• Proceedings of the KIEE Conference
• /
• 대한전기학회 2002년도 하계학술대회 논문집 D
• /
• pp.2430-2432
• /
• 2002

We made a master hand which can be used as tool for getting grasping data. By using the data from the master hand, we analyzed grasping patterns of human hands. Based on this analyzed results, we developed an grasping algorithm for some particular hand actions. To develop the above algorithm, we programmed a 3D simulation S/W using Visual C++. And we made a slave hand to prove the validity of the proposed algorithm.

• Journal of Biomedical Engineering Research
• /
• 제37권3호
• /
• pp.105-111
• /
• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of Institute of Control, Robotics and Systems
• /
• 제5권3호
• /
• pp.288-296
• /
• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 한국정밀공학회 2012년도 춘계학술대회 논문집
• /
• pp.317-318
• /
• 2012

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제3권4호
• /
• pp.399-422
• /
• 2009

Although current wireless mesh network (WMN) applications experience a perceptually uninterrupted hand-off, their throughput after the hand-off event may be significantly degraded due to the low available bandwidth of the mobile client's new master. In this paper, we propose a novel mobility management scheme for 802.11-based WMNs that enables both seamless hand-off for transparent communications, and bandwidth awareness for stable application performance after the hand-off process. To facilitate this, we (i) present a new buffer moment in support of the fast Layer-2 hand-off mechanism to cut the packet loss incurred in the hand-off process to zero and (ii) design a dynamic admission control to grant joining accepts to mesh clients. We evaluate the benefits and drawbacks of the proposal for both UDP and TCP traffic, as well as the fairness of the proposal. Our results show that the new scheme can not only minimize hand-off latency, but also maintain the current application rates of roaming users by choosing an appropriate new master for joining.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 한국정밀공학회 1994년도 춘계학술대회 논문집
• /
• pp.390-394
• /
• 1994

In many cases, tasks are unpredictable and therefore not doable by special-purpose or pro-programble robots. So master/slave type robot hands which combine human perceptions with conventional robot hands are required as robot end effector. These also can be applied to hazardous worksites such as outer space, deep sea and nuclear power plant. In this study, master/slave type robot fingers with 3 joints each are designed and constructed. To control force accurately, TDT(tension difference type) torque sensors are constructed and attached toeachjoints of slave finger and new force reflecting control algorithm is suggested. Finally, experimental results show that the new control algorithm can be successfully applied.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.461-465
• /
• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• Transactions of the Korean Society of Pressure Vessels and Piping
• /
• 제13권2호
• /
• pp.60-66
• /
• 2017

The standard master curve (MC) approach has the major limitation because it is only applicable to homogeneous datasets. In nature, materials are macroscopically inhomogeneous and involve scatter of fracture toughness data due to various deterministic material inhomogeneity and random inhomogeneity. RPV(reactor pressure vessel) steel has different fracture toughness with varying distance from the inner surface of the wall due to cooling rate in manufacturing process; deterministic inhomogeneity. On the other hand, reference temperature, $T_0$, used in the evaluation of fracture toughness is acting as a random parameter in the evaluation of welding region; random inhomogeneity. In the present paper, four regions, the surface, 1/8T, 1/4T and 1/2T, were considered for fracture toughness specimens of KSNP (Korean Standard Nuclear Plant) SA508 Gr. 3 steel to investigate deterministic material inhomogeneity and random inhomogeneity. Fracture toughness tests were carried out for four regions and three test temperatures in the transition region. Fracture toughness evaluation was performed using the bimodal master curve (BMC) approach which is applicable to the inhomogeneous material. The results of the bimodal master curve analyses were compared with that of conventional master curve analyses. As a result, the bimodal master approach considering inhomogeneous materials provides better description of scatter in fracture toughness data than conventional master curve analysis. However, the difference in the $T_0$ determined by two master curve approaches was insignificant.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.594-597
• /
• 1995

A hand controller in teleoperation is a man-machine interface device that provides real-time interaction between a human operator at control site and a slave manipulator at remote site. In this paper, we examine the design issure related to various types of hand controllers in use. Emphasis is placed on bilateral hand controllers and their design parameters. We describe the design of a new 6 degree-of-freedom universal force-reflecting hand controller to control a remote Schilling Titan manipulator. This hand controller allows the operstor to maintain spatial corresponence in remote manipulative operation and fell a sense of contact with the environment. Finally, we demonstrate the graphic simulation of the hand controller to verify its design characteristics.

• Journal of the Korean Operations Research and Management Science Society
• /
• 제10권1호
• /
• pp.9-13
• /
• 1985

This paper develops a decomposition method for stochastic programming with a block diagonal structure. Here we assume that the right-hand side random vector of each subproblem is differente each other. We first, transform this problem into a master problem, and subproblems in a similar way to Dantizig-Wolfe's Decomposition Princeple, and then solve this master problem by solving subproblems. When we solve a subproblem, we first transform this subproblem to a Deterministic Equivalent Programming (DEF). The form of DEF depends on the type of the random vector of the subproblem. We found the subproblem with finite discrete random vector can be transformed into alinear programming, that with continuous random vector into a convex quadratic programming, and that with random vector of unknown distribution and known mean and variance into a convex nonlinear programming, but the master problem is always a linear programming.