• Transactions of the Korean Society of Mechanical Engineers
• /
• v.12 no.6
• /
• pp.1252-1264
• /
• 1988

Recently industrial robots together with positioners are often used to enhance the system performance for arc welding. In this paper, a redundancy control method is proposed to the robot-positioner system with seven degrees of freedom, where one kinematic modelling technique is employed. Also, manipulability in the given cutting plane of the workspace. An algorithm maximizing the manipulability is applied to the robot and the positioner and the simulation results are shown for the task following a linear path.

• The Journal of Korea Robotics Society
• /
• v.15 no.4
• /
• pp.309-315
• /
• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Physical Therapy Korea
• /
• v.10 no.2
• /
• pp.11-22
• /
• 2003

The purpose of this study was to analyze the effects of three different pelvic tilts on a sit-to-stand (STS) and to suggest a new assessment approach based on biomechanical analysis. The three difrent pelvic tilts were: (1) comfortable pelvic tilt sit-to-stand (CPT STS), (2) posterior pelvic tilt sit-to-stand (PPT STS) and (3) anterior pelvic tilt sit-to-stand (APT STS). To determine the onset time of muscle contraction surface electrodes were applied to the rectus femoris muscle (RF), vastus lateralis muscle (VL), biceps femoris muscle (BF), tibialis anterior muscle (TA), gastrocnemius muscle (GCM), and soleus muscle (SOL). The ICC was used for functional linkage analysis. The findings of this study were as follows. First, significant differences were found in kinematic variables and in muscle activation pattern among the three activities. Second, the results of functional integrated analysis revealed that recruited muscle activation patterns changed when the thigh-off was viewed as a reference point. Third, there were independent functional units between the thigh-off and the VL and between the thigh-off and the RF in the functional linkage analysis. The VL and RF acted as prime mover muscles, and more postural adjustment muscle recruitment was required as the demand of postural muscle control increased (PPT STS, APT STS, and CPT STS in order). In conclusion, the findings of this study suggest the following evaluative and therapeutic approach for STS activity. APT STS can be introduced for movement efficiency and functional advantage when abnormal STS is treated. However, excessive APT would change the muscle activation patterns of BF and SOL and require additional postural muscle control to cause abnormal control patterns.

• Science of Emotion and Sensibility
• /
• v.5 no.4
• /
• pp.67-75
• /
• 2002

The purpose of this study is to assess the ability of balance control in virtual moving surround stimulation using head mount display (HMD) device and force platform in patients with brain injury. Fifteen patients with stroke (mean age 54.47 yrs) and fifteen healthy normal persons participated. COP parameters were obtained total path distance, frequency of anterior-posterior and medial-lateral component by FFT analysis, weight-spectrum analysis in the two different conditions; (1) during comfortable standing with opened or closed eyes, (2) during virtual moving surround stimulation delivered using HMD with four different moving pattern. Moving patterns consisted of close-far, superior-inferior lilting (pitch) , right-left tilting (roll) and horizontal rotation (yaw) movement. In all parameters, the test-retest reliability was high. Also, the construct validity of virtual moving surround stimulation was excellent (p＜0.05). A posturographic balance assessment system equiped with virtual moving surround stimulation using HMD is considered clinically useful in evaluation of balance control in patients with brain injury.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.41 no.2
• /
• pp.41-51
• /
• 2004

In this paper, the beam steering dipole phased array antenna systems for IMT-2000 base station have been designed. The designed beam steering dipole phased array antenna systems are constituted by the antenna part and the beam steering control system part. The antenna part is designed by the proposed flat dipole for the broadband characteristics, and the 8${\times}$8 dipole array antenna is constructed by the proposed flat dipole for the directional radiation pattern. Besides the vertical power divider is designed for the vertical power distribution. The beam steering control system part is designed the horizontal power divider for the horizontal power distribution, the 4-bit phase shifters and the driving circuit of phase shifters for the horizontal beam tilting. In order to evaluate a performance of the designed antenna systems, they were fabricated and the radiation characteristics were measured. From the measured results, we found that the horizontal beams were tilted by the each control signals, and the measured radiation characteristics showed good agreement with the design goals.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.41 no.2
• /
• pp.19-29
• /
• 2004

In this paper, the beam steering dipole phased array antenna systems for IMT-2000 base station have been designed. The designed beam steering dipole phased array antenna systems are constituted by the antenna part and the beam steering control system part. The antenna part is designed by the proposed flat dipole for the broadband characteristics, and the 8${\times}$8 dipole way antenna is constructed by the Proposed flat dipole for the directional radiation pattern. Besides the vertical Power divider is designed for the vertical power distribution. The beam steering control system part is designed the horizontal power divider for the horizontal power distribution, the 4-bit phase shifters and the driving circuit of phase shifters for the horizontal beam tilting. In order to evaluate a performance of the designed antenna systems, they were fabricated and the radiation characteristics were measured. From the measured results, we found that the horizontal beams were tilted by the each control signals, and the measured radiation characteristics showed good agreement with the design goals.

• Journal of KIISE:Software and Applications
• /
• v.27 no.5
• /
• pp.510-520
• /
• 2000

For content-based video indexing and retrieval, it is necessary to segment video data into video shots and then select key frames or representative frames for each shot. However, it is very difficult to select key frames automatically because the task of selecting meaningful frames is quite subjective. In this paper, we propose a new approach in selecting key frames based on visual contents such as region information and their temporal variations in the shot. First of all, we classify video shots into panning shots, zooming shots, tilting shots or no camera motion shots by detecting camera motion information in video shots. Then, in each category, we apply appropriate fuzzy rules to select key frames based on meaningful content in frame. Finally, we control the number of key frames in the selection process by adjusting the degree of detail in representing video shots.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.26 no.1
• /
• pp.89-99
• /
• 2017

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.8
• /
• pp.147-154
• /
• 2002

In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

• Journal of Biosystems Engineering
• /
• v.35 no.5
• /
• pp.302-309
• /
• 2010

Aerial application using an unmanned agricultural helicopter would allow precise and timely spraying. The attitude of a helicopter depends on a number of dynamic variables for roll-balanced flight. Laterally tilting behavior of a helicopter is a physically intrinsic phenomenon while hovering and forwarding. In order to balance the fuselage, the rotor should be counter-tilted, resulting in the biased down-wash. The biased spraying toward right side causes uneven spray pattern. In this study, a raised tail rotor system for the roll-balanced helicopter was studied. Thrust of the tail rotor system was measured and theoretically estimated for the fundamental database of the roll-balanced helicopter design. The estimated tail thrust and roll-moment would be used to design the raising height of tail rotor and roll balancing dynamics. The unmanned agricultural helicopter required the tail rotor thrust of about 39.2 N (4.0 kgf) during hovering with a payload of 235.4 N (24 kgf). A raised tail rotor system would compensate for the physical tilt phenomena. A further attitude control system of helicopter would assist roll-balanced aerial spray application.