• 로봇학회논문지
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• 제2권3호
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• pp.242-248
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• 2007

Robot system development consists of several sub-tasks such as layout design, motion planing, and sensor programming etc. In general, on-line programming and debugging for such tasks demands burdensome time and labor costs, which motivates an off-line graphic simulation system. MSRS(Microsoft Robotics Studio) released in recent years is an appropriate tool for the graphic simulation system since it supports CCR(Concurrency and Coordination Runtime), DSS(Decentralized System Services), and dynamics simulation based on PhysX and graphic animation as well. In this paper, we developed an MSRS based network simulation system for quadruped walking robots, which controls virtual 3D graphic robots existing in remote side through internet.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• Nuclear Engineering and Technology
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• 제46권3호
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• 동의생리병리학회지
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• 제23권2호
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• pp.325-330
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• 2009

In Korea, medical diagnostic equipments and biochemical examination can not be used in order for diagnosing sub-healthy state or ante-disease state in oriental medicine clinic. So morphic analogical method used in oriental medicine can be a good tool as a disease-predictable signs in order to enable preventive diagnosis and therapy. Therefore the four geometrical subjects; Essence, Pneuma, Spirit, Blood(四科;精氣紳血) and the four taxonomical species; Pisces, Quadruped, Aves, Carapaces(四類;魚走鳥甲) are chosen as morphic models in this paper. The differences of two classifying methods with four subjects and four species were as follows. The diagnostic category was meta-medical and synthetic against medical specific. The diagnostic object was body in contrast with face. They were able to be applicant in psychology and classification of characteristics against diagnostics and therapeutics directly in oriental medicine. The theoretical basis was basic diagrams of four unit-fluids of body and morphological analogy with four animal species respectively. And the therapeutic aims were systemic pathogenesis following five phase theory against congestion and deficiency of Essence, Pneuma, Spirit, Blood. The four subjects and four species are mixed each other practically in clinic. But it should be used limitedly because of the above reasons described and must divide the principal and secondary factors and follow the pathology of principal shape factor. In order to improve the diagnostic value of ante-disease state, the discriminable standards, measurement methods, limit of interrelating interpretation and the criteria of abnormal disproportion were needed to be defined more clearly in advance.

• 한국전문물리치료학회지
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• 제12권1호
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• pp.1-10
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• 2005

The purpose of this study was to verify the most effective spinal stabilization exercises program by comparing the activities of muscles contributing to spinal stabilization during four types of exercises using a sling and a mat. Twenty healthy males were recruited and each subjects performed four types of exercises. Exercise 1 was performed in a quadruped position with the subjects lifting the left arm and the opposite leg on the mat. Exercise 2 was performed in a prone position while holding a sling with the right hand and the left knee was fully extended while lifting the left arm and right leg. Exercise 3 was performed in quadruped position while holding a sling with one the right hand and lifting the opposite arm and leg. In exercise 4, subjects were instructed to maintain a balance push-up position while holding slings with both hands in 10 cm forward reaching with extended elbows. Electromyographic(EMG) activities were recorded from the multifidus, external oblique, internal oblique, abdominal rectus, and erector spinalis muscles during the exercises. The EMG amplitude of each muscle was normalized to the amplitude in the maximal voluntary isometric contraction (MVIC) of each muscle. Repeated ANOVA and Bonferroni's tests were used to compare the differences in the muscle activity according to the types of exercise. The EMG amplitudes of all the muscles were significantly different according to the types of exercises (p<.05). The highest EMG activities of each muscle was as follow; multifidus was 73.38%MVIC in exercise 3, the erector spinalis was 40.03%MVIC in exercise 3, the external oblique was 135.88%MVIC in exercise 4, the internal oblique was 128.60%MVIC in exercise 4, and the rectus abdominalis was 95.24%MVIC in Exercise 4. The types of exercises showed a significant difference in composition rate of EMG amplitudes of each muscle (p<.05). EMG composition rate of the multifidus was high in exercise 1 and 3. However, EMG composition rates of the external oblique, internal oblique, and the rectus abdominals were high in exercise 2 and 4. These results showed differences in EMG activities of muscles contributing to trunk stabilization during different therapeutic exercises. Therefore, the type of exercise should be carefully selected to effectively strengthen a specific trunk stabilizer.

• 터널과지하공간
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• 제34권1호
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• pp.1-14
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• 2024

폐광산의 갱도 입구를 통해 고속 라이다(Light Detection And Ranging, LiDAR) 장비가 탑재된 무인이동체를 투입하여 폐광의 갱도를 형상화하기 위한 기술이 제안되었다. 직경이 1.5 m 이상인 좁은 갱도에 바닥이 슬러지 형태로 미끄럽고 장애물이 있는 환경에서 무인 이동체를 운영할 때 고려할 사항을 검토하였다. 육상환경 이동을 위해 4족 보행 로봇을 활용하였으며 항공 환경 이동을 위해 쿼드콥터 드론이 활용되었다. 수중환경의 갱도에 투입하기 위해서 수중 드론이 사용되었다. 무인 이동체를 실제 광산 현장에 투입하여 폐광 현장용 이동체가 고려해야 할 변수들을 도출하였다. 폐광산 갱도 형상화용 센서로서 2차원 영상 기반의 solid-state 라이다가 사용되었다. 방사형으로 측정되는 라이다의 특성을 고려하여 고정 경사각을 두어 회전시켜 운영하여 갱도 형상화를 위한 효율성을 높이고 동시에 장애물 감지도 같이 수행할 수 있도록 제안하였다. Solid-state 라이다를 이용하여 측정데이터로부터 센서의 자세와 로봇의 자세를 반영하여 현실 좌표계 데이터로 변환하기 위한 계산기법이 도출되었다. 라이다 센서와 무인 비행체가 결합하여 실제 현장에 투입하여 갱도 형상을 추출하였다. 마지막으로 실제 현장에서 효용성을 높이기 위한 요소를 도출하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.131-132
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• 2011

현 시대는 로봇의 시대라 할 만큼 다채로운 로봇들이 개발되고 있으며, 인간의 기능들을 본 떠 만든 로봇 암(Robot arm: manipulator)과 워킹로봇(Walking robot: biped robot, quadruped robot, popping robot, etc.)물체인식 및 물체 추적 로봇(Tracking robot with image processing -. Domo robot, MIT.)이나 곤충과 동물 등의 생체 로봇에 대한 개발 또한 진행하고 있다. 지능형 이동로봇에서 가장중요하고 기본이 되는 기술인 무선통신망을 이용한 통신 기술과 지표면을 걷는 워킹로봇이 아닌 개활지나 밀폐된 공간에서 주행이 자유롭고 속도 및 주변 반응에 대해서 즉시 반응할 수 있는 장점을 가져 개발이용이한 바퀴를 이용한 2축 이동로봇에 관하여 연구하였다. 본 연구는 무선통신망을 이용하여 인터넷이 되는 곧 이면 어디서든 원격제어를 통하여 이동로봇을 전진, 후진, 좌회전. 우회전 및 속도제어 위치제어를 할 수 있고 GPS로 로봇의 위치와, 카메라를 이용하여 영상자료를 수집하고 센서를 이용하여 장애물 감지 및 자율주행 하는 등 여러 분야에 응용 할 수 있는 로봇을 연구하였다.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.733-740
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• 2001

네트워크와 RF 통신이 가능한 감시용 로봇에 대해 소개한다. 이 로봇은 4 바퀴와 4개의 링크로 구성된 메카니즘으로 인하여 자유로운 위치 조절이 가능하며, 이미지와 데이터를 RF를 통하여 전송하는 기능을 지니고 있다. 또한 네트워크 상에서 데이터와 카메라 이미지가 전송된다. 이 로봇은 로봇 주위에 일어나는 상황을 모니터링하고 4개의 암 구조를 통하여 넓은 영역을 확보한다. 이 로봇은 4개의 링크를 통하여 무게 중심을 조정하여 경사지에서의 안정성을 보장한다.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2004년도 추계 종합학술대회 논문집
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• pp.558-563
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• 2004

수많은 객체와 다양한 환경이 존재하는 가상 세계에서 에이전트의 다양한 움직임을 효율적으로 표현하는 것은 중요하다. 본 논문에서는 이러한 동작들을 사실적 표현보다는 수많은 종류의 개체들의 다양한 동작을 효율적으로 모델링하는데 중점을 둔다. 이를 위해 taxonomy에 기초한 상속 기능을 이용하고 여기에 개별동작의 특이점을 추가함으로써 효율적 모델링을 추구한다. 이를 위한 중요한 기술로서 동작들의 공통점을 추출하는 방법과 상속의 내용을 구체화 하는 방법을 개발한다. 이렇게 개발된 방법들을 네발짐승의 walk동작에 적용해보고 구체적 표현은 다관절체 표시법을 사용한다.

• 대한기계학회논문집A
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• 제33권11호
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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.