• 한국항행학회논문지
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• 제17권3호
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• pp.306-313
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• 2013

본 논문에서는 스마트 홈 제어를 위한 유비쿼터스 가상현실이 탑재된 스마트 기기와 실세계를 동기화할 수 있는 정합시스템을 구현하였다. 제안하는 시스템은 유비쿼터스 가상현실이 탑재된 스마트기기, 실세계를 표현할 하드웨어 단말기 및 가상현실과 실세계를 정합하는 서버로 구성되며, 각 구성간의 통신은 ZigBee를 이용한 RF 통신과 TCP/IP 통신을 위한 자체 프로토콜을 설계하여 구현하였다. 제안된 유비쿼터스 가상현실의 주요 기능은 사용자 중심의 저작도구 형태로 사용자가 직접 실세계와 동일한 공간을 구성하여 실세계를 제어할 수 있다. 실험결과, 유비쿼터스 가상현실 기반의 스마트 기기와 하드웨어 단말간의 모니터링 확인 및 제어가 설계 규격대로 수행됨을 확인할 수 있었다.

• 조명전기설비학회논문지
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• 제24권6호
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• pp.75-82
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• 2010

본 논문에서는 MSRDS 환경에서 가상 4족 애완 로봇과 실제 4족 애완 로봇을 동기화함으로써 애완용 로봇의 행동을 설계할 수 있는 새로운 응용 시뮬레이터를 개발하였다. 이를 통하여 실제 로봇의 걸음새 및 동작 개발에 필요한 시간비용을 줄이고, 지능형 서비스 애완 로봇의 상업화에도 도움이 될 것이다. 또한, 본 연구 결과를 이용하여 가상공간과 실공간의 모델링의 차이를 극복하는 연구에 이용할 수 있다. 본 논문의 결과로서 가상 로봇과 실제 로봇의 연동 제어를 통해 원격지에 있는 두 대의 로봇간의 원격제어가 가능하므로, 두 대의 애완 로봇을 이용한 네트워크 게임으로서도 활용할 수 있을 것으로 기대된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• The Korean Journal of Pain
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• 제34권3호
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• pp.304-314
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• 2021

Background: The study investigated virtual reality (VR) immersion in alleviating procedure-related pain in patients with chronic pain undergoing fluoroscopy-guided minimally-invasive intervention in a prone position at an outpatient clinic. Methods: In this prospective randomized controlled study, 38 patients undergoing lumbar sympathetic ganglion block were randomized into either the VR or the control group. In the VR group, procedure-related pain was controlled via infiltration of local anesthetics while watching a 30-minute VR hypnotic program. In the control group, the skin infiltration alone was used, with the VR device switched off. The primary endpoint was an 11-point score on the numerical rating scale, indicating procedure-related pain. Patients' satisfaction with pain control, anxiety levels, the need for additional local anesthetics during the procedure, hemodynamic stability, and any adverse events were assessed. Results: Procedure-related pain was significantly lower in the VR group (3.7 ± 1.4) than in the control group (5.5 ± 1.7; P = 0.002). Post-procedural anxiety was lower in the VR group than in the control group (P = 0.025), with a significant reduction from pre-procedural anxiety (P < 0.001). Although patients' satisfaction did not differ significantly (P = 0.158) between the groups, a higher number of patients required additional local anesthetics in the control group (n = 13) than in the VR group (n = 4; P = 0.001). No severe adverse events occurred in either group during the study. Conclusions: VR immersion can be safely used as a novel adjunct to reduce procedural pain and anxiety during fluoroscopic pain intervention.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.189-193
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• 1999

For a video data terminal (VDT) operator, visual strain was caused by continuous VDT operations was found id be recovered by watching the picture of virtual far point with the background of the complementary color when the treatment to recover from visual strain was carried out. When the VDT operator watches the picture of virtual far point with the condition of the complementary color stimuli on the CRT display in 60 or 120 minutes after the start of the VDT operation, the visual strain is recovered and the VDT operator is kept healthy.

• 한국인터넷방송통신학회논문지
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• 제10권4호
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• pp.77-82
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• 2010

본 연구에서는 가상낚시시스템(VFS, Virtual Fishing System)을 위해 제작된 햅틱장치인 FishBot을 개발한다. FishBot는 XY테이블에 휠축을 장착한 3자유도 로봇으로 구성된다. 물고기의 동작을 모사하기 위해 XY 축 제어는 토크값을 가변적으로 제한하는 모션 위치 제어 모드로 하고 휠 축은 힘제어 모드로 하였다. 낚싯대는 실제 낚싯대에 LED를 장착하고 웹 카메라를 튜닝하여 낚싯대의 위치를 인식할 수 있도록 하였다. 결과적으로 제작된 Fishbot은 물고기와 같이 위치와 속도를 변화하고 DAC를 통해 낚는 힘을 제어할 수 있으며 낚싯대 끝단의 위치를 관측하여 가상현실시스템(Virtual Reality System)상에서 연동할 수 있게 하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.315-318
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• 1995

In this paper, an optimal trunk trajectory for stable walking of biped robots is expressed as a simple differential equation, which is then solved by numerical methods. We used ZMP (Zero Moment Point), the virtual total ground reaction point within the region of the supporting food, as the criterion of stability of biped robot walking. If the ZMP is located outside of the stable region in dynamic walking, biped robots fall down. The biped robot considered in this paper consists of two legs and a trunk. The trajectories of the two legs and the ZMP of the biped robot are determined such that they are similar ti those of a human. Based upon those trajectories, the trunk trajectory is solved by numerically integrating differential dynamic equations. Leg motions are controlled by the computed torque control method. The effectiveness of control algorithm as well as the trajectories is confirmed by computer simulations.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.962-966
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• 2001

The major problem at a branch point for point-to-multipoint available bit rate(ABR) services in asynchronous transfer mode (ATM) networks is how to consolidate backward resource management(BRM) cells from each branch for a multicast connection. In this paper, we propose an efficient feedback consolidation algorithm based on an adaptive dynamic threshold(ADT) to eliminate the consolidation noise and the reduce the consolidation delay. The main idea of the ADT algorithm lies in that each branch point estimates the ABR traffic condition of the network through the virtual queue estimation and the transmission threshold of the queue level in branch points is adaptively controlled according to the estimation. Simulation results show that the proposed ADT algorithm can achieve a faster response in congestion status and a higher link utilization compared with the previous works.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.83-85
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• 1997

In this paper, a self-tunning fuzzy inference technique for stabilization of the inverted pendulum system is proposed. The facility of this self-tunning fuzzy controller which has swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point(${\phi}_{VEq}$) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed self-tunning fuzzy inference structure made substantially the inverted pendulum system robust and stable.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.304-309
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• 1998

In this paper, a fuzzy controller for stabilization of the inverted pendulum system is propose. The facility of this fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point ($\Phi$veq) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference structur made substantially the inverted pendulum system robust and stable.