• Convergence Security Journal
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• v.13 no.5
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• pp.77-87
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• 2013

Mobilization is defined as a use of national authority to effectively control, manage and utilize all personnel and material resources of a nation in a national emergency situation. Therefore, the complete posture of mobilization many deter war and secure victory as well as serve as a driving force for national economy during peacetime The future of military mobilization policies will need to be developed in relation to other government and administrative departments. Also mobilization of reserve forces can increase its swiftness and effectiveness by integrating the civilian, governmental and military departments. Additionally, the mobilization of military reserve forces policy after the unification in this Peninsula will need to be developed through active researches.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.3
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• pp.452-460
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• 2002

The precision stage using a novel contact-free planar actuator based on magnetic farces, magnetized force and Lorentz farce, is suggested. In the promising magnetic structure, the mover is driven directly without any transmission mechanism, and doesn't need any auxiliary driver for its posture calibration. Then it is estimated that the proposed operating principle is very suitable for work requiring high accuracy and cleanness, or general-purpose nano-stage. In this paper, we discuss a driving principle of the planar system including the magnetic force generation mechanism, a framework for the force model, governing characteristics of the levitated plate, and a planar motion control of the constructed prototype. And experimental results are given to verify the derived theoretical model and a feasibility of the system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.5
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• pp.959-966
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• 2020

With the growing importance of the fishery industry and the rapid growth of the aquaculture industry, research on smart farms through ICT convergence in the aquaculture field is in progress. To enable monitoring of the growing environment at the farm site, an underwater drone drive unit, an image collection device, an integrated controller for posture stabilization, and a remote control device capable of controlling and controlling drones through real-time underwater images were proposed, and design, development, and tests were conducted. By utilizing underwater drones, it is possible to replace the supply and demand of manpower and high-cost work in the aquaculture industry, and to manage fish farms in a stable manner by reducing the probability of farming deaths.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Journal of Korean Biological Nursing Science
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• v.15 no.4
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• pp.247-256
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• 2013

Purpose: This study aimed to determine the effects of listening to music on pain and vital signs of critically ill patients with ventilatory support in intensive care units during nursing treatment (changes of posture and tracheal suction). Methods: The experimental treatment was to use an mp3 player and a speaker to let them listen to classical music by Mozart during nursing treatment. To determine the effects of music intervention, pain (Critical-Care Pain Observation Tool-K) was used. The data analysis was carried out by using PASW Statistics 20.0. Results: Hypothesis "The scores for pain would differ between the experimental group provided with music intervention during nursing treatment, and the control group" was supported. Conclusion: Application of music intervention during nursing treatment for critically ill patients with ventilatory support in intensive care units was found to be effective in reducing pain. Therefore, music intervention during nursing treatment for critically ill patients with ventilatory support can be used as non-pharmaceutical nursing intervention to reduce pain for the patients.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1326-1331
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• 2009

The sensor data measured by the legged robot are used to recognize the physical environment or information that controls the robot's posture. Therefore, a robot's ambulation can be advanced with the use of such sensing information. For the precise control of a robot, highly accurate sensor data are required, but most sensors are expensive and are exposed to excessive load operation in the field. The seriousness of these problems will be seen if the prototype's practicality and mass productivity, which are closely related to the unit cost of production and maintenance, will be considered. In this paper, the use of a virtual sensor technology was suggested to address the aforementioned problems, and various ways of applying the theory to a walking robot obtained through training with an actual sensor, and of various hardware information, were presented. Finally, the possibility of the replacement of the ground reaction force sensor of legged robot was verified.

• Journal of the Ergonomics Society of Korea
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• v.5 no.1
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• pp.3-9
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• 1986

This research is aimed at examining age-related changes of postural sway when people stand upright, examining external effects which can be exerted upon the postural sway (experiment 1), and also analyzing specific changing characters of posture-control by sudden impacts (experiment 2). The total number of subjects was 115, who are in twenties through seventies and 75 of them were participated in experiment 2. In experimen 1, the subjects were examined for 25 seconds respectively while standing upright with both feet and with eyes opened, standing upright with both feet and with eyes closed, and standing upright with a single foot and with eyes opened. In experiment 2, only while standing upright with both feet and with eyes opened they were examined for 5 seconds. Main findings were as follows: 1. In the single-foot standing position, the growing older exerted more important effects upon the fluctuation length and area of the center of gravity than in the both-foot standing position. 2. The standard deviation was increasing with age in the fluctuation length and the fluctuation area of the center of gravity. 3. There were no significant differences in daily variation, temperature change, and muscle burdening. 4. The recuperation from the postural sway by external impacts was so slow with age. 5. There were little differences in decrease frequencies among the subjects but younger persons.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.455-458
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• 2002

A control of the body posture and movement is maintained by the vestibular system, vision, and proprioceptors. Especially, vestibular system has a very important function that controls the eye movement through vestibuloocular reflex and contraction of skeletal muscles through vestibulospinal reflex. However, postural disturbance caused by loss of vestibular function results in nausea, vomiting, vertigo and loss of craving for life. Lose of vestibular function leads to abnormal reflex of eye movements named nystagmus. Analysis of the nystagmus is needed to diagnose the vertigo, which is performed by means of electronystagmography (ENG). The purpose of this study is to develop a computerized system for data processing and an algorithm for the automatic evaluation of the slow component velocity (SCV) of nystagmus Induced by optokinetic(OKN) stimulation system. A new algorithm using recursive least square method (RLSM) to detect SCV of nystagmus is suggested in this paper. This method allows a fast and precise evaluation of the nystagmus, through artifact rejection techniques. The results are depicted in this paper.