• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1232-1235
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• 2005

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electroactive polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.131-136
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$2$^{\circ}$to $\pm$ 0.1$^{\circ}$.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.421-424
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• 1987

Recently, the problem associated with the achievement of desired trajectories for non-linear robotic manipulatory systems are researched. The control system which is designed for this robot manipulator, poses a number of severe problem. The methods proposed to deal with the problem fall loosely into three main classes : "direct" "adaptive", "anthropomorphic". Besides there is an approach which is described based upon the application of optimal control theory. In this paper, using the optimal theory, we choose error-coordinate, between the desired trajectories and the practical as the state values, and determine the control law U which minimize a corresponding performance criterion. Let's consider the robotic arm proposed by Freund and set up the deviations of it's trajectory as a measure of performance. To find the optimal control law $U^*$ and the next state value which need to obtain $U^*$ here, we should introduced the conjugate gradient algorithm and the Runge Kutta method.

• 대한기계학회논문집
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• 제19권1호
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• pp.181-192
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• 1995

In this study, we introduce new types of planar 2 degree-of-freedom robot modules resembling the musculoskeletal structure of the human arm with actuation redundancy. First, for the given actuator sizes the performance analysis for the manipulator with redundant actuation and without redundant actuation is performed with respect to maximum load handling capacity, maximum hand velocity, and maximum hand acceleration. Secondly an algorithm which decides optimal actuator sizes for the given operational performances is introduced, and the optimal actuator sizes for a robot module with four redundant actuation are obtained. The algorithms employed in this paper will be useful to analyze the robot performances and to determine the actuator sizes for general robot manipulators.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 춘계학술대회 논문집
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• pp.199-204
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• 1999

The robot inverse calibration method using a neural networks is proposed in this paper. A high-order networks has been used in this study. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the selected compliance automatic robot arm type direct drive robot and anthropomorphic robot are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from ${\pm}$0.15$^{\circ}$to ${\pm}$0.12$^{\circ}$.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.144-149
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• 2005

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electroactive polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

• 한국정밀공학회지
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• 제14권12호
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• pp.86-94
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• 1997

This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

• 핵의학기술
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• 제16권1호
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• pp.3-7
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• 2012

심근관류 SPECT의 영상획득 방법에는 Body contour와 Circular 방식이 있고, 환자와 검출기 사이의 거리를 줄이기 위해 Body contour 방식을 주로 사용한다. 그러나 이중(Dual) 검출기 장비에서 수직방식으로 검출기를 설정하여 영상을 획득하는 경우에는 환자와 검출기 사이의 거리가 Body contour 방식이 Circular 방식에 비해 더 증가하는 경향이 있다. 본 연구의 목적은 이중 검출기 장비에서 수직방식으로 검출기를 설정하여 영상을 획득하는 경우, Body contour 방식과 Circular 방식에서 환자와 검출기 사이의 거리를 비교하고, 거리에 따라 영상에 미치는 영향을 파악하여 영상의 질을 높이기 위한 방안을 제시하고자 시행하였다. 실험에 사용된 장비는 GE INFINIA Gamma Camera와 Anthropomorphic torso 모형에 심장 모형을 삽입하여 영상을 획득하였고, 2011년 8월 본원에서 심근관류 SPECT를 시행한 환자 40명을 대상으로 하였다. 모형 제작은 실제 환자조건과 동일하게 하기 위하여 심근에 74 kBq (0.22 mCi)/cc, 폐에 2.59 kBq ($60{\mu}Ci$)/cc, 연부조직에 11.1 kBq (2.2 mCi)/cc의 201-Tl을 주입하여 제작하였고, 영상획득 조건은 회전각 $6^{\circ}$, 50 sec/frame으로 환자와 동일한 조건으로 하였다. 영상획득 방식에 따른 차이를 확인하기 위해 Body contour와 Circular 방식으로 영상을 획득하여 환자와 검출기 사이의 거리를 각각 측정하여 비교하였고, 정상군과 비 정상군의 영상을 육안 분석하였다. 거리에 따라 영상에 미치는 영향을 확인하기 위해, 모형 실험에서 Circular 방식으로 회전반경을 18.8, 21.8, 23.8, 25.8, 28.8 cm 로 다르게 설정하여 영상을 획득하였고, 각 영상에서 심첨(Apex)에 관심영역을 설정하여 반치폭을 비교하였다. 모형 실험 결과, Body contour를 이용한 실험에서 산출된 반치폭은 6.23 mm이고, Circular mode에서 18.8, 21.8, 23.8, 25.8, 28.8 cm의 회전반경으로 산출된 반치폭은 각각 5.41, 6.24, 6.33, 6.42, 6.93 mm이다. 환자 데이터에서 Body contour의 회전반경이 -3.5 cm ~ 9.5 cm으로 차이를 보였고, Circular mode에 비해 평균 2.5 cm 더 큰 차이를 보였다. 본 연구를 통해, INFINIA 장비에서 Circular mode가 Body contour를 사용한 영상 획득 방법보다 낮은 반치폭을 보였다. 비록 INFINIA장비의 두 가지 영상 획득 방식에 대한 비교였지만, INFINIA장비를 이용한 심근관류 검사에서는 Circular mode 의 영상 획득 방식이 더 적합하다고 사료된다.