• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• Advances in robotics research
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• 제2권1호
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• pp.69-97
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• 2018

Innovation is considered as key to ensure continuous advancement and firm progress in any field. Robotics, with no exception, has gained triumph and approval based on its strength to address divers range of applications as well as its capacity to adapt new ways and means to enhance its applicability. The core of novelty in robotics technology is the perpetual curiosity of human beings to imitate natural systems. This desire urges to continuously explore and find new feet. In the past, contemporary machines, in different shapes, sizes and capabilities, were developed that can perform variety of tasks. The major advantage of these developments was the ability to exhibit superior control, strength and repeatability than the corresponding systems they were replicating. However, these systems were rigid and composed of hard an underlying structure, which is a constraint in bringing into being the compliance that exists in natural organisms. Inspiration of achieving such compliance and to take the full advantage of the design scheme of biological systems compelled researchers and scientists to develop systems avoiding conventional rigid structures. This ambition, to produce biological duos, needs soft and more flexible materials and structures to realize innovative robotic systems. This new footpath to craft biological mockups facilitates further to exploit new materials, novel design methodologies and new control techniques. This paper presents an appraisal on such innovative comprehensions, conferring to their design specific importance. This demonstration is potentially useful to prompt the novelty of soft robotics.

• 대한안전경영과학회지
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• 제10권3호
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• pp.43-53
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• 2008

This study is carried out for the fire safety of the factory building, the fire risk reduction measure in compliance with an example approached in fire risk reduction systematically, contribute to reduce the fire risk. The analytical fire risk process of discovering, identifying, estimating and evaluating risk and control measure as risk reduction measures are core concept, applies loss prevention with loss control techniques. The painting process in the workplace where the fire hazard and death accident accompanies coexists. Loss prevention problem of creation prevention of dangerous atmosphere at workplace is health and human services problem of normal circumstances, must be inspected with problem of combustible gases at the time of fire explosion. Static electricity measure accomplished the risk control process thoroughly as the fire risk reduction process model with the ignition sources measure which is presented. Fire risk from within organizing will be able to classify with each field by detailedly but risk treatment process will be able to apply basically all the same concept. Consequently about risk management example from before, this study is proposed risk management techniques that standardized rightly in the actual condition of organization with one plan, with discovery of fire risk, the feedback process in compliance with a fire risk reduction and the review which control the result is joint responsibility of engineer, technical expert and manager as part of safety management to practice with the fact must be supervised.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.119.2-119
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• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• 대한의용생체공학회:의공학회지
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• 제19권3호
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• pp.313-320
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• 1998

3상형 박동류는 인체 순환계 혈류의 일반적인 형태이다. 심혈관계의 여러 가지 상황을 모의하려면 이러한 3상형 박동류를 만들어 내는 것이 필수적이다. 본 연구에서는 3상형 박동류를 모의하기 위해서 전기유압식 좌심실보조기를 유리 팬텀과 고무 튜브와 같이 사용하였으며 혈류 모의 시스템의 제어변수를 선정하고 각 변수들의 변화에 대한 영향을 도플러 초음파를 이용하여 관찰하였다. 본 실험의 결과 협착 후위부 탄성과 지연시간이 3상형 혈류를 생성하는 중요한 요인이었다. 본 실험의 결과들은 다양한 혈류 운동을 모의할 수 있게 해 줌으로써 심혈관계의 여러현상을 설명하는 유용한 도구가 될 수 있을 것으로 기대된다.

• 로봇학회논문지
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• 제16권1호
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• pp.35-40
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• 2021

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2005년도 춘계학술대회 논문집
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• pp.149-153
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• 2005

In the cardiovascular system, the waveform of the pulsatory blood pressure appears variously due to the cardiac impulse and compliance of blood vessels and arm tissue. We have constructed a blood pressure simulator to investigate effects of mechanical properties of artery walls and tissue on blood pressure measurements. The blood pressure simulator is designed to reproduce wave forms of blood pressure in human arteries. To minimize tracking error, we use a linear control valve, and adapt a hybrid control scheme which consists of a feedback controller and a feedforward controller. Any form of the pressure wave can be reproduced, changing function of the wave form in the computer connected to the simulator for control. From experiments, it has been shown that the simulator reproduces wave forms very well, and that the hybrid scheme adapted is superior to the feedback controller.

• 대한기관식도과학회:학술대회논문집
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• 대한기관식도과학회 1977년도 제11차 학술대회연제 순서 및 초록
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• pp.4.4-5
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• 1977

중이의 impedance는 고막, 이소골연쇄 및 중이강.유양동.함기봉와의 공기강에 의해 결정되는 바, 저자는 우선 신선한 개의 중이를 재료로 하여 중이강의 강기체적을 변동시킴으로써 중이강의 공기체적인자가 중이의 impedance를 어떻게 변동시키는가를 조사하였고, 다음으로 과거력과 현재상태에서 외이도, 고막 및 중이에 병변이 없는 환자에서 중이의 impedance를 측정하고 아울러 측두골의 X-녹상을 언어 측두골의 함기도에 따라 중이의 static compliance의 변동을 조사하여 이과학의 임상적인 면에서의 중이의 static compliance의 또 하나의 이용가치를 구명하여 다음과 같은 결론을 얻었다. 1. 개의 중이는 control state에서 Type A의 tympanogram을 보였으며, 중이강의 공기체적의 변동에 의해 tympanogram curve의 채형은 변동하지 않았다. 2. 개의 중이에 있어서 중이의 static complance는 중이강의 공기체적의 변동에 의해 유의한 직선적인 증가를 보였으며, 중이강의 공기체적 1cc의 증가에 대해 $0.5{\pm}0.1$cc의 증가율을 보였다. 3. 측두골의 함기도가 양호해짐에 따른 중이의 static compliance의 증가경향과 개의 측두골표본에서의 실험적인 근거로부터 측두골의 함기도(x)와 중이의 static compliance (y)사이에 $y=0.19x+0.16{\pm}0.05$의 회귀방정식을 얻을 수 있었다. 따라서 중이강의 공기체적의 변동은 유의한 중이의 static compliance의 변동을 일으키며, electroacoustic impedance bridge (Madsen ZO 70, 220 Hz 의 probe tone을 사용)를 사용하였 중이의 static compliance를 측정함으로써 임상적으로 측두골의 X-선상을 촬영하지 아니하고도 간단히 측두골의 함기도를 알 수 있을 것으로 생각되어, impedance audiometry의 임상진단학적인 견지에서의 또 하나의 가치를 보고하는 바이다.

• 가정과삶의질연구
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• 제24권3호
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• pp.83-94
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• 2006

In order to understand how consumers' buying motivation is formed, that is the starting point of consumer behavior or consumers' decision-making processes, we examined how the interpersonal orientation for consumers is organized to control buying motivation and create a stepping-stone for subjects' behavior in fast varied consumer environments. In addition, we examined what influence this interpersonal orientation has on consumers' buying motivations. The results are shown as follows: First, interpersonal orientation is classified into six categories, according to Cohen's three types, i.e., compliance, detachment I: emotion independence, detachment II: performance independence, detachment III: perception independence, aggressiveness I: competitiveness, aggressiveness II: aggressiveness. Second, based on our inspection of the relation between interpersonal orientation and consumers' buying motivations, for external motivation and internal motivation, the value of R2 in regression seems too low to act as an influencing power on interpersonal orientation, while in case of introjected motivation, identified motivation I: self respect, and identified II: pursuit of harmony, I there seems to be some relationship.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.