• 대한의용생체공학회:의공학회지
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• 제18권4호
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• pp.447-456
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• 1997

장애자나 노약자가 이동형의 재활보조 시스템을 조이스틱을 이용하여 직접 조작할 경우, 정상인과 달리 조이스틱 제어시 떨림이나 순간적인 오조작 (예를들면 조이스틱으로 손에서 놓치는 경우)이 자주 발생 하게 된다. 이러한 오조작이 그대로 전달될 경우 이동형 재활 보조시스템의 진동잉나 오동작을 초래하고, 특히 장애자나 노약자의안전성의 측면에서 문제로 대두된다. 따라서 본 연구에서는 이러한 문제점을 해결하기 위하여 장애자의 오조작 및 주위 환경과의 충돌을 방지하기 위하여 초음파 센서를 사용하여 물체와 이동 로봇의 접근 정도를 측정하고 이에 따라 이동 로보트가 물체에 접근하는 것을 방해할 수 있도록 모터부착형 조이스틱에 토오크를 걸어주는 조이스틱을 사용한 힘 반향 주행 기법을 제안하였다. 제안될 힘 반향 기법의 유효성을 입증하기 위하여 원통형의 전방 장애물과 복도의 벽면을 가상으로 만들고 이를 따라 조이스틱을 조작하여 주행실험을 하였으며, 그 결과 조작자의 숙련도의 차이는 있었으나 장애물 정보를 조이스틱을 통하여 조작자에게 전달됨을 확인함으로써 조작성능과 장애물에 대한 안전성이 향상됨을 알수 있었다.

• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 대한간호
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• 제31권5호
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• pp.65-71
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• 1992

In nursing, a practice discipline, it has been argued whether the mastery of clinical competence depends on types of learning styles, learning experience, and the use of specialized skills. All these problems are not limited to nursing education. Later educators identified the importance of reflective learning which is a vital element in any form of learning and that teachers and students need to consider how they can incorporate some forms of reflection in the courses. The purpose of this study is to review educational articles for understanding better what reflection in learning is, to identify the theme which is of important relevance to professional practice, from the book, Educating the reflective practitioner, and to discuss the theme within nursing education. Reflection in learning was defined by Dewey(1933) as the process which is involved the perception of relationships and connections between the parts of an experience. This experience is passed on when two people becoming involved with each other in a conversation. schon(1987) emphasized that learning conversation, which is a part of the interaction of student and teacher, is an important factor of the process of reflection-om-actopm. In clinical nursing education, good relationships between teacher and student, faculty's role, interpersonal skills are critical in learning conversation. Then Practing nurses who accept the need to choose nursing actionss on the basis of reflection, who accepet the necessity for understanding and being able to communicate the reasons for action are a powerfful force for the development of nursing into an increasingly more effective profession for the benefit of patients.

• 폴리머
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• 제34권3호
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• pp.242-246
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• 2010

선택 반사를 보이는 콜레스테릭 액정의 planar 배열과 선택적 반사 효율과의 연관성에 대하여 FTIR spectroscopy를 이용하여 정량적으로 조사하였다. Cholesteric liquid crystal(CLC) 내 planar 배열이 잘 유도될수록 선택 반사율이 높아짐을 알 수 있었고, 배향막을 사용하지 않고 shear force 효과에 의해서만 planar 배열을 유도할 수 있었지만 완전한 planar 배열을 유도하기 위해서는 배향막을 사용하는 것이 효과적이었다.

• 한국소음진동공학회논문집
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• 제19권10호
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• 대한의용생체공학회:의공학회지
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• 제21권6호
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• pp.575-581
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• 2000

본 논문에서는 척추침생검 시뮬레이터에서 사용의 햅틱 디바이스인 PHANToM(sup)TM을 이용하여 사실적인 힘을 구현하는 방법을 보여준다. PHANToM(sup)TM은 툴의 끝부분에서 좌표축 방향으로만 힘을 낼 수 있는 단점이 있으며, 시스템의 구동장치의한계로 인하여 딱딱한 물체에 닿을 때 불안정한 특성을 보인다. 또한 좁은 영역 안에서 복잡한 조직들로 인한 급격한 강도 변화도 시스템의 불안정을 초래한다. 모사되는 힘은 두가지 성분으로 나뉜다. 하나는 바늘이 삽입될 때 바늘의 길이 방향으로 느껴지는 힘으로 생체 조직의 모델을 통해 값이 구해진다. 다른 하나는 바늘이 피부를 뚫고 지나간 이후에 바늘이 초기 삽입 방양을 유지 시켜주는 회전방향 힘으로 피봇을 이용하여 구현하였다. 불안정성 문제와 바늘이 튀어나오는 문제는 램핑 필터와 시간변수를 이용하여 제거하였다. 침생검 과정은 생체조직의 탄성 변형뿐 아니라 파괴가 일어나는 변형이므로 사실적인 힘을 구현하기 위해서 실험 데이터를 이용하여 삽입 깊이에 따라 탄성 계수와 마찰 상수가 변하는 모델을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.404-407
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• 1995

Teleoperating system has been developed for several decades, and many control schemes for it have been suggested. But the implementation for real application needs very simple but effective controller. In this paper, an advanced control scheme for this purpose is suggested, which is the combination of a modified internal model controller and variable filter for force reflection. And we verify the effectiveness of the proposed scheme through the experiment. We use PUMA-560 as the slave robot, which is operated by velocity servo loop with geared motor. Both the responses of free motion and contact motion are shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.221-222
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• 2012

• Ocean Systems Engineering
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• 제11권1호
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• pp.1-16
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• 2021

Experimental and numerical investigations were conducted to study the performance of a surface-fixed horizontal porous wave barrier in regular waves. The characteristics of the reflection and transmission coefficients, energy dissipation, and vertical wave force were examined versus different porosities of the barrier. Numerical simulations based on 3D Reynolds Averaged Navier-Stokes equations with standard low-Re k-ε turbulent closure and volume of fluid approach were accomplished and compared with the experimental results conducted in a 2D wave tank. Experimental measurements and numerical simulations were shown to be in satisfactory agreement. The qualitative wave behavior propagating over a horizontal porous barrier such as wave run-up, wave breaking, air entrapment, jet flow, and vortex generation was reproduced by CFD computation. Through the discrete harmonic decomposition of the vertical wave force on a wave barrier, the nonlinear characteristics were revealed quantitatively. It was concluded that the surface-fixed horizontal barrier is more effective in dissipating wave energy in the short wave period region and more energy conversion was observed from the first harmonic to higher harmonics with the increase of porosity. The present numerical approach will provide a predictive tool for an accurate and efficient design of the surface-fixed horizontal porous wave barrier.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2004년도 춘계학술발표회
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• pp.807-814
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• 2004

Land seismic reflection survey has been increasingly demanded in various civil engineering works because of its own ability to delineate layers, water table, to detect cavities or fracture zones, to estimate seismic velocities of each layer. However, our shallow subsurface structures are very complex. The relatively thin layer(mostly soil) to the wavelength directly followed by a basic rock with high impedance used to generate complicated surface waves, kind of channel waves with high amplitude that is dominate in entire seismograms and hence the useful reflection events will be almost hopelessly immersed in the undesired surface waves. Thus, it would seem that the use of traditional seismic survey could not be likely to provide in itself a satisfactory information about our exploration targets. This paper hence introduces an efficient measuring strategy illustrating a properly controlled arrangement of the vertical single force sources commonly used, yielding a very sharply elongated form of P-energy with a minimum of S radiation energy, what we call, P-beam source. Abundant experiments of physical modeling showed that in that way the surface waves could be enormously reduced and the reflection events would be additive and thus reinforced. Examples of field data are also illustrated. The contribution of P-beam source will be great in civil engineering area as well as in general geological exploration area.