pediatric anthropomorphic phantom and a child size water phantom. Based on this, we tried to find the optimal photon beam energy and material for beam spoiler. In this study, MCNPX (Ver. 2.5.0), a simulation program based on the Monte Carlo method, was used for the photon beam analysis and TBI simulation. Several different beam spoiler materials (plexiglass, copper, lead, aluminium) were used, and three different electron beam energies were used in the simulated accelerator to produce photon beams (6, 10, and 15 MeV). Moreover, both a water phantom for calculating the depth-dependent dosage and a pediatric anthropomorphic phantom for calculating the organ dosage were used. The homogeneity of photon beam was examined in different depths for the water phantom, which shows the 20%-40% difference for each material. Next, the org an doses on pediatric anthropomorphic phantom were examined, and the results showed that the average dose for each part of the body was skin 17.7 Gy, sexual gland 15.2 Gy, digestion 13.8 Gy, liver 11.8 Gy, kidney 9.2 Gy, lungs 6.2 Gy, and brain 4.6 Gy. Moreover, as for the organ doses according to materials, the highest dose was observed in lead while the lowest was observed in plexiglass. Plexiglass in current use is considered the most suitable material, and a 6 or 10 MV photon energy plan tailored to the patient condition is considered more suitable than a higher energy plan.

• 대한치과의사협회지
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• 제58권7호
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• pp.388-397
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• 2020

Objective: The purpose of the study was to calculate the effective and absorbed organ doses of cone-beam computed tomography (CBCT) in pediatric patient using personal computer-based Monte Carlo (PCXMC) software and to compare them with those measured using thermoluminescent dosimeters (TLDs) and anthropomorphic phantom. Materials and Methods: Alphard VEGA CBCT scanner was used for this study. A large field of view (FOV) (20.0 cm × 17.9 cm) was selected because it is a commonly used FOV for orthodontic analyses in pediatric patients. Ionization chamber of dose-area product (DAP) meter was located at the tube side of CBCT scanner. With the clinical exposure settings for a 10-year-old patient, DAP value was measured at the scout and main projection of CBCT. Effective and absorbed organ doses of CBCT at scout and main projection were calculated using PCXMC and PCXMCRotation software respectively. Effective dose and absorbed organ doses were compared with those obtained by TLDs and a 10-year-old child anthropomorphic phantom at the same exposure settings. Results: The effective dose of CBCT calculated by PCXMC software was 292.6 μSv, and that measured using TLD and anthropomorphic phantom was 292.5 μSv. The absorbed doses at the organs largely contributing to effective dose showed the small differences between two methods within the range from -18% to 20%. Conclusion: PCXMC software might be used as an alternative to the TLD measurement method for the effective and absorbed organ dose estimation in CBCT of large FOV in pediatric patients.

• 자동차안전학회지
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• 제9권3호
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• pp.31-38
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• 2017

For years, Q1.5 (anthropomorphic test device for 1.5 years old infant) and Q3 (anthropomorphic test device for 3 years old infant) dummy protection has been improved considerably by the effort of EuroNCAP. ISOFIX strength of vehicle structure has increased and many child occupant protection tests have made child restraint system (hereafter CRS) optimized for child safety. However, from 2016, EuroNCAP changed the dummy which is used for the child occupant protection from Q1.5/Q3 to Q6/Q10 and these were also adopted in KNCAP from 2017. Therefore, a new method is required to secure the safety for older children In this research, child dummies were tested by using adult safety systems, and the different results from each adult restraint system were compared. Finally, dummies were tested with the CRS harness belt commonly used for infants, which has yielded significant result. In this research, mid-sized sedan and small SUV were used for the test. The researchers of this paper performed sled tests to correlate between the different adult safety belt system and child injury. Following the sled test, an actual vehicle test was conducted to gather the injury data of Q-dummy with the CRS harness belts. This paper will show the advantages of applying a pre-tensioner in the second row for child protection and the necessity of CRS which has its own harness belts to improve safety for older children.