• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1254-1257
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• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• 한국전기전자재료학회논문지
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• 제16권12S호
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• pp.1224-1231
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• 2003

This paper reports on the air-gap type thin film bulk acoustic wave resonator(FBAR) using ultra thin wafer with thickness of 50$\mu\textrm{m}$. It was fabricated to realize a small size devices and integrated objects using MEMS technology for flexible microsystems. To reduce a error of experiment, MATLAB simulation was executed using material characteristic coefficient. Fabricated thin FBAR consisted of piezoelectric film sandwiched between metal electrodes. Used piezoelectric film was the aluminum nitride(AlN) and electrode was the molybdenum(Mo). Thin wafer was fabricated by wet etching and dry etching, and then handling wafer was used to prevent damage of FBAR. The series resonance frequency and the parallel frequency measured were 2.447㎓ and 2.487㎓, respectively. Active area is 100${\times}$100$\mu\textrm{m}$$^2$.Q-factor was 996.68 and K$^2$$\_$eff/ was 3.91％.

• 동력기계공학회지
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• 제4권4호
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• pp.92-98
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• 2000

Modern manufacturing systems should cope with the frequent changes in a product model and disturbances in manufacturing process. The control system of such systems must cover a constant adaptation and high flexibility. Holonic Flexible Manufacturing Cell(HFMC) is introduced to handle these issues more successfully. It is based on the concept of autonomous co-operating agent, called 'Holon', which is a building block of a manufacturing system for transforming, transporting, storing and/or validating information and physical objects. In this paper the basic structure of the HFMC is represented by using Unified Modeling Language and Open architecture cell controller is developed for effective integration components of a manufacturing system. Also a new control model, called MuLOM(Multi-Layered Operation Model), is suggested to represent the control behaviour for a holonic flexible manufacturing cell control system.

• 한국멀티미디어학회논문지
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• 제9권12호
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• pp.1560-1571
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• 2006

In order to transmit multimedia streams over the network with a timely changing channel bandwidth such as Internet, scalable video coding schemes have been studied to represent video in flexible bitstream. Much research has been made on how to represent encoded media(such as video) bitstream in scalable ways. In this paper, rte propose an optimal selection of the objects for MPEG-4 bitstream adaptation to meet a given constraint. We adopt a multiple choice knapsack problem with multi-step selection for the MPEG-4 objects with different bit-rate scaling levels in the MPEG-4 bitstream. The bitstream adaptation based on the optimal selection result is then to fetch the necessary parts of the MPEG-4 bitstream to constitute an adapted version of the original MPEG-4 binary resource. The experiment results show that the optimal selection of MPEG-4 objects for a given constraint can promisingly be made which meets the given constraint.

• 대한치과마취과학회지
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• 제10권1호
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• pp.54-57
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• 2010

Foreign body aspiration (FBA) into the tracheobronchial tree could be life threatening requiringprompt intervention. Any objects placed in the oral cavity put patients at a risk of aspirating or swallowing the objects slipped or broken by physical injuries. Here, we report a case of 30 yr old patient with FBA during gold crown replacement was successfully treated with the use of the flexible bronchoscope. Case: A 30 yr old woman was admitted to Seoul National Dental Hospitalfor an amalgam restoration. She was scheduled to gold crown restoration for replacement of the damaged amalgam at #37 site. After performing crown lengthening procedure, the aspiration of gold crown occurred during the cementation of the crown. After aspiration, the patients complained of the subjective distress of respiration. Chest radiograph revealed that gold crown was enlodged to the left bronchus. Flexible fiberoptics was inserted to the bronchus to remove the aspirated crown. Fiberoptic assisted removal of the aspiratedcrown was successfully performed. After removal, there was no radiopaque material in the left bronchus on follow-up chest radiograph. Discussion: When aspiration of dental materials occurs, flexible fiberoptic can be used in the treatment of FBA. It is also very useful to take preventive management such as rubber dam, application of dental floss in dental procedure where there is high likelihood of FBA.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1011-1020
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• 2016

This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

• 한국산업융합학회 논문집
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• 제20권3호
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• pp.233-243
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• 2017

This paper proposes a structure of direct-printed flexible tactile-sensor. These flexible tactile sensors are based on pressure-sensing materials that allow pressure to be measured according to resistance change that in turn results from changes in material size because of compressive force. The sensing material consists of a mixture of multi walled carbon nanotubes (MWCNTs) and TangoPlus, which gives it flexibility and elasticity. The tactile sensors used in this study were designed in the form of array structures composed of many lines so that single pressure points can be measured. To evaluate the performance of the flexible tactile sensor, we used specially designed signal-processing electronics and tactile sensors to experimentally verify the sensors' linearity. To test object grasp, tactile sensors were attached to the surface of the fingers of grippers with three degrees of freedom to measure the pressure changes that occur during object grasp. The results of these experiments indicate that the flexible tactile sensor-based robotic gripper can grasp objects and hold them in a stable manner.

• 한국산업융합학회 논문집
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• 제21권4호
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• 한국전문물리치료학회지
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• 제30권4호
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• pp.281-287
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• 2023

Background: The flexible flatfoot is characterized by a flattening of the foot arch due to excessive bodyweight. The use of shoe insoles or taping methods has been identified as effective in realigning the navicular or calcaneus bones and addressing supination in pronated feet. Objects: This study aimed to analyze the difference between the arch taping attachment method, introduced in a previous study, and a novel taping method designed to provide support to the inner aspect of the heel bone in cases of flexible flatfoot. Methods: A navicular drop test was performed to discriminate flexible flatfoot. To analyze the differences in pressure distribution during walking for each taping method, the subjects underwent testing in the barefoot state with no attachments. The procedure included a sequence of arch taping and heel taping. Subsequent analysis of pressure distribution during walking utilized the GaitRite^® system (GAITRite Gold, CIR Systems Inc.). Results: Arch taping and calcaneus taping significantly reduced the integrated pressure over time and peak pressure on the medial side of the midfoot for both feet compared to the barefoot state. Conclusion: The findings of this study suggest that supporting the inside of the heel through calcaneus taping, without direct stimulation to the longitudinal arch and navicular bone, is an effective intervention for flexible flatfoot.