• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1014-1020
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• 2011

This presents a motion and force estimation system of human fingers by using an Electromyography (EMG) sensor module and a data glove system to be proposed in this paper. Both EMG sensor module and data glove system are developed in such a way to minimize the number of hardware filters in acquiring the signals as well as to reduce their sizes for the wearable. Since the onset of EMG precedes the onset of actual finger movement by dozens to hundreds milliseconds, we show that it is possible to predict the pattern of finger movement before actual movement by using the suggested system. Also, we are to suggest how to estimate the grasping force of hand based on the relationship between RMS taken EMG signal and the applied load. Finally we show the effectiveness of the suggested estimation system through several experiments.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.415-425
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• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1408-1414
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• 2015

The renewable energies such as photovoltaic power, wind power and biomass have grown to a greater extent as decarbonization techniques. The renewable energies are interconnected to power systems (or electrical grids) in order to increase benefits from economies of scale, and the extra attention is focused on the Grid Code. A grid code defines technical parameters that power plants must meet to ensure functions of power systems, and the grid code determined by considering power system characteristics is various across the country. Some TSO (Transmission System Operator) and ISO (Independent System Operator) have issued grid code for wind power and the special requirements for offshore wind farm. The main purpose of the above grid code is that wind farm in power systems has to act as the existing power plants. Therefore wind farm developer and wind turbine manufacturer have great difficulty in grasping and meeting grid code requirements. This paper presents the basic understanding for grid codes of developed countries in the wind power and trends of those technical requirements. Moreover, in grid code viewpoint, the active power control of wind power is also discussed in details.

• Journal of Korean Physical Therapy Science
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• v.9 no.2
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• pp.133-141
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• 2002

This purpose of this study was to design the effect of recovering of a hand amputees by Myoelectronic hand. It was designed with 2 degree of freedom in the laboratory. Myoelectronic hand had only one degree of freedom and one movement until now. Also this myoelectronic hand had multi-joint and it could move widely. Wire was used in transmission. Myoelectronic hand data was obtained by analyzing hand anatomically and measuring and that data was applied when it was designed. PID controller of Myoelectronic hand was used to it. Displacement control was applied the first link. Experiment was accomplished in Tip grasp, Power grasp and Hook grasp modes. Displacement control was good in low frequency. Velocity control was applied to each mode. The objective of the study was to develop more better multifunction myoelectronic control strategies. A myoelectronic hand with a hand amputees could do some jobs such as grasping materials, lifting weighting, holding cup and etc. As a result of this study, all subjects with hand amputees significantly improved in ADL. Further studies were needed to evaluate the effect of a myoelectronic hand with more precise laboratory equipment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• Journal of Preventive Medicine and Public Health
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• v.9 no.1
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• pp.95-108
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• 1976

It is obvious that adequate nutrition is essential for growth and development of school children, and many elementary schools in this country have already practiced it. Therefore, it would seem apparent that the school feeding program would have a significant effect on the growth and development of school children. This paper presents a two-year experimental school-feeding program from 1973 to 1974, and attempts to evaluate its effects by before-and-after nutrition surveys conducted in two elementary schools, one experimental and the other as a control. The two schools are both located in the same county (Yongin-Kun, Kyunggi-Do), and the families of their students are presumed to share the same socio-economic level. To assess the effect of school-feeding, we measured height, weight, chest circumference and grasping power. Physical examination was done foresigns of nutritional deficiency. A stool examination for parasites and blood examinations for hemoglobin, hematocrit and serum protein were included. Analyses were done for 150 students selected randomly at the beginning of the program. These students attended the school throughout the program period. Results are as follows: 1. The amount of increase of height, weight, chest cirumference and grasping power were greater in the experimental school than in the control school, but the differences are not statistically significant. 2. Signs of vitamin deficiency decreased in both experimental and control schools during the two-year program period. 3. At the time of the 1974 post-survey, values of Hb. & Hct. revealed no significant differences between the two schools, but serum protein level was a little higher than that of general Korean rural children of the same age. 4. Infestation rate of parasites had increased in both schools during the two-year program period. 5. Each student of the two schools was classified into three major classes, according to the level of economic condition of his or her parents, namely higher, middle and lower. The results of each class of the experimental school was compared with that of the corresponding class of the control school, expecting the relative magnitude of change largest in the lower economic class of the experimental school. However, change was greatest in the middle class, still not being statistically significant. Finally, the authors concluded that the two-year period for such a program is not sufficiently long for its beneficial effects to be demonstrated and measured. As long as the growth and development of children are concerned, planning with a more distant perspective is required, as well as the development of new methods of evaluation.

• Journal of Preventive Medicine and Public Health
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• v.6 no.1
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• pp.87-99
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• 1973

The purpose of this project is offering fundamental and proper informations for the better health control and personnel management of the enlisted men of Marine corps in Korea. Survey has been done under 1,001 marine enlisted men for the purpose of understanding their condition of physique, vital capacity, and bodily strength. 1. Under the subject of physique, 7 items, body weight, chest-girth, relative body weight, relative chest-girth, Vervaeck index, and Roehrer index are listed, and under the subject of vital capacity, BTPS vital capacity and percent predicted vital capacity are listed, and under the subject of bodily strength, 7 items, grasping power, chinning-up, throwing a hanp-grenade, forward jumping, sitting-up, 100 meter sprinting, are listed. The total items are 16 and mean score of each one is as follow. 1)Physique : a. Height : $$168{\pm}0.15cm$$ b. Body weight : $$62.7{\pm}0.17kg$$ c. Chest-girth : $$91.4{\pm}0.16cm$$ d. Relative body weight : $$37.2{\pm}0.09$$ e. Relative chest-girth : $$54.3{\pm}0.10$$ f. Vervaeck index : $$91.6{\pm}0.15$$ g. Roehrer index : $$1.31{\pm}0.003$$ 2) Vital capacity : a. BTPS vital capacity : $$4470{\pm}20cc$$ b. % Predicted vital capacity : $$150{\pm}5.1%$$ 3) Bodily strength : a. Grasping power : $$41.4{\pm}0.26kg$$ b. Chinning-up : $$5.7{\pm}0.10$$ c. Throwing a hand-grenade : $$39.7{\pm}0.20m$$ d. Forward jumping : $$214{\pm}0.58cm$$ e. Sitting-up : $$19.1{\pm}0.25$$ f. Pushing-up : $$22.1{\pm}0.18$$ g. 100 meter sprinting : $$16.1{\pm}0.04sec$$. 2. Comparative analysis has been done about the conditional classes of marine enlisted men with the results of above mentioned 16 items. 7 classes according to the branches, 3 according to the ranks, 9 according to tile length of service are adopted respectively.

• Journal of Korean Biological Nursing Science
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• v.10 no.1
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• pp.96-104
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• 2008

Purpose: We had executed the 3 3 5 5 walking club program for 12 weeks for one hour three times per week to evaluate the effect of the program on health of the elderly. Methods: A pre and post measurement tool of the program was applied to measure obesity, rate of body fat, blood pressure, vital capacity, standard vital capacity, intake capacity of maximum oxygen, grasping power, reaction of whole body, pulse, body mass index (BMI), total bodily score, age of bodily strength, age of health. Data collected from this tool was analyzed by SPSS in paired t-test. Results: The 3 3 5 5 walking club program has affected the weight control of the participants. The participants of 3 3 5 5 walking club program reduced their weight from 61.7 kg to 61.25 kg, rate of body fat from 21.89 kg to 21.22 kg, standard vital capacity from 2,393.56 ml to 2,380.44 ml, reaction of whole body from 475.38 msec to 439.33 msec, and increased grasping power from 22.06 to 23.16 ml (p<.05), total bodily score 68.91 points to 71.38 points significantly (p<.05). Conclusion: The result indicated that the 3.3.5.5 Walking club program has an positive effect on improving health care of the elderly without special exercise tools.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.454-461
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• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.