• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.4
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• pp.479-487
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• 2013

PURPOSE: The purpose of this research was comparing and analyzing the exercise effect for the public who was not suffering back pain exercise in improving the waist flexibility, the waist muscular strength and the waist sense of equilibrium after grafted in William & McKenzie exercise with swiss ball. METHODS: 16 people who were not in progress of the chronic low-back pain were recruited. They were grouped into 8 for each experiment(GSBE=Group which play swiss ball exercise, GWME=Group which William & McKenzie exercise). RESULTS: The following result was obtained through measurement of three items in both pre and post examination. CONCLUSION: Comparing the average result of flexibility improvements of each group after 12-week exercise program, the result showed that GSBE was more effective than GWME with increase of muscular strength. Comparing the average result of muscular strength of each group after 12-week exercise program, the result showed that GSBE was more effective than GWME with increase of flexibility improvements. Comparing the average result of sense equilibrium of each group after 12-week exercise program, the result showed that GSBE was more effective than GWME with increase of sense equilibrium.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.112-118
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• 2005

Ball bearings which were fitted between housing and shaft play an important role in rotating shaft system smoothly, Therefore bearing's running accuracy has significant influence on that of rotating machinery. Manufacturing accuracy of bearings as well as that of shaft and housing is main factor to affect bearing running accuracy In this paper, bearing's vibration and fatigue life considering raceway roundness of ball bearing before and after being fitted into housing are theoretically estimated. To perform analysis, a simple three degrees of freedom model was proposed and then these analysis was conducted utilizing the Newton-Raphson iterative method. The results show that vibration magnitude of ball bearing fitted into housing is considerably larger than before assembly, and bearing's theoretical L$_{10}$ fatigue life that ninety percent of the bearing population will endure decreased in about fifty percent.

• Proceedings of the Korea Contents Association Conference
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• 2006.11a
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• pp.344-347
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• 2006

Robot has been developed as something to help human beings, and robot will be very important field as an entertainment. This paper intends to contribute to developing golf robot for entertainment using AVR technology. It is believed that the entertaining robot giving a pleasure to human beings has good prospects for the rapid growth along with other robot industry. Golf robot developed in this paper has been developed for entertainment and has a similar sense in comparison with the real golf. This golf robot is represented in the way of putting the ball in the hall by hitting the ball just like the actual golf game and putting through making robot come close to the ball with the putting robot. This golf robot can play a game with several people like the acture golf if many putting robots can be used. It is, therefore considered that the development of golf robots for entertainment using AVR has a high value of the golf robot as an entertainer on the ground that it can play a real golf.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.07a
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• pp.177-178
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• 2015

Sediments play a major role in determining pollution pattern in aquatic systems and reflecting the pollutant deposition. In the present study analysis the depth effect of organic pollutants and heavy metals using slow release biostimulant ball (BSB) in coastal sediment. BSB size fixed at 3cm, depth varied from 0cm to 10cm depth and 1 and 3 month interval period was carried out for the study. The organic pollutants of chemical oxygen demand, total solids and volatile solids were significantly changed at the surface sediment (0cm)in 1 month and 3 month interval time using BSB. In contrast, sediment depth increase upto 10cm the reduction percentage decrease like to control. Vertical distribution of heavy metals are not consistent from the surface layer toward the bottom layers. Heavy metals fractions were significantly changes, the exchangeable fraction was reduced and other organic and residual fractions were stabilized percentage are increased. This finding concluded BSB is effective for reduce organic pollutants, heavy metals stabilization from the contaminated sediment.

• Journal of Powder Materials
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• v.4 no.4
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• pp.304-309
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• 1997

The synthesis of W-l5wt%Cu nanocomposite powder by hydrogen reduction of ball milled W-Cu oxide mixture was investigated in terms of powder characteristics such as particle size, mixing homogeneity and micropore structure. It is found that the micropores in the ball milled oxide (2-50 nm in size) act as an effective removal path of water vapor, followed by the formation of dry atmosphere at reaction zone. Such thermodynamic condition enhances the nucleation of W phase but suppresses the growth process, being in favor of the formation of W nanoparticles (about 21 nm in size). In addition, the superior mixing homogeneity of starting oxide mixture turned out to Play a significant role for forming extraordinary chemical homogeneity of W-l5wt%Cu nanocomposite powder.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.132-136
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• 2002

Optical collimating lenses are play a role as maintenance parallel light and as a kind of optical collimating lens, there is Ball lenses, GRIN-rod lenses, spherical lenses and aspherical lenses etc. but recently GRIN lens has monopolized a market. The performance of optical collimator depended on the coupling efficiency. In this paper, we were compared and analyzed to be measured values of coupling efficiency with respect to optical working distance using GRIN rod lenses and spherical lenses. In the case of GRIN lenses with a beam size of 420 ${\mu}{\textrm}{m}$, the minimum coupling efficiency was obtained to a measured value of 0.15 ㏈ and in the case of spherical lenses was obtained to a measured value of 0.12 ㏈ on the same condition. In results, we found that a performance of spherical lenses be better as compared with a that of GRIN lens.

• Korean Journal of Applied Biomechanics
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• v.15 no.4
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• pp.13-24
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• 2005

The purpose of this study was to compare kinematic data between experts and novices, and identify difference kinematic parameters changing direction to kick in penalty kick of soccer play. Novice subjects were 5 high school students Who has never been experienced a soccer player, and expert subjects were 5 competitive high school soccer players. The 3-d angle was calculated by Euler's Angle by inertial axis and local axis with three-dimensional cinematography. Kinematic parameters in this study consisted of angles of knee joints, hip joints, lower trunk and upper trunk when the support foot was contacted on ground and kicking foot impacted the ball. The difference of angle of knee joints in the flexion/extension was insignificantly showed below $4{\sim}9^{\circ}$ in groups and directions of ball at the time of support and impact. But the difference of angle of hip joint was significant in groups and directions of ball at the time of support and impact. Specially the right hip joint of experts were more flexed about $12^{\circ}$($43.99{\pm}6.17^{\circ}$ at left side, $31.87{\pm}4.49^{\circ}$ at right side), less abducted about $10^{\circ}$ ($-31.27{\pm}4.49^{\circ}$ at left side, $-41.97{\pm}6.67^{\circ}$ at right side) at impact when they kicked a ball to the left side of goalpost. The difference of amplitude angle in the trunk was significantly shown at upper trunk not lower trunk. The upper trunk was external rotated about $30^{\circ}$ (novice' angle was $-16.3{\pm}17.08^{\circ}$, expert's angle was $-43.73{\pm}12.79^{\circ}$) at impact. Therefore the significant difference of kinematic characteristics could be found at the right hip joint and the upper trunk at penalty kick depending on the direction of kicking.

• Journal of Korea Game Society
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• v.7 no.4
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• pp.13-21
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• 2007

Recently, medical advances have been increasing the size of the aged population. With rapidly developing technology, computers are now essential parts in our daily life, and the number of the aged people using computers is also increasing continuously. But user interfaces and contents for the aged people have not yet been developed actively. In this paper, we present a 3D sensory gate-ball game which can be played by the aged people easily. This study is based on 3D graphics and uses a realistic gate-ball stick and balls as interfaces, so it can improve both physical and metal health of the aged people. Because our game is a sensory game, it is easy to play in house without an outdoor playground. In addition, the game provides many interesting situation so that it can raise the participation and interest of the aged people.

• Tribology and Lubricants
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• v.23 no.6
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• pp.298-300
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• 2007

Frictional characteristics of mesoporous $SiO_2$ thin films were evaluated with different pore sizes. The films were manufactured by sol-gel and self-assembly methods to have a porous structure. The pores on the surface may play as the outlet of wear particle and the storage of lubricant so that the surface interactions could be improved. The pores were exposed on the surface by chemical mechanical polishing (CMP) or plasma-etching after forming the porous films. The ball-on-disk tests with mesoporous $SiO_2$ thin films on glass specimen were conducted at sliding speed of 15 rpm and a load of 0.26 N. The results show considerable dependency of friction on pore size of mesoporous $SiO_2$ thin films. The friction coefficient decreased as increasing the pore size. CMP process was very useful to expose the pores on the surface.