• 한국정밀공학회지
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• 제31권2호
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• pp.157-164
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• 2014

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.

• 방사선산업학회지
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• 제5권4호
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• pp.325-330
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• 2011

To predict the details of flow in industrial process unit, single photon emission computed tomography (SPECT) is a promising technique. Recently, industrial SPECT based on medical system has developed by researchers of the Korea Atomic Energy Research Institute (KAERI) and Hanyang University. In the present study, to confirm the effect of the number of detectors on image quality, and determine the optimal number of detectors in industrial SPECT, industrial SPECT system with various geometries were evaluated by the Monte Carlo simulation. CsI(Tl) detectors ($12mm{\times}12mm{\times}20mm$) with collimators (the geometric resolution of collimator $R_g$ was 4 cm at the center of the 30 cm diameter cylindrical vessel object) were modeled in a hexagonal array, and the point sources of $^{99m}Tc$, $^{68}Ga$, and $^{137}Cs$ were simulated at the center of the cylindrical vessel object using the MCNPX code. Then, the reconstruction images of each geometry were reconstructed using the expectation maximization (EM) algorithm. In this study, the reciprocity theorem was used to improve computation time required for system matrix of the EM algorithm. The result shows that the resolution of the reconstructed image was significantly improved by increasing the number of detectors in industrial SPECT system and more than 60 detectors will be required for the resolution of the reconstructed image.

• 한국전문물리치료학회지
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• 제29권1호
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• pp.28-36
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• 2022

Background: It is known that hand strength and fingertip force are used as an indicator of muscle strength and are also highly related to the various chronic symptoms and even lifespan. To use the individual fingertip force (IFF) as a quantitative index for clinical evaluation, the IFF should be measured and analyzed with various variables from various subjects, such as the normal range of fingertip force and the difference in its distribution by disease. Objects: We tried to measure and analyze the mean maximum IFF distribution during grasping a cylindrical object in healthy adults and patients with spinal cord injury (SCI). Methods: Five Force-sensitive resistor (FSR) sensors were attached to the fingertips of 24 healthy people and 13 patients with SCI. They were asked to grip the object three times for five seconds with their maximum effort. Results: The mean maximum IFF of the healthy adult group's thumb, index, and middle finger was similar statistically and showed relatively larger than IFF of the ring and small finger. It is a 3-point pinch grip pattern. All fingertip forces of patients with SCI decreased by more than 50% to the healthy group, and their IFF of the middle finger was relatively the largest among the five fingertip forces. The cervical level injured SCI patients showed significantly decreased IFFs compared to thoracic level injured SCI patients. Conclusion: We expect that this study results would be helpful for rehabilitation diagnosis and therapy goal decision with robust further study.

• 한국컴퓨터그래픽스학회논문지
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• 제6권1호
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• pp.1-9
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• 2000

본 논문은 원 위에 배치된 원통형 맵을 이용한 삼차원 plenoptic 함수의 새로운 표현 방식을 제시한다. 앞서 제시되었던 삼차원 plenoptic 함수인 동심원 모자익은 주변 환경에 대한 영상만을 얻을 수 있으나 본 논문에서 제시한 표현 방식은 주변 환경에 대한 영상 뿐 아니라 물체를 여러 방향에서 보는 영상도 렌더링할 수 있다. 본 논문에서는 제시한 표현 방식을 사용할 때 원통형 맵에서 주어지거나 추정한 거리 정보를 최대한 이용하여 효과적으로 렌더링할 수 있는 방법을 제시한다. 거리 정보를 이용한 렌더링 방법은 새로운 시점에서의 영상을 렌더링할 때 동심원 모자익에서 사용한 점 샘플링이나 이중 선형 보간에 비해 보다 정확한 영상을 얻을 수 있다.

• 한국생산제조학회지
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• 제22권6호
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• pp.937-944
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• 2013

This paper describes an improved model that can be used for configuring a non-contact pneumatic head to handle a large sheet of glass. The cylindrical head model is of a large size (70 mm). It operates on vortex flow, which can simultaneously generate suction and repulsion over the flat object's surface. The head allows for the minimal non-contact lifting of objects weighing over 3N by using reference conditions (working pressure and head dimensions). Additionally, a functional flow-guide is applied for inducing a developing tangential vortex flow to increase suction and repulsion to the reference head. The cylindrical flow-guide is associated with relatively low tangential velocity. The improved model generates greater lifting force than the reference model, as verified experimentally.

• 대한전자공학회논문지SP
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• 제41권5호
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• pp.63-69
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• 2004

본 논문에서는 포즈 변화에 강인한 얼굴 인식을 위하여 원통 모델을 이용하는 방법을 제안한다. 얼굴 모양이 원통형이라는 가정 하에 입력 영상으로부터 대상의 포즈를 예측하고, 예측된 포즈 각도만큼 포즈 변환을 실시하여 정면 얼굴 영상을 획득한다. 이렇게 획득한 정면 영상을 얼굴 인식에 적용함으로써 얼굴 인식률을 향상시킬 수 있다. 실험 결과, 포즈 변환을 통하여 인식률이 61.43%에서 93.76%로 향상되었음을 볼 수 있었으며, 보다 복잡한 3차원 얼굴 모델을 이용한 결과와 비교하였을 때 비교적 양호한 인식률을 갖는 것을 확인하였다.

• 한국컴퓨터정보학회논문지
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• 제12권3호
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• pp.67-73
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• 2007

본 논문에서는 이동 카메라에서 조명 변화에도 강건한 이동 물체 자동 검출을 위한 파노라믹 참조 이미지를 생성하는 방법을 제시한다. 배경 영상은 삼각대 위에 고정시킨 카메라를 수평방향으로 회전하여 얻은 영상을 정렬시켜 재구성하여 만든다. 실린더 파노라믹 영상의 생성에 있어서, 기존의 방법들은 정적인 환경을 가정하고 있다. 본 논문에서는 동적인 환경들로부터 파노라믹 참조 이미지를 생성하는 방법을 제안한다. 입력영상과 배경영상간의 에지 매칭 방법과 누적 에지 맵을 사용하여 파노라믹 참조 이미지 생성을 위한 효율적인 방법을 제시한다. 제안한 알고리즘을 실제 영상 열에 적용하여 보았다. 실험결과 제안한 방법을 사용하여 조명 변화에도 강건한 파노라믹 참조 이미지 생성이 가능함이 입증되었다.

• 한국공작기계학회논문집
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• 제17권4호
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• pp.75-80
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• 2008

This paper presents an atomic force probe for triggering coordinate measuring machines(CMMs). A rigorous comparison is made between touch trigger probe and atomic force probe for CMMs. Typical CMMs(touch trigger probe based CMMs) often lead to some errors associated with object curvature and difference in triggering sensitivity. Their applicability is limited only to hard objects. The aim of this work is to develop a trigger sensor for CMMs using atomic force. In order to show the applicability of atomic force as a trigger sensor, a cylindrical shape is measured with a CMM and an atomic force microscope. Three different touch probe heads with different ball sizes are tested. The experiments show that smaller ball provides better results for curved objects. The experimental results also show that the performance of atomic force as a trigger sensor is about that of the smallest ball probe. In addition, experiments are also performed to measure soft objects. Finally, this paper suggests and verifies a trigger sensor using atomic force for CMMs.

• 한국정밀공학회지
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• 제26권5호
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• pp.72-78
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• 2009

We propose the separation algorithm to simultaneously measure two-dimensional refractive index distribution and thickness profile of transparent samples using three wavelengths. The optical system was based on the Mach-zehnder interferometer with LD (Laser Diode)-based multi-wavelength sources. A LCR (Liquid Crystal Retarder) was used to obtain interference images at four phase states and then the optical phase of the object is calculated by four-bucket algorithm. Experimental results with a glass rod are provided at the different wavelengths of 635nm, 660nm and 675nm. The refractive indices of the sample are distributed with accuracy of less than 0.0005 and the thickness profile of sample was cylindrical type. This result demonstrates that it is possible to separate refractive index distribution and thickness profile of samples in two dimensions using the proposed algorithm.

• Wind and Structures
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• 제30권1호
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• pp.15-27
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• 2020

This paper reports the study on development and verification of numerical models and analyzes of flow at high speed around structural elements in the shape of a curved pipe (e.g., a fragment of a water slide). Possibility of engineering estimation of wind forces acting on an object in the shape of a helix is presented, using relationships concerning toroidal and cylindrical elements. Determination of useful engineering parameters (such as aerodynamic forces, pressure distribution, and air velocity field) is presented, impossible to obtain from the existing standard EN 1991-1-4 (the so-called wind standard). For this purpose, flow at high speed around a torus and helix, arranged both near planar surface and high above it, was analyzed. Analyzes begin with the flow around a cylinder. This is the simplest object with a circular cross-section and at the same time the most studied in the literature. Based on this model, more complex models are analyzed: first in the shape of half of a torus, next in the shape of a helix.