• 센서학회지
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• 제21권3호
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• pp.192-197
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• 2012

This paper describes the control of the hand fixing system attached to the finger rehabilitation robot for the rehabilitation exercise of patient's fingers. The finger rehabilitation robot is used to exercise the finger rehabilitation, and a patient's hand is safely fixed using the hand fixing system. In this paper, the hand fixing system was controlled with PD gains to fix a palm of the hand, and the characteristic test for the hand fixing system was carried out to sense the fixed hand movement of the front and the rear, that of the left and the right, and that of the upper. It is thought that the hand fixing system could safely fix the hand, and the movement of the fixed hand could be perceived using the five-axis force/moment sensor attached to the hand fixing system.

• 한국정밀공학회지
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• 제29권7호
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• pp.753-761
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• 2012

This paper describes development of a hand and finger fixing system for the rehabilitation exercise of patient's fingers. In order to exercise the finger rehabilitation using a finger rehabilitation robot, a patient's hand or fingers are fixed safely. In this paper, The hand and fingers fixing system can safely fix stroke patient's hand and fingers by pressing with force control system. The characteristic test of the system was carried out. It is thought that the system could be used for fixing their fingers in stroke patient's finger rehabilitation exercise.

• 센서학회지
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• 제20권5호
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• 대한물리의학회지
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• 제3권4호
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• pp.247-254
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• 2008

Purpose : The purpose of this study was to analyze some factors that can cause incidence of the muscle and skeletal system trouble, by which Dental Hygiene Students examine the pain and the inconvenient feeling according to kinds in manual implements and the usability in the level of manipulating and maintaining the manual implement, in the actual training of the intra oral cavity along with mannequin given the scaling practice. Methods : Targeting 18 female juniors for the department of dental hygiene, who had directly practiced oral prophylaxis for 2 years, the questionnaire research was carried out right after the mutual practice in the intra oral cavity along with mannequin. Results : It was indicated that there is no big difficulty both in intra oral cavity and mannequin in terms of manipulating implement with a method of maintaining the rightly hand fixing or of grasping the trans formative pencil and of controlling force given manipulating the implement. How to grasp a trans formative pencil was indicated to be more difficult in the intra-oral manipulation(p<.05). Pain and inconvenient-feeling level, which occur in muscle and skeletal system during practicing the scaling in mannequin, were indicated to be in order of shoulder, wrist, neck, waist, elbow, and headache. Conclusion : There was no big difference in the pain and the inconvenient feeling in muscle and skeletal system according to mannequin and intra-oral environment given manipulating tile manual implement. However, there was difference in manipulating the implement with a method of grasping transformative pencil. The pain and inconvenient feeling in muscle and skeletal system were the highest both in shoulder and wrist.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.371-376
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• 2007

This paper presents an emotion recognition and its expression system of an intelligent robot like a home robot or a service robot. Emotion recognition method in the robot is used by a facial image. We use a motion and a position of many facial features. apply a tracking algorithm to recognize a moving user in the mobile robot and eliminate a skin color of a hand and a background without a facial region by using the facial region detecting algorithm in objecting user image. After normalizer operations are the image enlarge or reduction by distance of the detecting facial region and the image revolution transformation by an angel of a face, the mobile robot can object the facial image of a fixing size. And materialize a multi feature selection algorithm to enable robot to recognize an emotion of user. In this paper, used a multi layer perceptron of Artificial Neural Network(ANN) as a pattern recognition art, and a Back Propagation(BP) algorithm as a learning algorithm. Emotion of user that robot recognized is expressed as a graphic LCD. At this time, change two coordinates as the number of times of emotion expressed in ANN, and change a parameter of facial elements(eyes, eyebrows, mouth) as the change of two coordinates. By materializing the system, expressed the complex emotion of human as the avatar of LCD.

• 한국측량학회지
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• 제33권5호
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• pp.343-351
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• 2015

차량 항법장치에서 활용하고 있는 GNSS는 차분기법을 이용하더라도 수 미터 수준의 측위 정밀도를 확보할 수 있으므로, 길안내 수준의 위치기반서비스만 가능하다. 반면 정밀 측지/측량분야에서는 민간용 코드 대신 반송파 위상정보를 이용하여 센티미터에서 밀리미터까지의 위치 정확도를 확보할 수 있다. 본 연구에서는 국토교통부 국토지리정보원의 NRTK(Network-RTK) 서비스를 차량항법에 적용하기 위한 기반연구를 수행하였다. 이를 위해, 차량에 GNSS 장비를 탑재하고 전국범위에서 NRTK를 수행하였으며, 그 결과를 바탕으로 NRTK의 차량항법 적용가능 여부를 판단하고자 하였다. 본 연구의 분석결과, NRTK는 대체적으로 높은 모호정수 결정율을 보이며, 지상 차량항법에 충분히 적용할 수 있을 것으로 판단된다. 다만, 도심지에서는 모호정수 결정율이 급격히 낮아지며, 실수해일 경우에는 측위 오차가 10m 이상의 수준에 달할 정도로 불안정할 수 있다. 따라서 안정적인 위치정확도를 확보하기 위해서는 실수해의 오차영향을 최소화할 수 있는 방안 등이 모색되어야 할 것으로 사료된다. 그러나 수신환경이 양호한 일부 도심지에서는 NRTK를 활용하여 센티미터 수준의 측위 정확도를 확보할 수 있을 것으로 판단된다. FKP는 고속 주행 시 모호정수 결정율이 약 55%까지 낮아지는 경우가 발생하였으므로 여러 수신환경을 고려하여 측위 정확도를 결정하여야 한다. 마지막으로 대기교란(2단계 이상)에 의해 NRTK(FKP) 접속오류로 의심되는 사례가 발생하였으며, 이에 대한 정확한 원인규명이 필요하다.

• 무역상무연구
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• 제48권
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• pp.57-76
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• 2010

This study reviews maritime transport policy regarding liner conference and the changes in the liner market over the decades. Liner shipping industry has long been protected from competition by block exemption. To prevent excessive competition in punctual operation and its inelastic market structure, liner shipping companies formed conferences that are protected to fix the prices under the law. In the US, deregulation in transport sector began from 80's and continuing with OSRA 1998, conferences were dissolving. On the other hand, the EU with close conference system, Regulation 4056/86 contained block exemption remained in force for unlimited time without review clause. However, in Oct 2008, the EU has announced its removal, and conferences were no longer permitted to fix the price nor exchange information. Although OSRA 1998 has already broken up conferences by allowing individual service contracts, but the repeal of the immunity for price fixing will alter significantly the rule on cooperation in the industry since it is a unilateral move by the EU, especially in transatlantic lane. There are rapid changes in shipping market getting much more complicated, and with removal of 4056/86 allowing the market to be more competitive, opening up the industry with far more diverse strategic options. Hence this paper reviews on liner shipping industry and its changes of policies over the years from protected market to open competition market of today.

• Ocean Systems Engineering
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• 제7권2호
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• pp.107-120
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• 2017

Spud-can is used for fixing jack-up rig on seabed. It needs to be inserted up to the required depth during the installation process to secure enough soil reaction and prevent overturning accidents. On the other hand, it should be extracted from seabed soils as fast as possible during the extraction process to minimize the corresponding operational cost. To achieve such goals, spud-can may be equipped with water-jetting system including monitoring and control. To develop such a smart spud-can, a reliable numerical simulation tool is essential and it has also to be validated against physical model tests. In this regard, authors developed a numerical simulation tool by using a commercial program ANSYS with extended Drucker-Prager (EDP) formula. Authors also conducted small-scale (1/100) physical model tests for verification and calibration purpose. By using the numerical model, a systematic parametric study is conducted both for sand and K(kaolin)-clay with varying important soil parameters and the best estimated soil properties of the physical test are deduced. Then, by using the selected soil properties, the numerical and experimental results for a sand/K-clay multi-layer case are cross-checked to show reasonably good agreement. The validated numerical model will be useful in the next-stage study which includes controllable water-jetting.

• 한국정보통신학회논문지
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• 제13권9호
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• pp.1845-1850
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• 2009

일반적으로 중소기업에서 통상적으로 이루어지고 있는 근태관리 방식은 수작업에 의해 수행되었지만, 최근 들어 많은 기업들은 근태관리와 보안을 유지하기 위하여 많은 비용을 투자하고 있다. 그럼에도 불구하고 근태관리를 위해 도입되어야 하는 단말기, RFID 카드, 운영서버, 근태관리 응용프로그램 등과 같은 시스템의 초기 도입비용 부담과 시스템의 하드웨어 및 소프트웨어의 장애발생 시 문제해결 능력 부족 등으로 인하여 많은 애로사항을 느끼고 있다. 이에 본 논문에서는 시스템 도입에 따른 서버의 구입이나 카드의 재발행이 필요 없어 초기 투자비용이 저렴하고, 인터넷을 통하여 중앙관리서버에 접속하여 근태관리가 가능하므로 시스템의 운영과 관리가 편리한 근태관리 시스템을 개발하였다.

• 전기학회논문지P
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• 제66권4호
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• pp.188-193
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• 2017

In this paper, a ZVS-PWM high-frequency inverter with a PWM control function is applied to commercial system 220[Vrms], and a resonator type ZVS-PWM high-frequency inverter circuit with a fixed-two methods were proposed. The parameters of the transformer model equivalent circuit of a copier fixing device, which is an essential element in the parameter optimization of the proposed circuit, are obtained by using a high-frequency amplifier and its frequency characteristics are described. The proposed method compared to the existing single-ended ZVS-PFM high frequency inverter can suppress the voltage and current peak value of the power semiconductor switching device and reduce the switching loss. The efficiency of the proposed method itself is 98[%] at rated power output. Also, the efficiency of 96[%] can be obtained even at low output, so that the proposed high frequency inverter is very efficient inverter. The total efficiency from the commercial AC input to the inverter output is 93[%] at rated, which is considered efficient for use in copying machines. In addition, the diode bridge loss accounts for the largest portion of the overall system efficiency distribution. On the other hand, the nonparallel filter has a very low loss.