• 한국정밀공학회지
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• 제30권3호
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• pp.300-307
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• 2013

This paper describes the development of a cylindrical-object grasping force measuring system applied haptic technology to measure the grasping force of strokes patients' fingers and other patients' paralyzed fingers. Because the cylindrical-object and the force measuring device of the developed cylindrical-object grasping force measuring system are connected with the electrical wires, patients and their families have difficulty not only measuring the patients' grasping force using the system but also knowing their rehabilitation extent when using it. In this paper, the cylindrical-object grasping force measuring system applied haptic technology was developed, and the cylindrical-object grasping force measuring device sends data to the rehabilitation evaluating system applied haptic technology by wireless communication. The grasping force measurement characteristic test using the system was carried out, and it was confirmed that the rehabilitation extent of the patients' paralyzed fingers and normal people fingers can be evaluated.

• 한국공작기계학회논문집
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• 제14권3호
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• pp.54-59
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• 2005

The cylindrical object are widely used as mechanical parts in the manufacturing process. In order to handling those objects using a robot or an automated machine automatically, the pose of the object must be known. The pose can be described by two rotation angles; one angle about the x axis and the other about the y axis. In the many previous researches these angles were obtained by the computationally intensive algorithm, that is, fitting the data as a polynomial and doing pseudo inverse. So that, this method required high performance microprocessor. In this paper in order to avoid complex computation, a new method based on a genetic algorithm is proposed and analyzed through a series of simulations. This algorithm utilized the geometry of the cylindrical shape. The simulation results show that this method find the pose angles very well In most cases, but the computation time is randomly changed because the genetic algorithm is basically one of the random search method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.234-239
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• 2003

A cylindrical shape object is widely used as a mechanical part and a water pipe or an oil pipeline which are of cylindrical shape are widely used in the infrastructure. In order to handling such objects automatically using a robot, the posture i.e. orientation in 3D space should be recognized. However, since there is no edge or vertex in the pipe, it is very difficult task for the robot. In this paper in order to guide the robot, two kind of algorithms which find the axis using the measured range data from the robot to the object surface are to be developed. The algorithms are verified using both the simulated range data and the measured one.

• 제어로봇시스템학회논문지
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• 제7권8호
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• pp.656-663
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• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• 새물리
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• 제68권11호
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• pp.1249-1261
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• 2018

원형 막대자석이 강자성 원형 막대 물체에 작용하는 자기력에 대한 정량적인 표현이 자기화 이론, 자기에 대한 Gilbert 모형, Ampere 모형을 바탕으로 유도되었다. 이 연구에서 유도된 자기력은 원형 막대자석의 잔류 자기화 자기장과 단면적, 강자성 원형 막대 물체의 포화자기장과 단면적에 비례하며, 그리고 이들 사이의 거리에 관계되는 양의 제곱에 반비례한다. 반지름 0.4 cm이고 길이 7 cm인 알니코V 원형 막대자석과 페라이트 원형 막대자석이 반지름 이상 거리에 있는 강자성 물체에 작용하는 자기력은 각각 3.6711 N과 0.1857 N 이하로 계산되었다.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.484-489
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• 2011

Some patients can't use their hands because of inherent and acquired paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a cylinder which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the cylinder. A cylindrical-type finger force measuring system which can measure the grasping force of patients' fingers should be developed. This paper looks at the development of a cylindrical-type finger force measuring system with two-axis force/moment sensor which can measure grasping force. The two-axis force/moment sensor was designed and fabricated, and the high-speed force measuring device was designed and manufactured by using DSP (digital signal processing). Also, cylindrical-type finger force measuring system was developed using the developed two-axis force/moment sensor and the high-speed force measuring device, and the grasping force tests of men were performed using the developed system. The tests confirm that the average finger forces of right and left hands for men were about 186N and 172N respectively.

• 전자공학회논문지
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• 제50권2호
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• pp.193-200
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• 2013

본 연구에서는 허프 변환을 이용하여 원통형 수중 물체를 식별하는 방법을 제안한다. 이미 광학분야에서는 타원을 식별하는데 허프 변환을 많이 사용하고 있다. 하지만 수중 영상의 경우 낮은 해상도와 잡음 환경으로 인해서 광학에서 사용하는 허프 변환을 그대로 적용하기가 어렵다. 따라서 본 연구에서는 수중 영상의 원통형 물체를 모델링 한 뒤 평균 필터와 다항식 보간법을 적용하여 허프 변환에 적합한 형태로 원통형 물체의 기하학적 깊이 정보를 다시 복원했다. 결과적으로 이 방법을 이용하여 타원 형태의 기하학적 깊이 정보를 복원하고 허프 변환을 적용한 결과 높은 타원 식별률을 나타내었다.

• 센서학회지
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• 제19권5호
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• pp.349-355
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• 2010

Stroke patients, etc. can't use their hands because of the paralysis of their fingers, and their fingers could be recovered by rehabilitating training. In order to judge the rehabilitating extent of their fingers, the patients should grasp a cylindrical object in hospital. At present, the used object in hospital is only a cylindrical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the four-finger force measuring system which can measure the force of their fingers should be developed. In this paper, four-finger force measuring system with four force sensors which can measure the grasping force is developed. The force sensors are designed and fabricated, and the force measuring device is designed and manufactured by using DSP(digital signal processing). Also, the grasping force test of men is performed by using the developed four-finger force measuring system. It was confirmed that the finger average force of right hand is about 214.6 N and that of left hand is about 212.8 N.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.210-214
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• 2008

로봇이 실제 가정환경에 존재하는 모든 물체를 사전에 모델화하여 데이터베이스에 보존하는 것은 현실적으로 불가능하다. 따라서 본 논문은 이러한 문제를 해결하기 위하여 가정 내에서 흔히 볼 수 있으며 로봇에게도 조작이 용이한 컵, 병, 캔 등의 실린더 형 물체를 우선적 모델링 대상으로 선정하고, 이 물체들의 공통된 범주적 특성을 정의한 보편적 모델(Generic Model)을 사용하여 부분적 데이터로부터 전체 형상을 추정하는, 로봇 자가 모델링에 활용 가능한 새로운 물체 모델링 기법을 제안한다. 구체적으로 3D 센서로부터 얻은 3D 영상으로부터 우리가 모델링 하기를 원하는 실린더 형의 물체를 분리해낸 후 물체 표면상의 점의 좌표와 법선벡터를 이용해서 실린더의 초기 중심축을 구하는 방법, 오차를 가지고 있는 중심축을 교정해주는 방법, 최종적으로 실린더 단면의 중심축과 반지름을 이용하여 전체 실린더 형 물체를 모델링하는 방법 등을 제안하고 또한 실험을 통해서 우리가 제시하는 모델링 기법이 노이즈가 존재하는 실제 환경에서도 얼마 만큼의 정확성을 갖는지를 평가하였다.

• 한국해양공학회지
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• 제6권1호
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• pp.19-28
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• 1992

The motion of a cylindrical object resting on shallow seabed due to wave forces and soil friction is studied. Given environmental conditions such as wave characteristics and seabed soil properties, the equations of motion are derived and the corresponding reponses of the cylinder in two dimensional plane, i.e., translational and rotational displacements, accelerations, are calculated. The motion is substantially restrained by the penetration of a cylinder into seabed and the parametric study focuses on finding out a minimum penetration depth which makes the cylinder motionless.