• 한국HCI학회논문지
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• 제2권2호
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• pp.53-59
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• 2007

3D/가상환경 애플리케이션을 위한 3D 인터랙션에 관한 연구는 이동(navigation), 선택(selection), 조작 (manipulation), 시스템 제어(system control)와 같은 기본적인 4가지 형태의 상호작용으로 정의하고 광범위하게 연구되어 왔으며, 일반적으로 현실세계나 가상환경에서 작은 물체라도 상호작용하기에 적합한 기술로 여겨져 왔다. 그러나 이러한 비직관적인 상호작용 방법은 최근 산업계에서 필요시 되고 있는 가상 훈련이나 가상 디자인/사용성 평가 시스템과 같이 사용자가 도구나 장치를 사용하여 간접적으로 물체를 조작해야 하는 비직관적인 상호작용 방법이 아닌, 자신의 손으로 직접 물체를 만지거나 조작할 수 있는 직관적인 상호작용 방법이 필요한 고품질, 고정밀 애플리케이션을 지원하기에는 적합하지 않은 방법이었다. 따라서 본 연구에서는 직관적이며 자연스러운 상호작용을 지원하기 위한 방법으로 고정밀 핸드 조작과 사실적 역.촉감을 제공하는 장갑형 핸드 인터페이스 장치 및 햅틱 장갑 장치와 6자유도 햅틱 장치로 구성된 핸드 햅틱 인터페이스를 제시하고자 한다.

• 전기학회논문지
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• 제56권1호
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.927-932
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• 2001

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

• 대한공간정보학회지
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• 제2권2호
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• pp.117-124
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• 1994

본 연구는 인공위성을 이용한 3차원 위치결정 방법인 GPS를 이용하여 광주시 일원의 소수의 측지 및 지적 삼각점 도근점을 관측하여 WGS 84 data를 경 위도 좌표계로 변환시켜 GPS data의 신뢰성을 검증하고 차후 좌표측량시 GPS 도입시 제기되는 문제점을 파악하고져 하였다.

• 대한안전경영과학회지
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• 제10권3호
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• pp.109-115
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• 2008

A burning principle in gasoline engine is the one of being burned, by which a mixer in air and gasoline enters a combustion chamber and causes a spark in the proper timing. This is formed, by which ECU controls the fuel-injection volume and the fuel-injection timing, and determines the performance of engine. The purpose of this study is to test the characteristics on knocking in gasoline engine with the knocking-sensor equipment and to research into the characteristics in knocking while directly controling the optimal igniting timing and the fuel-injection timing through engine ECU. Given controlling ECU by grasping the characteristics in knocking, which becomes the most problem in the engine tuning market, the tuning in a true sense will be formed in gasoline engine.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.128.6-128
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• 2001

In this paper, we present a methodology of sensing and control for a robot system designed to be capable of grasping an object and moving it to target point Stereo vision system is employed to determine to depth map which represents the distance from the camera. In stereo vision system we have used a center-referenced projection to represent the discrete match space for stereo correspondence. This center-referenced disparity space contains new occlusion points in addition to the match points which we exploit to create a concise representation of correspondence an occlusion. And from the depth map we find the target object´s pose and position in 3-D space. To find the target object´s pose and position, we use the method of the model-based recognition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps 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 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 differential-algebraic equations of overall...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.507-512
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• 1997

This paper presents a method of finding optitnal joint torques of two robots when they hold an object simultaneously. Although the importance of the multiple cooperating robot system increases for more flcviblc ni;mufacturing automation, dynamic solutions to multi-robot system forming closcd kinematic chain is not easy to find. Newton-Eulcr approach is used for the dynamic formulation of two robots fonn~ng closcd kincmatic chains gmsping a rigid body object. The nrcthodology to optimize the joint torques to satisfy given criterta and obtain bettcr control of the system is discussed. The scheme is illustrated by an example.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.259-262
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• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.