• Title/Summary/Keyword: Control Arm

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A Study on Implementation of Service Robot Platform for Mess-Cleanup (정리정돈용 서비스 로봇 플랫폼의 구현 연구)

  • Kim, Seung-Woo;Kim, Hi-Jun
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.5
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    • pp.487-495
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    • 2012
  • In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

Real-Time Image Processing System for PDP Pattern Inspection with Line Scan Camera (PDP 패턴검사를 위한 실시간 영상처리시스템 개발)

  • Cho Seog-Bin;Baek Gyeoung-Hun;Yi Un-Kun;Nam Ki-Gon;Baek Kwang-Ryul
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.42 no.3 s.303
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    • pp.17-24
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    • 2005
  • Various defects are found in PDP manufacturing process. Detecting these defects early and reprocessing them is an important factor that reduces the cost of production. In this paper, the image processing system for the PDP pattern inspection is designed and implemented using the high performance and accuracy CCD line scan camera. For the preprocessing of the high speed line image data, the Image Processing Part (IPP) is designed and implemented using high performance DSP, FIFO and FPGA. Also, the Data Management and System Control Part (DMSCP) are implemented using ARM processor to control many IPP and cameras and to provide remote users with processed data. For evaluating implemented system, experiment environment which has an area camera for reviewing and moving shelf is made. Experimental results showed that proposed system was quite successful.

Effect of Exercise on Natural Killer Cell Cytotoxic Activity in Breast Cancer Patients (운동 프로그램이 유방암 환자의 자연살해세포 활성에 미치는 효과)

  • Chae, Young-Ran;Choe, Myoung-Ae;Kim, Mi-Jung
    • Journal of Korean Biological Nursing Science
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    • v.4 no.2
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    • pp.59-68
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    • 2002
  • The purpose of this study was to determine the effect of exercise program on natural killer cell cytotoxic activity(NKCA) in breast cancer patients who had been radiation therapy after surgery. The subjects in the experimental group consisted of 11 breast cancer patients, while the subjects in the control group consisted of 15. Subjects in the experimental group participated in exercise program for 8 weeks. Exercise program consisted of shoulder stretching, arm weight training and treadmill walking exercise. They started to exercise on treadmill for 20 minutes per day, 3 times a week at 40% of maximum heart rate, and increased intensity and duration of exercise so that they were running 30 minutes/day at 60% of maximum heart rate from the 3rd week to the 8th week. Natural killer cell cytotoxic activity were determined before and after the exercise program. For measuring the natural killer cell cytotoxic activity, 8ml to 10ml blood was collected from the subjects. Mononuclear cell was isolated by centrifuge of the blood and cultured by putting $Cr^{51}$, and reacted with target cell, K562 cell. Baseline demographic and medical data were compared between groups with the Fisher's exact test and Mann-Whitney U test. For effects of the exercise program, repeated measures ANOVA was used. The result was as follows; Natural killer cell cytotoxic activity(NKCA) in experimental group comparing with control group significantly increased after the exercise program in case of effector cell : target cell ratio is 100 : 1(p<0.05). The above result suggest that the exercise program for breast cancer patients undergoing radiation therapy after breast surgery may increase the natural killer cell cytotoxic activity.

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A Study On Positioning Of Mouse Cursor Using Kinect Depth Camera (Kinect Depth 카메라를이용한 마우스 커서의 위치 선정에 관한 연구)

  • Goo, Bong-Hoe;Lee, Seung-Ho
    • Journal of IKEEE
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    • v.18 no.4
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    • pp.478-484
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    • 2014
  • In this paper, we propose new algorithm for positioning of mouse cursor using fingertip direction on kinect depth camera. The proposed algorithm uses center of parm points from distance transform when fingertip point toward screen. Otherwise, algorithm use fingertip points. After image preprocessing, the center of parm points is calculated from distance transform results. If the direction of the finger towards the camera becomes close to the distance between the fingertip point and center of parm point, it is possible to improve the accuracy of positioning by using the center of parm point. After remove arm on image, the fingertip points is obtained by using a pixel on the long distance from the center of the image. To calculate accuracy of mouse positioning, we selected any 5 points. Also, we calculated error rate between reference points and mouse points by performed 500 times. The error rate results could be confirmed the accuracy of our algorithm indicated an average error rate of less than 11%.

Effect of flexi-bar exercise on body composition and trunk muscle strength in overweight and obesity female college students (플렉시-바 운동이 과체중 및 비만 여대생의 신체조성과 몸통근력에 미치는 효과)

  • Um, Ki-Mai;Wang, Joong-San
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.16 no.10
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    • pp.6543-6550
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    • 2015
  • This study aimed to analyze the effect of flexi-bar exercise on in body composition and trunk muscle strength of female college students who are either overweight or obesity. The subjects were female college students divided into experimental group(N=15) and control group(N=15). The experimental group performed a flexi-bar exercise for of 30 minute sessions three days per week for five weeks, and the differences in body composition and trunk muscle strength before and after the experiment and between experimental group and control group were analyzed. The study results showed that the experimental group had a statistically significant improvement in the body fat mass and body fat percentage, body muscle mass, both arm muscle mass, trunk muscle mass, basal metabolic rate(p<.05). Changes in trunk muscle strength showed that the experimental group had statistically significant increased in changes in trunk muscle strength(p<.01). The study verified that flexi-bar exercise can be effective for improving the body composition and trunk muscle strength of overweight and obesity female college students.

Robot Locomotion via RLS-based Actor-Critic Learning (RLS 기반 Actor-Critic 학습을 이용한 로봇이동)

  • Kim, Jong-Ho;Kang, Dae-Sung;Park, Joo-Young
    • Journal of the Korean Institute of Intelligent Systems
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    • v.15 no.7
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    • pp.893-898
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    • 2005
  • Due to the merits that only a small amount of computation is needed for solutions and stochastic policies can be handled explicitly, the actor-critic algorithm, which is a class of reinforcement learning methods, has recently attracted a lot of interests in the area of artificial intelligence. The actor-critic network composes of tile actor network for selecting control inputs and the critic network for estimating value functions, and in its training stage, the actor and critic networks take the strategy, of changing their parameters adaptively in order to select excellent control inputs and yield accurate approximation for value functions as fast as possible. In this paper, we consider a new actor-critic algorithm employing an RLS(Recursive Least Square) method for critic learning, and policy gradients for actor learning. The applicability of the considered algorithm is illustrated with experiments on the two linked robot arm.

Effects of HP228 on Analgesia Alone or in Combination with Morphine (새로운 해열, 진통, 소염제인 HP228의 단독 또는 Morphine과의 병용투여가 제통효과에 미치는 영향)

  • Lee, Seung-Gu;Lee, Seung-Hoon;Kim, Tae-Sung;Kim, Hyun-Soo;Kim, Kwang-Min
    • The Korean Journal of Pain
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    • v.12 no.1
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    • pp.64-69
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    • 1999
  • Background: The new drug HP228 is a cytokine restraining agent with a broad spectrum of anti-inflammatory, analgesic, and antipyretic activity. Six healthy, adult, male volunteers were studied to determine the independent and interactive effects of HP228 and morphine on pain perception. Methods: Two groups of stimuli were applied to each volunteers before drug administration as control, 20 min after morphine and HP228 administration, and 20 min after combined administration of these two drugs. Two adhesive electrically-conducting pads were applied on opposite sides of the arm approximately 8 cm apart. The electrode were connected to an electrical impulse generator and 50 Hz 1 msec pulses of incrementally increasing intensity were delivered at 1 sec intervals. The analgesic endpoints were the current intensity (mA) at which the subject first detected the stimulus (THRESH), the intensity at which the stimulus was first idenfied as being painful (PAIN), and the intensity at which the subject requested that the stimulus be terminated due to discomfort (LIMIT). A second series of stimuli were applied immediately thereafter using 1-sec duration 50 Hz tetanus pulses with increasing intensities at 2~5 sec intervals. Results: There were significant differences between drug treatments (Morphine, HP228, HP228/Morphine) and control (No drugs) in any of the measurements (PAIN, LIMIT) except THRESH with the twitch and tetanus test. Conclusions: The data suggests that HP228 is an analgesic, but it does not appear to interact with morphine in an additive manner.

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The Effect of Oral High Protein Liquid on Nutritional Support in Patients Undergoing Radiotherapy for Head and Neck Cancer (두경부암 환자에서 방사선치료 중 고농축 고단백 균형 영양식의 영양보충효과)

  • Oh, Young-Taek;Kim, Soo-Hee;Kim, Chul-Ho;Lee, Sun-Young;Jang, Hyun-Soo;Cho, Sun-Mi;Choi, You-Young;Choi, Won-Sun;Yun, Sung-Seob
    • Korean Journal of Head & Neck Oncology
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    • v.24 no.2
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    • pp.184-188
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    • 2008
  • Objectives:Weight loss and malnutrition in patients undergoing radiotherapy for head and neck cancer are usual and preventable. The effect of nutritional support with oral high protein liquid was evaluated. Material and Methods:From Feb. to Dec. 2007, twenty patients received nutritional supplement with oral high protein liquid during radiotherapy for head and neck cancer and the nutritional status was evaluated. Weight loss was compared with control group of similar clinical characteristics. Results:Nutritional parameters such as weight, arm circumference, hemoglobin, hematocrit, total protein, albumin, transferring and the number of lymphocyte were relatively well maintained in patients with nutritional support with oral high protein liquid. In addition weight loss was minimal and significantly lower compared with control group. Conclusion:Nutritional support with oral high protein liquid was effective on maintaining nutritional status for the patients with head and neck cancer during radiotherapy.

Intelligent Digital Control of a Single Link Flexible-Joint Robot with Uncertainties (불확실성을 갖는 단일 링크 유연로봇의 지능형 디지털 제어)

  • Jang Kwon Kyu;Joo Young Hoon
    • Journal of the Korean Institute of Intelligent Systems
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    • v.15 no.3
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    • pp.318-323
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    • 2005
  • In this paper, we propose a systematic method of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear system. A parallel distributed compensation (PDC) technique is then used to design a fuzzy model based controller for both stabilization and tracking. Finally, the designed continuous-time controller is converted to an equivalent discrete-time controller by using an intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy model based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, the single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.

Sampling-based Control of SAR System Mounted on A Simple Manipulator (간단한 기구부와 결합한 공간증강현실 시스템의 샘플 기반 제어 방법)

  • Lee, Ahyun;Lee, Joo-Ho;Lee, Joo-Haeng
    • Korean Journal of Computational Design and Engineering
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    • v.19 no.4
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    • pp.356-367
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    • 2014
  • A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.