• 한국정밀공학회지
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• 제34권2호
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• The Journal of Korean Physical Therapy
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• 제29권2호
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• pp.55-61
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• 2017

Purpose: The purpose of this study was to investigate the effects of a task-oriented upper arm exercise performed in a sitting position on either an unstable support surface or a stable support surface for children with cerebral palsy. Methods: We prospectively evaluated 18 children with cerebral palsy. Eight subjects were randomly assigned to each of the stable and unstable support surface groups. We performed the upper arm exercise three times a week for 6 weeks. To confirm the effects of the intervention, the berg balance scale test, modified functional reaching test (MFRT), timed up and go test (TUG), and Jebsen-Taylor hand function test were conducted before and after the study. Results: Significant differences were observed in MFRT and TUG between the experimental and control groups (p<0.05). In the Jebsen-Taylor hand function test, there were significant differences between the groups for the items picking up small objects, stacking checkers, lifting large light objects, and lifting large heavy objects (p<0.05), but not for writing and stimulation of feeding. Significant differences were observed between the groups in items of card turning, lifting large light objects, and lifting heavy objects. Conclusion: The purpose of this study was to evaluate the effectiveness of a task-oriented upper extremity exercise program for dynamic balance and hand function performed in a sitting position with either stable or unstable support by cerebral palsy patients. There were improvements in the two groups, but performing the exercise while sitting on an unstable support surface had a greater effect on dynamic balance and hand function than exercise while sitting on a stable supporting surface. The results of this study can be used to improve the daily lives of cerebral palsy patients.

• 대한인간공학회지
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• 제18권3호
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• pp.141-152
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• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• 대한의용생체공학회:의공학회지
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• 제20권4호
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.205-215
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• 2001

In this study, modeling and analysis procedure for the dynamic analysis of a high mobility tracked vehicle system were studied. The vehicle model used in this investigation is assumed to be consist of two kinematically decoupled subsystems. The chassis subsystem consists of chassis frame, sprocket, support rollers, road wheels, idler wheel, road wheel arms and idle wheel arm, while the track subsystem is represented as a closed kinematic chain consisting of track links and end connectors interconnected by revolute joints with bushing. Nonlinear contact force module describing the interaction between track link, and sprocket, idler wheel, road wheel, support roller, ground was used. The effects of road wheel arms and idler wheel arm due to tension adjuster are also considered.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제3권2호
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• pp.31-42
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• 2014

임베디드 시스템 소프트웨어의 보안성 분석을 위한 동적 프로그램 분석을 시도하기 위해서는 디버거 체계가 필요하다. 타겟 장비가 범용 운영체제와 비슷한 환경을 지원하는 경우에는 소프트웨어 기반의 디버거 혹은 DBI 프레임웍 등을 장비 내에 설치하여 분석할 수 있으나, 설치 가능성 제한이나 분석 환경의 투명성 문제 등의 어려움이 있을 수 있다. JTAG (IEEE 1149.1)디버거 장비를 이용하여 분석하는 경우에는 분석을 위해 타겟 장비 내의 소프트웨어적 환경을 변경하지 않아도 된다. 타겟 장비의 보안성 분석을 위한 프로그램 동적 분석 기법들을 용이하게 적용하기 위해서는 JTAG 디버거 장비를 제어하기 위한 API가 필요하다. 본 논문에서는 ARM 코어 기반 임베디드 시스템 분석을 위한 JTAG API를 소개한다. 구현된 API는 JTAG 디버거 하드웨어를 직접 제어하며 디버깅 환경 및 동작제어를 위한 함수 세트를 제공한다. API의 활용 용이성을 확인하기 위하여 커널 함수 퍼징과 라이브 메모리 포렌식 기법을 적용한 보안 분석 도구의 예제 구현을 제시한다.

• 천문학회보
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• 제44권2호
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• pp.70.2-70.2
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• 2019

Recent observational works have reported spiral wave patterns (SWPs) in sunspots, but there is a lack of samples to derive the physical properties. In this presentation, we suggest the automatic method to detect the SWPs in observational data and present their statistical properties. From our method, we find more than 1000 SWPs observed by the Atmospheric Imaging Assembly onboard in the Solar Dynamic Observatory from 2013 to 2018. From our samples, more than half of the SWPs has the one spiral arm. The predominant oscillation period is 2 to 3 minutes. The rotating direction of the spiral arms does not depend on the latitude and the polarity of the sunspots. Our statistical results support the physical model suggested by Kang et al. (2019) that explain the generation of SWPs as the depth of the wave driving source and azimuthal modes in the straight vertical magnetic flux tube.

• 한국지능시스템학회논문지
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• 제25권4호
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• pp.398-404
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• 2015

본 논문에서는 관성측정장치를 기반으로 블루투스 환경에서의 자율비행을 위한 멀티 로터형 헬리콥터에 대한 설계 및 성능을 제시하였다. 멀티 로터관련 다양한 연구가 진행되어오고 있긴 하지만 최근에는 다양한 서비스를 목적으로 짐벌이 장착된 헥사로터형의 헬리콥터에 대한 관심이 모아지고 있다. 따라서, 본 논문에서는 지상의 원격조정 PC나 고성능의 원격제어장치나 영상시스템과 같은 외부보조 시스템 없이 연구와 구조활동, 모니터링 활동을 수행할 수 있는 컴팩트하고 자율비행을 위한 헥사로터(hexa rotor)형 헬리콥터에 대한 하드웨어 및 소프트웨어를 소개하고자 한다. 제안한 시스템은 헥사로터 헬리콥터의 구조와 관성측정장치 관련 하드웨어 구성과 수학적 모델링 및 시뮬레이션 결과를 각각 제시하였다. 또한, IMU 구현을 위하여 MCU(ARM-cortex) 보드를 장착하여 각 로터의 회전과 관성 측정장치의 입력신호에 대한 상태를 제어할 수 있도록 하였다. 그리고 시스템 시뮬레이션과 실험을 통한 시스템의 성능을 각각 검증하였다.