• 안보군사학연구
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• 통권5호
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• pp.47-85
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• 2007

Reserved force's training(RFT) is undoubtedly the critical component to increase the national capability in case of emergency. It is because RFT plays an important role in maintaining the peace for the Korean peninsula as the key deterrence force power for more than 40 years. Considering the reserved force reform linked with the goal and the plan of Korean Defense Reform 2020', we can expect the utility of the reserved force as the potential combat power to make national defense resources more efficient and useful. In that sense, this study suggests some solutions to promote the reserved force's competency to demonstrate the ROK Armed Force's combat power as the equivalent partner with the active force as well as the future deterrence power. This study also analyzes the present training system including law and regulation, identifies some implications through the literature review, and designs the future ROK reserved force's training system by extracting new variables forecasting the future environment for national defense. In addition, this study includes its concerned systems generally without limiting the scope into the reserved force. Therefore we try to seek to prepare for mobilization readiness and to promote regional hometown defense capability in order to cope with the enemy's threat in case of emergency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1470-1475
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• 2003

The senses that a doctor can feel is limited in MIS(Minimal Invasive Surgery) which guarantees the fast recovery of the patient and minimal incision for going in and out of instruments through the tissue of the patient. In particular, the surgical robotic teleoperation system developed recently serves with only the information of eyesight and auditory sense. Therefore force-reflection is the most demanded element of the senses in manipulating surgical instruments. In this paper, we designed the Master system and the 2 D.O.F grasper for the robotic teleoperation system(Slave) that has two force sensors on the grasper. Particularly, we focused on serve to master's handle with the contact force between tissue and the grasper of Slave.

• 복식
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• 제52권6호
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• pp.41-50
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• 2002

The purpose of this study is to classify korean clothing image using brainstorming method. Brainstorming theme is selected 'The Land of Morning Calm 'which famed to foreigner about Korea. Brainstorming members were 10 persons for 1st. 9 persons for End. The 119 words of association from 'morning calm'were to extracted at 1st brainstorming. The group of senses image were to classified at End brainstorming. The results of this study were as follows : 1. The clothing image type of tactual sense implied feeling of that downy bedding in a soft spring and grandmother's hands as warm. rough. 2. The clothing image type of smelling sense associated smells of pleasant. mild. and fresh. 3. The clothing image type of auditive sense consisted mainly sense of indirect. resonance. small, and clear sounds. 4. The clothing image type of visual sense associated pure, passive, gentle, and lasting life-force as weeds and wild flowers. Korean line is pointless and rounded curve. Korean form is soft silhouette as streamy, not exaggerate and wavy detail of slim and short. Korean color is not dyed, just natural color and pastel tone. Korean textile is a natural material as linen, ramie. and coarse silk.

• 한국직업건강간호학회지
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• 제26권3호
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• pp.125-132
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• 2017

Purpose: This study was performed to identify the impact of aggressiveness of patients and a sense of coherence on posttraumatic stress in psychiatric nurses. Methods: After collecting data from 162 psychiatric nurses, we carried out a t-test, ANOVA, Pearson's correlation coefficient, and multiple regression using IBM SPSS Statistics 19.0. Results: The mean score of posttraumatic stress was $20.75{\pm}16.59$ points. Verbal aggression, aggressiveness about property, aggression toward oneself, and aggression toward others had a positive correlation with posttraumatic stress, while a sense of coherence had a negative correlation with post-traumatic stress. It was concluded that the significant predictors of posttraumatic stress in psychiatric nurses were aggression toward oneself, a sense of coherence, and aggression toward others, all of which accounted for 38.9% of the variability. Conclusion: The results of this study indicate that the factors influencing posttraumatic stress in psychiatric nurses were aggression toward oneself, aggression toward others, and a sense of coherence. Therefore, education programs should be developed in consideration of the fact that aggressive behavior against the patient himself and against others intensify the posttraumatic stress of the psychiatric nurse, but the integration force mitigates it.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2002년도 춘계학술대회 논문집
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• pp.190-194
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• 2002

Human uses sight, tactile sense to evaluate Total Hand Value(FUUAI) of textile fabrics. Tactile sense is important factor which decided the Total Hand Value of a textile fabric. When human feels the FUUAI, physical and physiological phenomena are occurred in finger. We first found out physical variable that is happened in fingertip when human is feeling the FUUAI. Such physical variable means characteristic of action tactual motion of finger such as moving range, tactile time, moved distance, speed of finger and applied force by finger. We study the relationship between action tactual motion and the ability in which the human distinguishes the textile fabric. As a result, we could know the characteristics of the tactual motion of fingertip to get high distinguishable ability. The characteristics were different in men and women respectively. In the case of man, touched time and moving range influenced to distinguish, and moving range, and the moving speed of finger influenced, in woman's case.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.77-80
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• 2005

Local probe techniques such as scanning probe microscopy (SPM) or atomic force microscopy (AFM) extended our perception into ultra small world. Specially, the sense of touching was extended by AFM into the micro- and nanoworld and has provided complementary new insights of the microscopic world. In addition, touching objects is an essential step before trying to manipulate things. SPM as a touch sensor not only measure the mechanical properties but also detect different properties such as magnetic, electrical, ionic, thermal, chemical and biophysical properties in nanoscale and even less. Obtaining biophysical measurements, monitoring dynamics and processes together with high-resolution imaging of the biomolecules and cells with rather simpler sample preparation than any other techniques give great attractions to the scientists experimenting with biological samples. Among the many AFM capabilities we will specifically introduce the force plot which is used to measure tip-sample interactions and its application this time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.89-96
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• 2007

In this paper, a new air bearing stage with magnetic preload and a linear motor has been developed for the small precision machine systems. The new air bearing stage is unique in the sense that permanent magnets attached bottom of the iron core of table are used not only for preloading air bearings in vertical direction but also for generating thrust force by current of the coil at base. The characteristics of air bearings using porous pads were analyzed with numerical method, and the magnetic circuit model was derived for linear motor for calculating required preload force and thrust force. A prototype of single axis miniature stage with size of $120(W){\times}120(L){\times}50(H)\;mm^3$ was designed and fabricated and examined its performances, vertical stiffness, load capacity, thrust force and positioning resolution.