• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 한국전자통신학회논문지
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• 제12권6호
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• pp.1127-1134
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• 2017

본 연구에서는 사람이 접근하기 힘든 환경에서도 사용할 수 있는 로봇 팔이 사람의 손 동작에 따라 동작하는 로봇 팔 제어시스템을 구현하였다. 적외선 센서와, 영상인식 센서를 이용한 립모션 센서를 사용해 사람 손의 좌표를 추출 후 맵핑하고 블루투스 통신을 통하여 로봇 팔에게 전송하여 동작하도록 하였다.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.555-559
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• 2007

There are few representative humanoid robots including Japanese ASIMO from Honda and HUBO from KAIST. We cannot consider ASIMO and HUBO the perfect humanoid robots, however. The basic principles when developing humanoid robot is to make them to work in a similar way as human's movement of arm. In this paper, we proposed method of designing humanoid robotic arms based on the morphological.eurological analysis of human's arm tor robot's arm to work in a similar way as human's ann, and we also implemented arm movement control system to humanoids robot by using SERCOS communication.

• 국제물리치료학회지
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• 제9권3호
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• pp.1549-1557
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• 2018

This study examined the effects of group exercise program on health conditions and quality of life in cerebral palsy. Adults with cerebral palsy in their 20's who participated in the evaluation of measurement tools prior to and following the experiment. The control group was engaged in manual exercise for the range of joint movement and extension exercise for arms, legs and trunk, and experimental group performed group exercise program including boccia exercise. The health condition and quality of life of the experimental group were significantly increased after intervention (.05<). There was a slight increase in the control group, however it was not statistically significant. As a result of comparing the health condition and quality of life of the two groups, the value of the experimental group was significantly higher than that of the control group. The results of this study suggest that exercise programs for patients with cerebral palsy in the twenties are considered as beneficial interventions to improve health conditions and quality of life.

• 대한임베디드공학회논문지
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• 제18권2호
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• pp.81-87
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• 2023

With the development of BCI devices, it is now possible to use EEG control technology to move the robot's arms or legs to help with daily life. In this paper, we propose a customized vehicle control model based on BCI. This is a model that collects BCI-based driver EEG signals, determines information according to EEG signal analysis, and then controls the direction of the vehicle based on the determinated information through EEG signal analysis. In this case, in the process of analyzing noisy EEG signals, controlling direction is supplemented by using a camera-based eye tracking method to increase the accuracy of recognized direction . By synthesizing the EEG signal that recognized the direction to be controlled and the result of eye tracking, the vehicle was controlled in five directions: left turn, right turn, forward, backward, and stop. In experimental result, the accuracy of direction recognition of our proposed model is about 75% or higher.

• 동의신경정신과학회지
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• 제22권2호
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• pp.85-105
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• 2011

Objectives : The purpose of this study was to characterize the neuroprotective effects and anxiolytic-like effects of Gongjin-dan and Polygala japonica, Polygala tenuifolia, Acorus gramineus mixed pills(G.J.D-P.P.A.). Methods : The neuroprotective effects of G.J.D-P.P.A. determined by the passive avoidance and Y-maze tasks and Morris water maze task, and the anxiolytic-like effects of the G.J.D-P.P.A. using an elevated plus-maze(EPM) in mice. Results : Drug-induced amnesia was induced by treating animals with scopolamine(1 mg/kg, i.p.). A single G.J.D-P.P.A.(400 and 800 mg/kg) administration significantly enhanced cognitive function and attenuated scopolamine-induced cognitive impairments as determined by the passive avoidance and Y-maze tasks(P < 0.05) and also reduced escape-latency on the Morris water maze task(P < 0.05). The administration of GJD-PPA(400 and 800 mg/kg) significantly increased the percentage of time spent in open arms and entries into the open arms of the EPM compared with saline-treated control group(P < 0.05). Moreover, there were no changes in the locomotor activity and myorelaxant effects in any group compared with saline-treated control group. Conclusions : These results suggest that GJD-PPA dramatically possesses the anti-amnestic and cognitive-enhancing activities related to the memory processes, and promotes the anxiolytic-like activity in mice.

• 한국의류학회지
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• 제25권6호
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• pp.1037-1045
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• 2001

This research is done to design and manufacture prototype clean room garments to improve the product yield of the clean room processing. To assist the research, other papers and references on the same subject were collected for analysis. Also the researcher made interviews with the workers at the clean room. The prototype garments made for this project was compared against the commercially available clean room garments used in the industry. A set of test was conducted to measure particle release from the garments. The prototype clean room garments was manufactured after having considered all the aspects stated above, and tested for the level of particle release. The test subjects performed 4 different movements(marching, arms stretch, squat and rise, and jogging) while wearing the prototype garments and commercially available clean room garments. Particle counts produced by each movement were measured. The data collected was statistically analyzed. The followings are the result of the test. 1) Overall, the prototype garments yielded less particle release.(p<0.001) 2) It showed greatest difference of particle counts for jogging(p<0.001) and squat and rise(p<0.001). In the arms stretch test. the prototype garments was also more effective in controling the particle, however, in the marching test. no significant difference was detected. 3) The prototype garments had less particle release in upper(p<0.001), middle(p< 0.001), and lower level(p<0.01) than the commercially available clean room garments. Manufacturing a new fabric for the clean room processing is important, but this research proves that the design of the clean room garments also determines the efficiency garments in the particle control. Therefore the same fabric can perform differently according to how it is designed. Improving the design will also improve the 7article control and reduce the cost of research. Eventually, the manufacturers will increase the product yield.

• 항공우주정책ㆍ법학회지
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• 제33권2호
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• pp.443-469
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• 2018

스푸트니크 1호 발사 이래 60년이 지난 지금 우주에 대한 고려 없이 경제적, 정치적인 인간의 삶을 생각하는 것은 불가능해졌다. 그러나 우주가 전쟁의 장이될 수 있다는 우려도 확산되고 있다. 따라서 우주상 군비경쟁을 방지하기 위한 여론이 더욱 커지고 있다. 따라서 우주상 군비경쟁을 방지하기 위한 행동규범이나 국제법을 설정하는 것이 필요하다. 그러나 국제 사회에서 각국의 입장과 이해 상충으로 인해 구속력 있는 우주 군비통제방안을 수립하는 것은 매우 어렵다. 그럼에도 불구하고 우주의 평화적 이용을 위해서는 장기적이고 지속적이며 체계적인 접근이 필수적이다. 모든 국가는 국익이나 우주 개발 수준에 따라 입장이 다르기 때문에 포괄적 조약을 체결하기 위한 조건은 아직 성숙하지 못했다. 그러나 우주의 지속적인 개발을 위한 우주행동 강령 및 우주 파편에 대한 협력체계 구축 노력 뿐만 아니라 발사 통지와 같은 실용적이고 투명한 신뢰구축 방안에 대한 협력을 지속적으로 추진해야 할 것이다. 우주강국과 개발 국가들의 자발적인 참여를 확보하기가 쉬운 연성적인 조치 (TCBM, 행동 규범)로부터 시작하여 포괄적이고 구속력 있는 조약과 같은 경성적인 조치가 단계적으로 이루어져야 할 것이다. 또한 군비통제 이론에 입각하여 상호정보와 인력을 교환하고 정보를 공유하는 대화의 장을 지속적으로 만들어 나가야 할 것이다. 이러한 노력에 우주강국(미국, 러시아, 중국)이 적극적으로 참여한다면 국제 평화에 기여하게 될 것이다. 또한 지역간 협력을 통해 파트너십을 증진할 필요도 있다. 우주법의 효율성을 제고하기 위해 더 많은 국가가 기존의 국제법에 참여하도록 여론을 형성하고 주도해 나가야 할 것이다. 이러한 노력들이 우주의 안보력 강화에 기여하게 될 것이다.