• 전력전자학회논문지
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• 제7권6호
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• pp.524-530
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• 2002

일상 생활에서 반사적인 자세 조절은 정전기관, 시각, 고유수용체 등의 감수체에 의한 구심성 신호가 정전 신경핵에 전달되어 안구운동이나 골격근의 수축을 유발하여 이루어진다. 자세조절기능의 부조화는 오심, 구토, 현기증 등을 초래하여 삶의 의욕을 상실하게 만든다. 본 연구의 목적은 정전기관의 반규관과 이석기관을 선별적으로 자극하기 위한 탈수직축 회전자극 시스템과 수평, 수직, 3D 환경에서 시각자극을 할 수 있는 시운동자극시스템을 개발하여 인간의 자세조절 기능을 평가 하는데 있다. 탈수직축 회전자극 시스템은 편안한 의자와 DC 서보모터로 구동되는 기울임 테이블로 구성되고 PMSM에 의해 제어된다. 그리고 속도 궤환 루프와 위치 궤환 루프를 포함하는 이중 피드백 루프가 서보 제어되는 회전자극시스템에 적용된다. HMD를 이용하여 수평, 수직, 3D 시각자극패턴을 구현 하였고 OKN 자극을 위한 무선시스템과 전기안진 기록계를 이용하여 안구운동을 기록하였다. 이득, 위상, 대칭성은 정전 자극과 시각 자극에 의해 유발되는 안구운동의 분석으로부터 얻어진다.

• The Korean Journal of Physiology
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• 제24권1호
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• pp.103-113
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• 1990

The role of cervical proprioceptors in the control of body posture was studied in bilaterally labyrinth-ectomized, decerebrate cats. The animals were suspended on hip pins with the neck extended horizontally. With this placement the EMG activities of extensor and flexor muscles of the upper extremities were observed by means of sinusoidal head rotator. The rotator can induce two kinds of neck movement: The one is 'pitch' which describes a rotatory neck motion to transverse axis of the body and mainly occurs at skull-C1 (atlantooccipital) joint and the other is 'roll', side-to-side relation of the neck to longitudinal axis, whose center is C1-C2 (atlanto-axial) joint. The following results were obtained. 1) Responses of EMG activity were closely dependent on the rotatory range of the neck. And the EMG activity was not changed during sustained neck torsion, eliciting a typical tonic neck reflex. 2) On pitching movement, the head-up rotation produced the excitation of bilateral triceps muscles, whereas the head-down rotation produced the inhibition. And the response of bilateral biceps muscles was the opposite to that of triceps. 3) On rolling movement, the side-up rotation of the head produced the excitation of ipsilateral triceps muscles and the inhibition of contralateral ones. And the response of biceps muscles was the opposite to that of triceps. 4) The minimum requirement of motion to evoke EMG activities in the upper extremities was $3.2^{\circ}{\sim}12.5^{\circ}$. These results have shown that the cervical proprioceptors produce tonic discharge on the upper brachial muscles, regulate the EMG activities of those muscles, and are very sensitive to neck rotation. And it can be stated that the cervical proprioceptors may play an important role in the control of body posture and movement.

• 대한의용생체공학회:의공학회지
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• 제22권6호
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• pp.543-550
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• 2001

본 연구에서는 하퇴 절단환자에서 고정형. 단축형, 다축형 인공족관절 장착시 지면반발력과 에너지 소비량을 측정하여 하퇴의지에 대한 생체역학적 평가를 하였다. 실험에는 각각 2명의 남성과 여성 하퇴 절단 환자가 3종류의 의지를 착용하고 참여하였으며. 3차원 보행분석은 7개의 기준점에 대하여 전체 입각기에 대한 지면 반발력의 체중에 대한 비율로 나타내었다. 하퇴의지 에너지 소비량은 피 실험자들이 각각 2km/h, 3km/h 그리고 가장 걷기 편한 속도로 런닝머신 위에서 보행하게 하면서 측정하였다 실험결과는 지면반발력에서 다축형 인공족관절 장착시 추진력과 후진력의 보행특성에 대하여 우위를 보이며, 고정형 인공족관절 장착시에는 보행균형과 무게중심의 이동에 대해 상대적인 우위를 보였다. 에너지 소비량은 2.3km/h 이상의 보행속도에서 단축형 인공족관절 장착시 다른 두 의지에 비해 적은량의 에너지 소비를 보였다.

• 전기학회논문지
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• 제60권8호
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• pp.1529-1536
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• 2011

Recently, worldwide government policy is pursuing saving energy and preservation. add to this, the solar cells are getting the spotlight nonpolluting energy source, using a variety of products for solar cell. in this paper, we'll make solar tracking system for suitable of dynamic boat. we knew that general boats are using fixed solar cell, it's first time to use tracking system of solar cells for boats so it is hard to application. To solve this problem in this paper we use to a magnetic compass and GPS for suitable solar tracking system of dynamic movement and to analyze fixed and tracking solar system. frist. solar tracking device is designed two-axis control system. one-axis control system is taken a magnetic compass for making efficiency defence solar tracking sensor, two-axis control system apply GPS latitude and longitude data for SPA(Solar position algorithm) so we know the azimuth and altitude. it analyze data value of accuracy comparison from result. so the proposed algorithm confirm to have validity.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1165-1168
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• 1995

This paper describes the evaluation of a robot based filament winding cell consisting of an industrial robot (ASEA IRB 6/2) and an in-house fabricated mandrel drive mechanism, both being coordinated by a personal computer. As in many manufacturing processes, tradeoffs exist between accuracy and speed. The accuracy versus speed relationships of the robotic winding cell were experimentally determined for discrete, fine and medium movement modes while traversing a segmented delivery eye path for a cylindrical mandrel in three configurations (in-line, offset and angled with respect to the axis of rotation). the results show that the robot winding cell is appropriate for very accurate winding of fibre strands if the mandrel axis is concentric with the mandrel drive axis and the discrete mode(i.e. low speed) of the robot is used.

• 에너지공학
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• 제24권3호
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• pp.128-134
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• 2015

본 연구는 연성체와 강체로 구성된 다물체 시스템을 분석한 것이다. 이송용 로봇은 주로 빠른 속도와 넓은 범위의 이동거리의 장점으로 무거운 부품으로 구성된 자동화산업에 사용된다. 주로 3축으로 구성되어 사용되는 이송용 로봇은 커다란 부하를 담당하기 위해 최근에 강도와 강성을 고려하여 개발되어진다. 따라서, 이러한 목적으로 과도모드가 적용된 동적해석을 수행하여 어느 시간과 위치에서 항복되는지 찾기 위해 수행되었다. 이러한 연구의 결과로 로봇의 응력과 변형량을 분석할 수 있었다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 전력전자학술대회 논문집
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• pp.377-380
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• 2001

The vestibular system located in the inner ear controls reflex body posture and movement. It has the semicircular canals sensing an angular acceleration and the otolith organs sensing a linear acceleration. With this organic signal, medical doctor decide if a person has disease or not. To obtain this data, a precision stimular system is considered. Robust control is needed to obtain eye signals induced by off-vertical axis rotation because of an unbalanced load produced by tilting the axis of the system upto 30 degrees. In this study, off-vertical axis rotatory system with visual stimulation system are developed. This system is consisted of head mounted display for generating horizontal, vertical, and three dimensional stimulus patterns. Furthermore wireless recording system using RF modem is considered for noiseless data transmission.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1183-1188
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• 2005

In this paper, we propose a 3D automated measuring system which measures the mandibular movements and the reference plane of the jaw movements. In diagnosis and treatment of the malocclusions, it is necessary to estimate the mandibular movements and the reference plane of the jaw movements. The proposed system is configured with double stereo-cameras, PC, two moving pattern plates(MPPs), two fixed pattern plates(FPPs) and one orbital marker. The virtual pattern plate is applied to calculate the homogeneous transformation matrices which describe the coordinates systems of the FPP and MPP with respect to the world coordinates system. To estimate the parameters of the hinge axis, the Euler's theorem is applied. The hinge axis points are intersections between the FPPs and the hinge axis. The coordinates of a hinge axis point with respect to the MPP coordinates system are set up to fixed value. And then, the paths of the jaw movement can be calculated by applying the homogeneous transformation matrix to fixed hinge axis point. To examine the accuracy of the measurements, experiments of measuring the hinge axis points and floating paths of them are performed using the jaw motion simulator. As results, the measurement errors of the hinge axis points are within reasonable boundary, and the floating paths are very similar to the simulator's moving path.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1356-1363
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• 1999

In this paper, a new method for controlling the pointing device using EOG(electrooculogram) signal generated from eye movement was suggested. The basic idea of the method is to control the direction of pointer, as using the results of measuring each component of the horizontal EOG and the vertical EOG by angle of eye-gaze. As a practical example, pointing device controlling the personal computer's pointer is manufactured. The designed pointing device consists of pre-amplifier, A/D converter, serial transmission device and PC program. That is, first, the EOG is amplified by pre-amplifier. Secondly, the amplified EOG is digitized and transmitted to personal computer by PIC16C74A. Finally, the software for controlling the pointer on personal computer is programed. As the result, the measured horizontal EOG and vertical EOG by eye-gaze angle had high linearity; the correlation coefficients of the regression line were 0.998 and 0.996 respectively. And the developed pointing device is able to control the personal computer's pointer, and the average of the errors between the objective value and the observed value had 3.77% for horizontal axis and 5.85% for vertical axis. The pointing device developed in this study is able to control personal computer's pointer by subject's eye movement, that is, the user's intention. Furthermore, the algorithm of this study is applicable for many field, such as a new method remote control, a new wheelchair control and so forth.