• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.460-463
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• 1995

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.555-555
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• 2000

This study is concentrated on the development of hight speed multi-object image processing algorithm, and based on these a1gorithm, vision control scheme is developed for the robot's position control in real time. Recently, the use of vision system is rapidly increasing in robot's position centre. To apply vision system in robot's position control, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera, which is called image processing. Thus, to control the robot's point position in real time, we have to know the center point of object in image plane. Particularly, in case of rigid body, the center points of multi-object must be calculated in a image plane at the same time. To solve these problems, the algorithm of multi-object for rigid body control is developed.

• 대한기계학회논문집A
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• 제26권1호
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• pp.31-38
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• 2002

A new steering-type web position control system for cold mills using QFT is presented. The control system features an inner-outer cascaded system in which the inner loop provides the position tracking control of hydraulic system and the outer loop provides the position regulation control of the web. By the sensitivity analysis and computer simulation, it is verified that the proposed control system has better robust stability and performance than the conventional PH) control system.

• Journal of Korean Neurosurgical Society
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• 제65권1호
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• pp.74-83
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• 2022

Objective : Oblique lumbar interbody fusion (OLIF) is a surgical technique that utilizes a large interbody cage to indirectly decompress neural elements. The position of the cage relative to the vertebral body could affect the degree of foraminal decompression. Previous studies determined the position of the cage using plain radiographs, with conflicting results regarding the influence of the position of the cage to the degree of neural foramen decompression. Because of the cage obliquity, computed tomography (CT) has better accuracy than plain radiograph for the measurement of the obliquely inserted cage. The objective of this study is to find the correlation between the position of the OLIF cage with the degree of indirect decompression of foraminal stenosis using CT and magnetic resonance imaging (MRI). Methods : We review imaging of 46 patients who underwent OLIF from L2-L5 for 68 levels. Segmental lordosis (SL) was measured in a plain radiograph. The positions of the cage were measured in CT. Spinal canal cross-sectional area (SCSA), and foraminal crosssectional area (FSCA) measurements using MRI were taken into consideration. Results : Patients' mean age was 69.7 years. SL increases 3.0±5.1 degrees. Significant increases in SCSA (33.3%), FCSA (43.7% on the left and 45.0% on the right foramen) were found (p<0.001). Multiple linear regression analysis shows putting the cage in the more posterior position correlated with more increase of FSCA and decreases SL correction. The position of the cage does not affect the degree of the central spinal canal decompression. Obliquity of the cage does not result in different degrees of foraminal decompression between right and left side neural foramen. Conclusion : Cage position near the posterior part of the vertebral body increases the decompression effect of the neural foramen while putting the cage in the more anterior position correlated with increases SL.

• 한국운동역학회지
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• 제14권1호
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• pp.27-40
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• 2004

The purpose of this study was to provide basic data for improving athletic performances by analyzing the kinematic variables of the Double Backward Somersault on the Parallel Bars through the 3D motion analysis. The subjects in this study were 5 male gymnasts who were ranked as national athletes. The results are as follows. 1. A total time(Mean Time) of performance showed $2.72{\pm}0.82\;sec$. and flight time to landing after releasing was 0.87sec.(mean). In order to perform better stable flying movement, the flight time should be increased. 2. In the change of velocity of the center of mass, when the increasing ascension velocity of the upper point was high, the position in the top point was high on releasing. 3. In the position variable of the center of mass, the mean of upper-bottom position in horizontal posture was $242.1{\pm}6.5cm$, $232.8{\pm}6.4cm$ in releasing, and $265.0{\pm}5.6cm$ in the highest point. This result is explained that the position of center of mass can be raised by using elastic power when wrist raised the bar in the releasing movement. 4. The angle of shoulder joint was $271.1{\pm}14.0$. Such a big angle influences a negative effect on the releasing velocity, because trunk is not a position in the enough vertical direction. 5. The ankle of hip joint in hand-standing was $191.1{\pm}5.9$, $118.8{\pm}5.3$ in releasing, and $122.3{\pm}5.3$ in taking on. Therefore, the result suggests that trunk should be straightly raised in taking on.

• 한국측량학회지
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• 제37권5호
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• pp.379-388
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• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.

• 서비스연구
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• 제11권2호
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• pp.95-105
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• 2021

본 연구는 KSC(kano, Score Model, Concept Position)평가방법을 활용하여 제공할 서비스디자인 만족도에 대한 정확도를 높이는 것이 연구의 목적으로 부산지역을 중심으로 6개 지점을 운영하고 있는 P사 헬스장을 중심으로 건강한 뉴실버세대를 위한 다양한 헬스장 서비스모델을 제시하여 사례연구를 진행하였다. 더블다이어몬드(Double Diamond)방법을 활용하여 P사의 5개 지점 중 연산점을 중심으로 사례연구를 진행하였는데 이는 연산점을 중심으로 노인을 위한 다양한 여가생활 인프라가 잘 구축 되어 있었기 때문이다. 본 연구를 통하여 고객에 대한 다양한 인사이트(Insight)를 추출하였고 발굴한 인사이트(Insight)를 기반으로 관리자와 트레이너의 관점에서 서비스디자인 모델을 최종적으로 9가지 도출하였다. 최종적으로 도출한 9가지 모델을 기반으로 카노(Kano)만족도 평가, 스코어모델(Concept Score), 콘셉트포지션(Concept Position)평가를 통하여 9가지 제시한 안들 중 3, 6번을 제외한 모든 안들이 유효하다는 것을 알 수 있었고 최종적으로 투자비용과 효과성으로 구분하여 실행 로드맵을 제안하였다.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

• 대한인간공학회지
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• 제31권2호
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• pp.389-396
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• 2012

Objective: The aim of this study is to design an auto showering system regarding bed type for old people or bedridden patients. Background: The rapid growth concerning the aging population leads to an increase in elderly bedridden patients living in senior care centers and hospitals where care givers have difficulty bathing older people with limited mobility. Method: In this study, a showering equipment for experiment was based on anthropometric and researching existing products. The nozzle position was optimized by showering tests and simulations using showering equipment. Results: The problems regarding the existing products were analyzed and the nozzle position was optimized through showering tests. The number, position, and spraying angle of the nozzle were optimized through showering simulations. The automatic showering system concerning bed type was designed by considering their results. Conclusion: When designing an automatic showering system, the most important design element involves determining the position of nozzle and angle of water injection and the number of nozzles. The system was developed by applying the results through user centered-research. Application: The user centered-research for developing products was applied directly in order to develop automatic baths, showering products etc. Furthermore, it was also available to be applied towards senior friendly products.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2240-2245
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• 2003

In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.