• 한국방사선학회논문지
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• 제14권6호
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• pp.811-817
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• 2020

본 연구의 목적은 손목관절 CT 검사에서 환자 자세를 X-축, Y-축으로 변화시키고 CT 검사장치의 channel 변화에 따른 MTF 평가를 하는 것이다. CT 장치와 손목 팬텀을 이용하여 isocenter를 중심으로 X-축으로 0(일치), 5, 10, 15 cm 이동시켜 검사하고, Z-축은 반시계 방향으로 -20°, -40° 회전하여 검사하였다. 검사는 16, -40, 64 channel을 이용하여 channel 별 차이가 있는지도 확인하고자 하였다. 검사한 영상은 자뼈와 좌우측 노뼈의 MTF 값을 측정하여 비교하였다. isocenter를 중심으로 X-축으로 이동시킨 실험에서 이동 거리가 커질수록 MTF 값은 감소하였고, 이때 MTF 값은 channel과는 무관한 것으로 확인되었다. Z-축에서 반시계 방향으로 -20°, -40° 손목관절을 회전시킨 실험에서 회전정도와 MTF는 무관한 것으로 확인되었다. 또한 channel과도 무관하였다. 결론적으로 손목관절 CT 검사에서 손목은 X-축 방향으로 이동을 최대한 억제시키고, Z-축으로의 회전은 검사 대상자의 환경에 따라 변화하여도 영상의 MTF에는 큰 영향을 주지 않을 것이라 사료된다.

• Journal of information and communication convergence engineering
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• 제9권6호
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• pp.747-752
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• 2011

The position detection of overlapping area in the interframe for image stitching using auto and cross correlation function (ACCF) and compounding one image with the stitching algorithm is presented in this paper. ACCF is used by autocorrelation to the featured area to extract the filter mask in the reference (previous) image and the comparing (current) image is used by crosscorrelation. The stitching is detected by the position of high correlation, and aligns and stitches the image in shifting the current image based on the moving vector. The ACCF technique results in a few computations and simplicity because the filter mask is given by the featuring block, and the position is enabled to detect a bit movement. Input image captured from CMOS is used to be compared with the performance between the ACCF and the window correlation. The results of ACCF show that there is no seam and distortion at the joint parts in the stitched image, and the detection performance of the moving vector is improved to 12% in comparison with the window correlation method.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.262-267
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• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• 소음진동
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• 제8권1호
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• pp.203-211
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• 1998

In order to find out relationship between hit probability and gun firing of a moving tank, a turret and flexible gun system model has been developed using a recursive flexible multibody dynamics. For a firing simulation model, nodal coordinates for a finite element model of a flexible gun have been employed to include transverse loads to the gun tube due to moving bullet and ballistic pressure. Modal coordinates are also used to represent the motion induced gun vibration before a firing occurs. An efficient switching technique from modal equations to nodal equation has been introduced for an entire gun firing simulation with a rotating turret.

• Interaction and multiscale mechanics
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• 제6권2호
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• pp.257-270
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• 2013

The use of lightweight materials has been steadily increasing in the automotive industry, and presents new challenges to material joining. Among many joining processes, self-piercing riveting (SPR) is particularly promising for joining lightweight materials (such as aluminum alloys) and dissimilar materials (such as steel to Al, and metal to polymer). However, to establish a process window for optimal joint performance, it often requires a long trial-and-error testing of the SPR process. This is because current state of the art in numerical analysis still cannot effectively resolve the problems of severe material distortion and separation in the SPR simulation. This paper presents a coupled meshfree/finite element with a moving boundary algorithm to overcome these numerical difficulties. The simulation results are compared with physical measurements to demonstrate the effectiveness of the present method.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.411-416
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• 2016

Existing moving robots has several kinds of moving method; using wheel, jointed leg structure and so on. Wheel type can be operated by DC motor so it is simple and efficient. However, it is not appropriate to pass irregular terrain and obstacle. Leg structure type has an advantage in those cases. Generally, Leg structure is operated by several servo motors attached to each joint. It makes a robot heavier and more complicate due to increase of the degree of freedom. However, by using Theo Jansen Mechanism, one (or more) leg have only single-degree of freedom and can be operated by only one DC motor. So leg structure using Theo Jansen Mechanism will be good choice if robots have to be mass-produced. This paper describes the following a walking robot designed and produced based on Theo Jansen Mechanism, simulating process of Theo Jansen leg structure using Edison m.Sketch and how to solve several of discovered problem of the robot.

• 로봇학회논문지
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• 제16권2호
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• pp.137-146
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• 2021

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG), algorithm of reinforcement learning that rewards behavior according to actions then determines high-reward actions in simulation. DDPG uses off-policy that uses 𝝐-greedy policy for selecting action of current time step and greed policy for the next step. In the simulation, learning is given by negative reward when moving near singulairty, and positive reward when moving away from the singularity and moving to target point. The reward equation consists of distance to target point and singularity, manipulability, and arrival flag. Dual arm manipulators hold long rod at the same time and conduct experiments to avoid singularity by simulated path. In the learning process, if object to be avoided is set as a space rather than point, it is expected that avoidance of obstacles will be possible in future research.

• 한국도로학회논문집
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• 제12권3호
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• pp.27-35
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• 2010

Asphalt Plug Joint(APJ)는 통상 무게비로 20%의 역청(bitumen)과 80%의 골재로 구성된 역청 혼합물을 이용하여 포장 사이의 신축이음부를 메꾸는 형태의 신축이음장치로, 도로 포장과 신축이음부의 매끄러운 연결을 가능케 하여 평탄성을 확보하면서 재료의 특성을 이용하여 교량 상판의 신축을 자체적으로 흡수하도록 되어 있는 매설형 신축이음장치이다. 그러나 APJ은 6-7년의 사용주기를 가지고 설계되지만 때때로 시공 후 6개월 내에 조기파손의 사례가 나타나고 있다. 이러한 조기파손은 잦은 보수 공사로 인한 교통정체 등을 유발하며 이로 인한 사회적 비용은 이음장치의 설치비용을 훨씬 상회한다. 이에 본 연구에서는 APJ의 단점을 극복할 수 있는 새로운 시스템인 Buried Folding Lattice Joint(BFLJ)을 개발하였고 시험체를 제작하여 실험을 통해 기존 시스템과 성능을 비교 분석하였다. 실험결과 APJ는 신축에 의하여 철판 양끝에서 변형이 발생하여 표면으로 확산되었다. 이 결과로 철판 끝을 따라 발생하는 아스팔트 혼합물의 변형집중으로 인한 인장균열과 접합부의 부착파괴 현상이 발생하였으며 이것이 조기파손의 원인이 된다는 것을 알 수 있었다. 반면 새로 개발된 BFLJ의 경우는 움직이는 스터드를 사용하고 고성능 재료를 사용함으로써 조인트 전체에 고른 변형을 유도하여 APJ의 변형집중의 단점을 해소할 수 있었다. 이에 새로 개발된 BFLJ는 APJ의 문제점을 극복하고 조기파손을 예방할수 있을 것이라 판단된다.

• 대한정형도수물리치료학회지
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• 제1권1호
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• pp.85-97
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• 1995

Orthopaedic medicine was developed and published by James Cyriax, a British Orthopaedic Physician on 1929. Orthopaedic medicine is concerned with the diagnosis and treatment of soft tissue lesions. These disorders affect a substantial proportion of all patients in general and in particular, physiotherapy and sports clinics. In broad terms these disorders em trace conditions. such as arthritis. rheumatism. fibrositis. backache. lumbago, sciatica, frozen shoulder, tennis elbow, strained wrist, sprains, aches, inflanmation and sports injuries generally. The soft Moving tissues share one thing in common - they are all radiotranslucent and the tissues in question are the joint capsule, the ligaments, the fasciae, dural sheath. These structures can cause pain but none of them is visible on the radiograph. Dr. Cyriax divided all soft tissues into two basic types : 1) Contractile tissue, 2) Inert or noncontractile tissue. The mechanism of diagnosis is tension applied manually. The physician subjects each tissue about the incriminated joint to tension in turn which they call 'Selective tension' with Cyriax's assessment, a more definitive diagnosis can be obtained and proper treatment can be implemented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.739-742
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• 1996

Several figures representing velocity transmission from joint space to task space are analyzed and compared with each other. The figures include velocity ellipsoid derived from Jacobian matrix, scaled velocity ellipsoid derived from normalized joint velocities, polytope derived by numerical scaling, and polytopes derived by linear combinations of Jacobian column vectors. The results show that the optimal directions given by the measures are not the same and the conventional velocity ellipsoid is not good choice as optimization measure as far as the moving direction is concerned. Simulation examples for 3 d.o.f. redundant robot manipulators in 2-dimensional task space are given for comparison study.