• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.670-673
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• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 한국공작기계학회논문집
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• 제14권4호
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• 센서학회지
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• 제3권1호
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• pp.40-45
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• 1994

SAW 가스센서의 기판으로 $112^{\circ}$ rot. x-cut $LiTaO_{3}$ 기판을 사용하였고, 사진식각법으로 reference delay line과 sensing delay line으로 구성된 dual delay line SAW소자를 제작하였다. 각각의 IDT는 전극의 폭이 $10{\mu}m$이고, 10 개의 전극쌍을 갖는다. 각각 두개의 delay line 중에서 reference delay line은 감지막을 증착시키지 않고, sensing delay line은 유기물 반도체의 일종인 Pb-프탈로시아닌을 shadow mask로써 $10^{-5}$torr의 진공하에서 선택적으로 증착시켰다. 제작된 SAW소자로 rf amp.와 AGC(Auto Gain Control)를 사용하여 dual delay line oscillator를 만들었다. 이때 발진주파수는 $87{\sim}$89 MHz였다. 온도와 $NO_{2}$ 가스농도의 변화에 따른 발진주파수의 변화를 조사하였다.

• 한국ITS학회:학술대회논문집
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• 한국ITS학회 2003년도 제2회 정기총회 및 추계학술대회
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• pp.192-196
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• 2003

• 한국전자파학회논문지
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• 제16권1호
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• pp.1-8
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• 2005

본 논문에서는 GPS/PCS 단말기에 적합한 새로운 형태의 듀얼밴드 내장형 안테나를 제안하였다. 안테나는 3개의 각기 다른 길이의 모노폴을 함께 급전시킨 형태를 가지며, 본 논문에서는 이러한 형태를 3-Finger형이라 하였다. 안테나의 두께를 얇게 설계하여 단말기 내부의 공간을 최대한으로 활용하였다. 제작되어진 3-Finger 형태의 안테나를 상용화되어진 단말기의 내부에 장착하여 제작 및 측정하였다. GPS 대역에서 -1.97 dBi$\~$0.66dBi, PCS 대역에서는 -0.92 dBi$\~$1.02 dBi의 이득을 얻었으며, 방사패턴은 전 대역에서 전 방향성에 가까움을 확인하였다.

• 대한통합의학회지
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• 제10권4호
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• pp.83-91
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• 2022

Purpose: The goal of this study was to investigate changes in dual-task performance according to age and difficulty of cognitive tasks for the in community-dwelling elderly populations, as well as to examine their changes in hand dexterity according to age and cognitive function. Methods: A total of 135 people aged 65 years old and over participated in the study. To evaluate each participant's dual-task performance, each participant completed a dual task. To assess their cognitive function, the Korean Mini-Mental State Examination (MMSE-K) and the Korean version of Montreal Cognitive Assessment (MoCA-K) were the tools used. Participants were divided into three groups based on their age: 65-69 years, 70-79 years, and 80-89 years. Results: The findings showed that age groups and the difficulty of the cognitive task significantly affected the amount of time required for dual-task performance (p<.001). Additionally, the dual-task correct response rate (CRR) decreased significantly with age groups and the difficulty of the cognitive task (p<.001). The amount of time required for finger dexterity performance increased significantly with age groups (mean score±standard deviation [SD]; 19.46±2.26 in subjects aged 65-69 years; 21.92±2.61 in subjects aged 70-79 years; and 23.82±2.92 in subjects aged 80-89 years; p<.001). Moreover, as a result of the correlation between hand dexterity and cognitive function, MoCA-K was -0.563 and MMSE-K was -.412, showing a statistically significant correlation (p<.001). Conclusions: Age and the difficulty of the cognitive task affect the community-dwelling elderly populations in terms of dual-task performance and dual-task CRR. In addition, aging and general cognition have an impact on hand dexterity. Based on the results of this study, it is anticipated that the results will serve as a reference for domestic clinical trials that confirm cognitive decline in the elderly using dual task and hand dexterity evaluation.

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Korean Journal of Chemical Engineering
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• 제35권11호
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• pp.2241-2255
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• 2018

RSM methodology was applied to present mathematical models for the fabrication of polyvinylidene fluoride (PVDF) dual-layer hollow fibers in membrane distillation process. The design of experiments was used to investigate three main parameters in terms of polymer concentration in both outer and inner layers and the flow rate of dope solutions by the Box-Behnken method. According to obtained results, the optimization was done to present the proper membrane with desirable properties. The characteristics of the optimized membrane (named HF-O) suggested by the Box-Behnken (at the predicted point) showed that the proposed models are strongly valid. Then, a morphology study was done to modify the fiber by a combination of three types of a structure such as macro-void, sponge-like and sharp finger-like. It also improved the hydrophobicity of outer surface from 87 to $113^{\circ}$ and the mean pore size of the inner surface from 108.12 to 560.14 nm. The DCMD flux of modified fiber (named HF-M) enhanced 62% more than HF-O when it was fabricated by considering both of RSM and morphology study results. Finally, HF-M was conducted for long-term desalination process up to 100 hr and showed stable flux and wetting resistance during the test. These stepwise approaches are proposed to easily predict the main properties of PVDF dual-layer hollow fibers by valid models and to effectively modify its structure.