• Journal of Oriental Neuropsychiatry
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• v.12 no.1
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• pp.59-65
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• 2001

In many aspects, autogenic training was similar to qigong, yoga and Zen applied in the psychotherapy of oriental medicine. And AT and oriental psychotherapy were much alike in methods in the view of composed of systematic training. If we wanted to get more available effects at AT, we needed to attach the qigong's concepts of control mind, posture, and respiration. Therefore, oriental psychotherapy like qigong and AT were useful methods for treat psychosomatic and stress-related disease.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.1-10
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• 1996

There are many challenging problems in mobile robot navigation. As an example, a mobile robot may wander around in local minimum and may wiggle when it moves through a narrow corridor. In addition, the real time obstacle avoidance and the posture control of mobile robot are also very improtant problems. To address these problems, a navigation algorithm which is composed o freal time obstacle avoidance algorithm and a global path planner (GPP) that genrates the shortest path is presented. In this paper, the global path planner reduce the calculation time by reducing the dta to be handled. Also it can make a real time obstacle avoidance by using the fuzzy logic inference. So the presented algorithm provide a stable navigastion for the mobile robot when it fall into the unstable navigation.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• Journal of the Korea Safety Management & Science
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• v.8 no.4
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• pp.13-23
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• 2006

Grip strength provides a quick and objective index of the functional integrity of the upper extremities. It is widely used as an assessment measure in physical and rehabilitation medicine. In this study, maximum voluntary grip strength of 20 college students wearing 5 different gloves were measured using Jamar hand dynamometer. The results show that maximum voluntary grip strength was generally reduced when wearing gloves as compared to bare-handed. More specifically, the grip strength was highest when wearing PVC coated glove or bare-handed and getting lowered as wrist band, rubber, leather, and cotton glove in these order. Depending on the measuring posture of grip strength, shoulder height with arm extended forward was higher than the elbow was flexed 90 degree. Moreover, subjects' demographic factors and hand dimensions were not closely related to the grip strength. It is thus recommended that the proper glove should be provided to reduce the negative consequences including dropping a tool, poorer control of a tool. lower quality work, and increased muscle fatigue and in turn to increase the user safety and satisfaction.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2003.05a
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• pp.54-58
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• 2003

Jet vane is an useful component which is installed at the end of a nozzle for the purpose of the posture control and the secure controlling stability during the initial launching of a rocket. Small space for installation and rapid response are considered as its merits but it is ablated thermally and mechanically by the combusted gas having high velocity and temperature produced in a combustion chamber. En this study, as the fundamental study for the ablation analysis of jet vane, the heat transfer into a jet vane which is located in the supersonic flow field.

• Journal of the Ergonomics Society of Korea
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• v.7 no.1
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• pp.31-37
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• 1988

This paper designs, in the teleoperation task, the world coordinate system by the functional analysis of each of the robot joint so that the human operator performs easily the task. Also, it constructs the heuristic rules of the equal motion line coordinates for the position and the posture control of the robot within the knowledge base so that the robot hand reaches-possibly in any position of the robot's work space. As shown in the result of the experiments. the coordinate reading is easy because the work station is displayed to the high resolution by using the superimposer of the motion analysing computer system. Also. the task burden of the human operator reduces and the error recovery time reduces because the coordinates of the object is obtained just by touch using the digitizer.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2473-2475
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• 2001

In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2378-2380
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• 2003

본 연구에서는 각 운동량 보존법칙으로부터 도출되어지는 공중부상체(flying objects)의 제어기법에 대해 논의하고자 한다. 먼저, 공중부상체에 대하여 각 운동량 보존법칙을 적용하여 적분불가능한 구속조건으로부터 비 홀로노믹시스템을 도출하고 상태변환과 입력변환을 행하여 제어가 용이한 체인드 폼(Chained form)을 유도한다. 체인드 폼에 대해서는 백스테핑제어기법을 적용하여 제어기를 설계하고 제어기법의 유용성을 검증하기 위하여 3개의 회전관절로 구성된 공중부상체를 대상으로 하여 초기자세로부터 목적자세까지의 제어를 행하였다.

• Proceedings of the KIPE Conference
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• 2001.07a
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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.