• 한국전자통신학회논문지
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• 제9권4호
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• pp.475-482
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• 2014

본 논문에서는 원거리에서 온실 상황 파악과 온실을 제어 할 수 있는 모바일 기반 스마트 온실 시스템을 구현하였다. 기존의 웹을 이용한 온실 시스템은 실시간으로 제어가 가능하지만, 사용 장소에 제한적이라는 단점이 있었다. 이를 해결하기 위하여 모바일 기기를 이용한 스마트 온실 시스템의 유용성을 강조하였다. 원거리에서 모바일기기(스마트폰 - 안드로이드 기반)에 설치되는 소프트웨어를 이용하여 온실의 상황을 파악하고 장비들을 제어함으로써 편의성과 생산성을 높였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• 전자공학회논문지B
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• 제33B권2호
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• pp.10-19
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• 1996

This paper presents a finger-shaped multisensor system which can measure the tyep and position of a target surface by contactl. The multi-sensor system consists of a sphere-shpaed optical tactile sensor located at the finger tip and a force/torque sensor located at the joint of a finger. The optial tactile sensor determines the type and position of the target surface using the shape and position of the CCD image of the touching area generated by a contact between the sensor and the taget surface. The force/torque sensor also determines the position and surface normal vector by applying the distributionof forces and torques t the contact point to the equations of finger shape. The measurements on the position and surface normal vector at a contact point obtined by two individual sensors are fused using a statistical method. The integrated sensor system has 0.8mm error in position measurement and 1.31$^{\circ}$ error in normal vector measurement. The developed sensor system has many applications, such as autonomous compliance control, automatic grasping and recognition, etc.

• 한국컴퓨터정보학회논문지
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• 제23권7호
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• pp.49-56
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• 2018

Virtual object weight perception is an important topic, as it heightens the believability of object manipulation in immersive virtual environments. Although weight perception can be achieved using haptic interfaces, their technical complexity makes them difficult to apply in immersive virtual environments. In this study, we present a visual pseudo-haptic feedback system that simulates and depicts the weights of virtual objects, the effect of which is weight perception. The proposed method recognizes grasping and manipulating hand motions using computer vision-based tracking methods, visualizing a Force Arrow to indicate the current lifting forces and its difference from the standard lifting force. With the proposed Force Arrow method, a user can more accurately perceive the logical and unidirectional weight and therefore control the force used to lift a virtual object. In this paper, we investigate the potential of the proposed method in discriminating between different weights of virtual objects.

• 한국품질경영학회:학술대회논문집
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• 한국품질경영학회 2010년도 춘계학술대회
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• pp.62-66
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• 2010

Company which produce the latest plastic products of survival dimension for competitive power security productivity elevation activity hard do. But enterprises is lacking value elevation activity that customer among product special quality is thinking heftily and isn't grasping well adjusted impact factors. So, addition quality failure cost is produced. In this research, investigated impact factor and factors influencing most heftily in quality for productivity elevation. As a result, present example that serve to control well importance benevolence.

• Journal of Yeungnam Medical Science
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• 제24권2호
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• pp.97-106
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• 2007

Functional electrical stimulation (FES) has developed over the last 35 years to become a scientifically, technologically and clinically recognized field of interest in clinical medicine. FES has been applied to locomotion, grasping, ventilation, incontinence, and decubitus healing. However, all of these achievements illustrate the initial applications of FES; its true potential has not yet been realized. Recently, FES systems, which are miniaturized stimulation devices, have been utilized in the clinical setting. However, because the stimulating electrodes of the current FES devices are percutaneous electrodes, which are susceptible to wire breakage, and skin infection an implantable FES stimulating electrode has been introduced in the U.S. and Japan. In the present study, an external power supply method using radio frequency (RF) coupling and data transmission was developed for the control of the implantable FES device. In addition, we review the current understanding of FES devices and their application in clinical medicine.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.29-35
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• 2018

This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 추계종합학술대회
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• pp.169-172
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• 2001

본 논문에서는 비디오 스트림을 실시간에 전송하기 위하여 RTP(Real-Time protocol)을 이용하여 전송 방법에 대해 기술한다. 먼저 비디오 스트림을 연속적으로 전송을 보장하기 위해 네트워크의 종단간 특성을 분석하여 네트워크 상황을 파악하는 방법을 제시하고, 대역폭을 극복하기 위한 버퍼링 기법과 RTCP(Real-Time Control protocol)를 이용하여 데이터의 전송 상환을 분석하여 실시간 멀티미디어 전송의 QoS를 보장하고 연속성을 유지할 수 있는 알고리즘을 제시한다.

• PNF and Movement
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• 제15권1호
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• pp.13-25
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• 2017

Purpose: This study investigated the coordination and contribution of body segments during functioning. Methods: The relevant literature related to body segments and function were reviewed. Results: Efficient control of function is considered with regard to a participant's ability to perform a sequence of movements in body segments, which progresses from the head to the arm, trunk, pelvis, and leg segments. Each segment performs a specific role, which environment explorer using visual information for the head, reaching and grasping for the arms, a stabilizer for the trunk, and the distribution of COM in the pelvis and leg. Conclusion: During any of the movements, the momentum generated by the proximal segments is transferred to the adjacent distal segments in an appropriate sequence. In assessing function for clinical intervention strategies, the segment coordination, segment sequence, transfer of the center of body mass, asymmetrical ratio, muscle activity, and compensatory strategies should be considered.